Improve const correctness.

See https://usfirst.collab.net/sf/tracker/do/viewArtifact/projects.wpilib/tracker.4_defects/artf4148

Change-Id: I47b0d5a91fd49e47e2c7348b0705e998ec815682

networktables/cpp/include/networktables2/TableKeyExistsWithDifferentTypeException.h

@@ -36,7 +36,7 @@ public:
     
     TableKeyExistsWithDifferentTypeException(const std::string existingKey, NetworkTableEntryType* existingType, const char* message);
 
-    const char* what(){return "TableKeyExistsWithDifferentTypeException";};
+    const char* what() const noexcept {return "TableKeyExistsWithDifferentTypeException";};
 
     virtual ~TableKeyExistsWithDifferentTypeException() throw ();
 };

networktables/cpp/include/networktables2/connection/BadMessageException.h

@@ -16,7 +16,7 @@ class BadMessageException : public std::exception
 public:
 	BadMessageException(const char* message);
 	~BadMessageException() throw ();
-	const char* what();
+	const char* what() const noexcept;
 private:
 	std::string message;
 };

networktables/cpp/include/networktables2/util/IOException.h

@@ -36,7 +36,7 @@ public:
 	 * 
 	 * @return The message associated with this exception.
 	 */
-	const char* what();
+	const char* what() const noexcept;
 	
 	/**
 	 * Determines whether this exception indicates that an EOF

networktables/cpp/include/networktables2/util/IllegalStateException.h

@@ -14,7 +14,7 @@
 class IllegalStateException : public std::exception{
 public:
 	IllegalStateException(const char* message);
-	const char* what(){return message.c_str();};
+	const char* what() const noexcept {return message.c_str();};
 	~IllegalStateException() throw ();
 private:
 	std::string message;

networktables/cpp/lib/share/networktables2/connection/BadMessageException.cpp

@@ -17,7 +17,7 @@ BadMessageException::~BadMessageException() throw ()
 {
 }
 
-const char* BadMessageException::what()
+const char* BadMessageException::what() const noexcept
 {
 	return message.c_str();
 }

networktables/cpp/lib/share/networktables2/util/IOException.cpp

@@ -13,7 +13,7 @@
 IOException::IOException(const char* msg) : message(strdup(msg)), errorValue(0){}
 IOException::IOException(const char* msg, int _errorValue) : message(strdup(msg)), errorValue(_errorValue){}
 
-const char* IOException::what(){
+const char* IOException::what() const noexcept {
 	return message;
 }
 

wpilibc/wpilibC++/include/Buttons/Trigger.h

@@ -40,8 +40,8 @@ public:
 	void ToggleWhenActive(Command *command);
 	
 	virtual void InitTable(ITable* table);
-	virtual ITable* GetTable();
-	virtual std::string GetSmartDashboardType();
+	virtual ITable* GetTable() const;
+	virtual std::string GetSmartDashboardType() const;
 protected:
 	ITable* m_table;
 };

wpilibc/wpilibC++/include/Commands/Command.h

@@ -50,27 +50,27 @@ public:
 	Command(double timeout);
 	Command(const char *name, double timeout);
 	virtual ~Command();
-	double TimeSinceInitialized();
+	double TimeSinceInitialized() const;
 	void Requires(Subsystem *s);
-	bool IsCanceled();
+	bool IsCanceled() const;
 	void Start();
 	bool Run();
 	void Cancel();
-	bool IsRunning();
-	bool IsInterruptible();
+	bool IsRunning() const;
+	bool IsInterruptible() const;
 	void SetInterruptible(bool interruptible);
-	bool DoesRequire(Subsystem *subsystem);
+	bool DoesRequire(Subsystem *subsystem) const;
 	typedef std::set<Subsystem *> SubsystemSet;
-	SubsystemSet GetRequirements();
-	CommandGroup *GetGroup();
+	SubsystemSet GetRequirements() const;
+	CommandGroup *GetGroup() const;
 	void SetRunWhenDisabled(bool run);
-	bool WillRunWhenDisabled();
-	int GetID();
+	bool WillRunWhenDisabled() const;
+	int GetID() const;
 
 
 protected:
 	void SetTimeout(double timeout);
-	bool IsTimedOut();
+	bool IsTimedOut() const;
 	bool AssertUnlocked(const char *message);
 	void SetParent(CommandGroup *parent);
 	/**
@@ -154,8 +154,8 @@ private:
 public:
 	virtual std::string GetName();
 	virtual void InitTable(ITable* table);
-	virtual ITable* GetTable();
-	virtual std::string GetSmartDashboardType();
+	virtual ITable* GetTable() const;
+	virtual std::string GetSmartDashboardType() const;
 	virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
 protected:
 	ITable* m_table;

wpilibc/wpilibC++/include/Commands/CommandGroup.h

@@ -41,8 +41,8 @@ public:
 	void AddSequential(Command *command, double timeout);
 	void AddParallel(Command *command);
 	void AddParallel(Command *command, double timeout);
-	bool IsInterruptible();
-	int GetSize();
+	bool IsInterruptible() const;
+	int GetSize() const;
 
 protected:
 	virtual void Initialize();

wpilibc/wpilibC++/include/Commands/CommandGroupEntry.h

@@ -17,7 +17,7 @@ public:
 	CommandGroupEntry();
 	CommandGroupEntry(Command *command, Sequence state);
 	CommandGroupEntry(Command *command, Sequence state, double timeout);
-	bool IsTimedOut();
+	bool IsTimedOut() const;
 
 	double m_timeout;
 	Command *m_command;

wpilibc/wpilibC++/include/Commands/PIDCommand.h

@@ -30,17 +30,17 @@ public:
 	virtual void PIDWrite(float output);
 
 	// PIDSource interface
-	virtual double PIDGet();
+	virtual double PIDGet() const;
 protected:
-	PIDController *GetPIDController();
+	PIDController *GetPIDController() const;
 	virtual void _Initialize();
 	virtual void _Interrupted();
 	virtual void _End();
 	void SetSetpoint(double setpoint);
-	double GetSetpoint();
-	double GetPosition();
+	double GetSetpoint() const;
+	double GetPosition() const;
 
-	virtual double ReturnPIDInput() = 0;
+	virtual double ReturnPIDInput() const = 0;
 	virtual void UsePIDOutput(double output) = 0;
 
 private:	
@@ -49,7 +49,7 @@ private:
 
 public:
 	virtual void InitTable(ITable* table);
-	virtual std::string GetSmartDashboardType();
+	virtual std::string GetSmartDashboardType() const;
 };
 
 #endif

wpilibc/wpilibC++/include/Commands/PIDSubsystem.h

@@ -40,7 +40,7 @@ public:
 	virtual void PIDWrite(float output);
 
 	// PIDSource interface
-	virtual double PIDGet();
+	virtual double PIDGet() const;
 	void SetSetpoint(double setpoint);
 	void SetSetpointRelative(double deltaSetpoint);
 	void SetInputRange(float minimumInput, float maximumInput);
@@ -50,12 +50,12 @@ public:
 
 	virtual void SetAbsoluteTolerance(float absValue);
 	virtual void SetPercentTolerance(float percent);
-	virtual bool OnTarget();
+	virtual bool OnTarget() const;
 
 protected:
 	PIDController *GetPIDController();
 
-	virtual double ReturnPIDInput() = 0;
+	virtual double ReturnPIDInput() const = 0;
 	virtual void UsePIDOutput(double output) = 0;
 
 private:
@@ -64,7 +64,7 @@ private:
 
 public:
 	virtual void InitTable(ITable* table);
-	virtual std::string GetSmartDashboardType();
+	virtual std::string GetSmartDashboardType() const;
 };
 
 #endif

wpilibc/wpilibC++/include/Commands/Scheduler.h

@@ -38,11 +38,11 @@ public:
 	void SetEnabled(bool enabled);
 	
 	void UpdateTable();
-	std::string GetSmartDashboardType();
+	std::string GetSmartDashboardType() const;
 	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	ITable * GetTable() const;
 	std::string GetName();
-	std::string GetType();
+	std::string GetType() const;
 
 private:
 	Scheduler();

wpilibc/wpilibC++/include/Commands/Subsystem.h

@@ -24,7 +24,7 @@ public:
 	void SetDefaultCommand(Command *command);
 	Command *GetDefaultCommand();
 	void SetCurrentCommand(Command *command);
-	Command *GetCurrentCommand();
+	Command *GetCurrentCommand() const;
 	virtual void InitDefaultCommand();
 	
 private:
@@ -39,8 +39,8 @@ private:
 public:
 	virtual std::string GetName();
 	virtual void InitTable(ITable* table);
-	virtual ITable* GetTable();
-	virtual std::string GetSmartDashboardType();
+	virtual ITable* GetTable() const;
+	virtual std::string GetSmartDashboardType() const;
 protected:
 	ITable* m_table;
 };

wpilibc/wpilibC++/include/GenericHID.h

@@ -22,17 +22,17 @@ public:
 	{
 	}
 
-	virtual float GetX(JoystickHand hand = kRightHand) = 0;
-	virtual float GetY(JoystickHand hand = kRightHand) = 0;
-	virtual float GetZ() = 0;
-	virtual float GetTwist() = 0;
-	virtual float GetThrottle() = 0;
-	virtual float GetRawAxis(uint32_t axis) = 0;
+	virtual float GetX(JoystickHand hand = kRightHand) const = 0;
+	virtual float GetY(JoystickHand hand = kRightHand) const = 0;
+	virtual float GetZ() const = 0;
+	virtual float GetTwist() const = 0;
+	virtual float GetThrottle() const = 0;
+	virtual float GetRawAxis(uint32_t axis) const = 0;
 
-	virtual bool GetTrigger(JoystickHand hand = kRightHand) = 0;
-	virtual bool GetTop(JoystickHand hand = kRightHand) = 0;
-	virtual bool GetBumper(JoystickHand hand = kRightHand) = 0;
-	virtual bool GetRawButton(uint32_t button) = 0;
+	virtual bool GetTrigger(JoystickHand hand = kRightHand) const = 0;
+	virtual bool GetTop(JoystickHand hand = kRightHand) const = 0;
+	virtual bool GetBumper(JoystickHand hand = kRightHand) const = 0;
+	virtual bool GetRawButton(uint32_t button) const = 0;
 
-	virtual int GetPOV(uint32_t pov = 0) = 0;
+	virtual int GetPOV(uint32_t pov = 0) const = 0;
 };

wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h

@@ -39,7 +39,7 @@ public:
 	void AddActuator(std::string type, int channel, LiveWindowSendable *component);
 	void AddActuator(std::string type, int module, int channel, LiveWindowSendable *component);
 
-	bool IsEnabled() { return m_enabled; }
+	bool IsEnabled() const { return m_enabled; }
 	void SetEnabled(bool enabled);
 
 protected:

wpilibc/wpilibC++/include/PIDController.h

@@ -29,30 +29,30 @@ public:
 	PIDController(float p, float i, float d, float f, PIDSource *source, PIDOutput *output,
 			float period = 0.05);
 	virtual ~PIDController();
-	virtual float Get();
+	virtual float Get() const;
 	virtual void SetContinuous(bool continuous = true);
 	virtual void SetInputRange(float minimumInput, float maximumInput);
 	virtual void SetOutputRange(float minimumOutput, float maximumOutput);
 	virtual void SetPID(float p, float i, float d);
 	virtual void SetPID(float p, float i, float d, float f);
-	virtual float GetP();
-	virtual float GetI();
-	virtual float GetD();
-	virtual float GetF();
+	virtual float GetP() const;
+	virtual float GetI() const;
+	virtual float GetD() const;
+	virtual float GetF() const;
 
 	virtual void SetSetpoint(float setpoint);
-	virtual float GetSetpoint();
+	virtual float GetSetpoint() const;
 
-	virtual float GetError();
+	virtual float GetError() const;
 
 	virtual void SetTolerance(float percent);
 	virtual void SetAbsoluteTolerance(float absValue);
 	virtual void SetPercentTolerance(float percentValue);
-	virtual bool OnTarget();
+	virtual bool OnTarget() const;
 
-	virtual void Enable();
-	virtual void Disable();
-	virtual bool IsEnabled();
+	virtual void Enable() override;
+	virtual void Disable() override;
+	virtual bool IsEnabled() const;
 
 	virtual void Reset();
 
@@ -95,8 +95,8 @@ private:
 			float period = 0.05);
 	static void CallCalculate(void *controller);
 
-	virtual ITable* GetTable();
-	virtual std::string GetSmartDashboardType();
+	virtual ITable* GetTable() const;
+	virtual std::string GetSmartDashboardType() const;
 	virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
 	virtual void UpdateTable();
 	virtual void StartLiveWindowMode();

wpilibc/wpilibC++/include/PIDSource.h

@@ -14,5 +14,5 @@ class PIDSource
 {	
 public:
 	enum PIDSourceParameter {kDistance, kRate, kAngle};
-	virtual double PIDGet() = 0;
+	virtual double PIDGet() const = 0;
 };

wpilibc/wpilibC++/include/RobotState.h

@@ -9,11 +9,11 @@ class RobotStateInterface
 {
 public:
 	virtual ~RobotStateInterface() {};
-    virtual bool IsDisabled() = 0;
-	virtual bool IsEnabled() = 0;
-	virtual bool IsOperatorControl() = 0;
-	virtual bool IsAutonomous() = 0;
-	virtual bool IsTest() = 0;
+    virtual bool IsDisabled() const = 0;
+	virtual bool IsEnabled() const = 0;
+	virtual bool IsOperatorControl() const = 0;
+	virtual bool IsAutonomous() const = 0;
+	virtual bool IsTest() const = 0;
 };
 
 class RobotState

wpilibc/wpilibC++/include/SmartDashboard/Sendable.h

@@ -22,12 +22,12 @@ public:
 	/**
 	 * @return the table that is currently associated with the sendable
 	 */
-	virtual ITable* GetTable() = 0;
+	virtual ITable* GetTable() const = 0;
 
 	/**
 	 * @return the string representation of the named data type that will be used by the smart dashboard for this sendable
 	 */
-	virtual std::string GetSmartDashboardType() = 0;
+	virtual std::string GetSmartDashboardType() const = 0;
 };
 
 #endif

wpilibc/wpilibC++/include/SmartDashboard/SendableChooser.h

@@ -35,8 +35,8 @@ public:
 	void *GetSelected();
 
 	virtual void InitTable(ITable* subtable);
-	virtual ITable* GetTable();
-	virtual std::string GetSmartDashboardType();
+	virtual ITable* GetTable() const;
+	virtual std::string GetSmartDashboardType() const;
 
 private:
 	std::string m_defaultChoice;

wpilibc/wpilibC++/include/Task.h

@@ -27,18 +27,18 @@ public:
 	bool Restart();
 	bool Stop();
 
-	bool IsReady();
-	bool IsSuspended();
+	bool IsReady() const;
+	bool IsSuspended() const;
 
 	bool Suspend();
 	bool Resume();
 
-	bool Verify();
+	bool Verify() const;
 
 	int32_t GetPriority();
 	bool SetPriority(int32_t priority);
-	const char* GetName();
-	TASK GetID();
+	const char* GetName() const;
+	TASK GetID() const;
 
 private:
 	FUNCPTR m_function;

wpilibc/wpilibC++/include/Timer.h

@@ -26,7 +26,7 @@ class Timer
 public:
 	Timer();
 	virtual ~Timer();
-	double Get();
+	double Get() const;
 	void Reset();
 	void Start();
 	void Stop();

wpilibc/wpilibC++/include/interfaces/Potentiometer.h

@@ -21,7 +21,7 @@ public:
 	 * 
 	 * @return The current set speed.  Value is between -1.0 and 1.0.
 	 */
-	virtual double Get() = 0;
+	virtual double Get() const = 0;
 };
 
 #endif

wpilibc/wpilibC++/src/Buttons/Trigger.cpp

@@ -59,7 +59,7 @@ void Trigger::ToggleWhenActive(Command *command) {
 	tbs->Start();
 }
 
-std::string Trigger::GetSmartDashboardType(){
+std::string Trigger::GetSmartDashboardType() const {
 	return "Button";
 }
 
@@ -70,6 +70,6 @@ void Trigger::InitTable(ITable* table){
 	}
 }
 
-ITable* Trigger::GetTable(){
+ITable* Trigger::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++/src/Commands/Command.cpp

@@ -93,7 +93,7 @@ Command::~Command()
  * The ID is a unique sequence number that is incremented for each command.
  * @return the ID of this command
  */
-int Command::GetID() {
+int Command::GetID() const {
 	return m_commandID;
 }
 
@@ -115,7 +115,7 @@ void Command::SetTimeout(double timeout)
  * This function will work even if there is no specified timeout.
  * @return the time since this command was initialized (in seconds).
  */
-double Command::TimeSinceInitialized()
+double Command::TimeSinceInitialized() const
 {
 	if (m_startTime < 0.0)
 		return 0.0;
@@ -239,7 +239,7 @@ void Command::StartTiming()
  * If there is no timeout, this will always return false.
  * @return whether the time has expired
  */
-bool Command::IsTimedOut()
+bool Command::IsTimedOut() const
 {
 	return m_timeout != -1 && TimeSinceInitialized() >= m_timeout;
 }
@@ -248,7 +248,7 @@ bool Command::IsTimedOut()
  * Returns the requirements (as an std::set of {@link Subsystem Subsystems} pointers) of this command
  * @return the requirements (as an std::set of {@link Subsystem Subsystems} pointers) of this command
  */
-Command::SubsystemSet Command::GetRequirements()
+Command::SubsystemSet Command::GetRequirements() const
 {
 	return m_requirements;
 }
@@ -328,7 +328,7 @@ void Command::StartRunning()
  * not have yet called {@link Command#interrupted()}.
  * @return whether or not the command is running
  */
-bool Command::IsRunning()
+bool Command::IsRunning() const
 {
 	return m_running;
 }
@@ -363,7 +363,7 @@ void Command::_Cancel()
  * Returns whether or not this has been canceled.
  * @return whether or not this has been canceled
  */
-bool Command::IsCanceled()
+bool Command::IsCanceled() const
 {
 	return m_canceled;
 }
@@ -372,7 +372,7 @@ bool Command::IsCanceled()
  * Returns whether or not this command can be interrupted.
  * @return whether or not this command can be interrupted
  */
-bool Command::IsInterruptible()
+bool Command::IsInterruptible() const
 {
 	return m_interruptible;
 }
@@ -391,7 +391,7 @@ void Command::SetInterruptible(bool interruptible)
  * @param system the system
  * @return whether or not the subsystem is required (false if given NULL)
  */
-bool Command::DoesRequire(Subsystem *system)
+bool Command::DoesRequire(Subsystem *system) const
 {
 	return m_requirements.count(system) > 0;
 }
@@ -401,7 +401,7 @@ bool Command::DoesRequire(Subsystem *system)
  * Will return null if this {@link Command} is not in a group.
  * @return the {@link CommandGroup} that this command is a part of (or null if not in group)
  */
-CommandGroup *Command::GetGroup()
+CommandGroup *Command::GetGroup() const
 {
 	return m_parent;
 }
@@ -421,7 +421,7 @@ void Command::SetRunWhenDisabled(bool run)
  * Returns whether or not this {@link Command} will run when the robot is disabled, or if it will cancel itself.
  * @return whether or not this {@link Command} will run when the robot is disabled, or if it will cancel itself
  */
-bool Command::WillRunWhenDisabled()
+bool Command::WillRunWhenDisabled() const
 {
 	return m_runWhenDisabled;
 }
@@ -435,7 +435,7 @@ std::string Command::GetName()
 	return m_name;
 }
 
-std::string Command::GetSmartDashboardType()
+std::string Command::GetSmartDashboardType() const
 {
 	return "Command";
 }
@@ -453,7 +453,7 @@ void Command::InitTable(ITable* table)
     }
 }
 
-ITable* Command::GetTable(){
+ITable* Command::GetTable() const {
 	return m_table;
 }
 

wpilibc/wpilibC++/src/Commands/CommandGroup.cpp

@@ -329,7 +329,7 @@ bool CommandGroup::IsFinished()
 	return (unsigned)m_currentCommandIndex >= m_commands.size() && m_children.empty();
 }
 
-bool CommandGroup::IsInterruptible()
+bool CommandGroup::IsInterruptible() const
 {
 	if (!Command::IsInterruptible())
 		return false;
@@ -341,8 +341,8 @@ bool CommandGroup::IsInterruptible()
 			return false;
 	}
 
-	CommandList::iterator iter = m_children.begin();
-	for (; iter != m_children.end(); iter++)
+	CommandList::const_iterator iter = m_children.cbegin();
+	for (; iter != m_children.cend(); iter++)
 	{
 		if (!iter->m_command->IsInterruptible())
 			return false;
@@ -377,7 +377,7 @@ void CommandGroup::CancelConflicts(Command *command)
 	}
 }
 
-int CommandGroup::GetSize()
+int CommandGroup::GetSize() const
 {
 	return m_children.size();
 }

wpilibc/wpilibC++/src/Commands/CommandGroupEntry.cpp

@@ -29,7 +29,7 @@ CommandGroupEntry::CommandGroupEntry(Command *command, Sequence state, double ti
 {
 }
 
-bool CommandGroupEntry::IsTimedOut()
+bool CommandGroupEntry::IsTimedOut() const
 {
 	if (m_timeout < 0.0)
 		return false;

wpilibc/wpilibC++/src/Commands/PIDCommand.cpp

@@ -72,12 +72,12 @@ void PIDCommand::PIDWrite(float output)
 	UsePIDOutput(output);
 }
 
-double PIDCommand::PIDGet()
+double PIDCommand::PIDGet() const
 {
 	return ReturnPIDInput();
 }
 
-PIDController *PIDCommand::GetPIDController()
+PIDController *PIDCommand::GetPIDController() const
 {
 	return m_controller;
 }
@@ -87,17 +87,17 @@ void PIDCommand::SetSetpoint(double setpoint)
 	m_controller->SetSetpoint(setpoint);
 }
 
-double PIDCommand::GetSetpoint()
+double PIDCommand::GetSetpoint() const
 {
 	return m_controller->GetSetpoint();
 }
 
-double PIDCommand::GetPosition()
+double PIDCommand::GetPosition() const
 {
 	return ReturnPIDInput();
 }
 
-std::string PIDCommand::GetSmartDashboardType(){
+std::string PIDCommand::GetSmartDashboardType() const {
         return "PIDCommand";
 }
 void PIDCommand::InitTable(ITable* table){

wpilibc/wpilibC++/src/Commands/PIDSubsystem.cpp

@@ -212,7 +212,7 @@ void PIDSubsystem::SetPercentTolerance(float percent) {
  *
  * @return true if the error is within the percentage tolerance of the input range
  */
-bool PIDSubsystem::OnTarget()
+bool PIDSubsystem::OnTarget() const
 {
 	return m_controller->OnTarget();
 }
@@ -231,13 +231,13 @@ void PIDSubsystem::PIDWrite(float output)
 	UsePIDOutput(output);
 }
 
-double PIDSubsystem::PIDGet()
+double PIDSubsystem::PIDGet() const
 {
 	return ReturnPIDInput();
 }
 
 
-std::string PIDSubsystem::GetSmartDashboardType(){
+std::string PIDSubsystem::GetSmartDashboardType() const {
 	return "PIDCommand";
 }
 void PIDSubsystem::InitTable(ITable* table){

wpilibc/wpilibC++/src/Commands/Scheduler.cpp

@@ -277,11 +277,11 @@ std::string Scheduler::GetName() {
 	return "Scheduler";
 }
 
-std::string Scheduler::GetType() {
+std::string Scheduler::GetType() const {
 	return "Scheduler";
 }
 
-std::string Scheduler::GetSmartDashboardType() {
+std::string Scheduler::GetSmartDashboardType() const {
 	return "Scheduler";
 }
 
@@ -296,6 +296,6 @@ void Scheduler::InitTable(ITable *subTable) {
 	m_table->PutValue("Cancel", *toCancel);
 }
 
-ITable * Scheduler::GetTable() {
+ITable * Scheduler::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++/src/Commands/Subsystem.cpp

@@ -114,7 +114,7 @@ void Subsystem::SetCurrentCommand(Command *command)
  * Returns the command which currently claims this subsystem.
  * @return the command which currently claims this subsystem
  */
-Command *Subsystem::GetCurrentCommand()
+Command *Subsystem::GetCurrentCommand() const
 {
 	return m_currentCommand;
 }
@@ -150,7 +150,7 @@ std::string Subsystem::GetName()
 	return m_name;
 }
 
-std::string Subsystem::GetSmartDashboardType()
+std::string Subsystem::GetSmartDashboardType() const
 {
 	return "Subsystem";
 }
@@ -174,6 +174,6 @@ void Subsystem::InitTable(ITable* table)
     }
 }
 
-ITable* Subsystem::GetTable(){
+ITable* Subsystem::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++/src/SmartDashboard/SendableChooser.cpp

@@ -69,10 +69,10 @@ void SendableChooser::InitTable(ITable* subtable) {
 	}
 }
 
-ITable* SendableChooser::GetTable() {
+ITable* SendableChooser::GetTable() const {
 	return m_table;
 }
 
-std::string SendableChooser::GetSmartDashboardType() {
+std::string SendableChooser::GetSmartDashboardType() const {
 	return "String Chooser";
 }

wpilibc/wpilibC++Devices/include/ADXL345_I2C.h

@@ -41,20 +41,20 @@ public:
 	virtual ~ADXL345_I2C();
 
 	// Accelerometer interface
-	virtual void SetRange(Range range);
-	virtual double GetX();
-	virtual double GetY();
-	virtual double GetZ();
+	virtual void SetRange(Range range) override;
+	virtual double GetX() override;
+	virtual double GetY() override;
+	virtual double GetZ() override;
 
 	virtual double GetAcceleration(Axes axis);
 	virtual AllAxes GetAccelerations();
 
-	virtual std::string GetSmartDashboardType();
-	virtual void InitTable(ITable *subtable);
-	virtual void UpdateTable();
-	virtual ITable* GetTable();
-	virtual void StartLiveWindowMode() {}
-	virtual void StopLiveWindowMode() {}
+	virtual std::string GetSmartDashboardType() const override;
+	virtual void InitTable(ITable *subtable) override;
+	virtual void UpdateTable() override;
+	virtual ITable* GetTable() const override;
+	virtual void StartLiveWindowMode() override {}
+	virtual void StopLiveWindowMode() override {}
 
 protected:
 	//I2C* m_i2c;

wpilibc/wpilibC++Devices/include/ADXL345_SPI.h

@@ -45,20 +45,20 @@ public:
 	virtual ~ADXL345_SPI();
 
 	// Accelerometer interface
-	virtual void SetRange(Range range);
-	virtual double GetX();
-	virtual double GetY();
-	virtual double GetZ();
+	virtual void SetRange(Range range) override;
+	virtual double GetX() override;
+	virtual double GetY() override;
+	virtual double GetZ() override;
 
 	virtual double GetAcceleration(Axes axis);
 	virtual AllAxes GetAccelerations();
 
-	virtual std::string GetSmartDashboardType();
-	virtual void InitTable(ITable *subtable);
-	virtual void UpdateTable();
-	virtual ITable* GetTable();
-	virtual void StartLiveWindowMode() {}
-	virtual void StopLiveWindowMode() {}
+	virtual std::string GetSmartDashboardType() const override;
+	virtual void InitTable(ITable *subtable) override;
+	virtual void UpdateTable() override;
+	virtual ITable* GetTable() const override;
+	virtual void StartLiveWindowMode() override {}
+	virtual void StopLiveWindowMode() override {}
 
 protected:
 	void Init(Range range);

wpilibc/wpilibC++Devices/include/AnalogAccelerometer.h

@@ -22,17 +22,17 @@ public:
 	explicit AnalogAccelerometer(AnalogInput *channel);
 	virtual ~AnalogAccelerometer();
 
-	float GetAcceleration();
+	float GetAcceleration() const;
 	void SetSensitivity(float sensitivity);
 	void SetZero(float zero);
-	double PIDGet();
+	double PIDGet() const override;
 
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 
 private:
 	void InitAccelerometer();

wpilibc/wpilibC++Devices/include/AnalogInput.h

@@ -30,43 +30,43 @@ public:
 	explicit AnalogInput(uint32_t channel);
 	virtual ~AnalogInput();
 
-	int16_t GetValue();
-	int32_t GetAverageValue();
+	int16_t GetValue() const;
+	int32_t GetAverageValue() const;
 
-	float GetVoltage();
-	float GetAverageVoltage();
+	float GetVoltage() const;
+	float GetAverageVoltage() const;
 
-	uint32_t GetChannel();
+	uint32_t GetChannel() const;
 
 	void SetAverageBits(uint32_t bits);
-	uint32_t GetAverageBits();
+	uint32_t GetAverageBits() const;
 	void SetOversampleBits(uint32_t bits);
-	uint32_t GetOversampleBits();
+	uint32_t GetOversampleBits() const;
 
-	uint32_t GetLSBWeight();
-	int32_t GetOffset();
+	uint32_t GetLSBWeight() const;
+	int32_t GetOffset() const;
 
-	bool IsAccumulatorChannel();
+	bool IsAccumulatorChannel() const;
 	void InitAccumulator();
 	void SetAccumulatorInitialValue(int64_t value);
 	void ResetAccumulator();
 	void SetAccumulatorCenter(int32_t center);
 	void SetAccumulatorDeadband(int32_t deadband);
-	int64_t GetAccumulatorValue();
-	uint32_t GetAccumulatorCount();
-	void GetAccumulatorOutput(int64_t *value, uint32_t *count);
+	int64_t GetAccumulatorValue() const;
+	uint32_t GetAccumulatorCount() const;
+	void GetAccumulatorOutput(int64_t *value, uint32_t *count) const;
 
 	static void SetSampleRate(float samplesPerSecond);
 	static float GetSampleRate();
 
-	double PIDGet();
+	double PIDGet() const override;
 
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 
 private:
 	void InitAnalogInput(uint32_t channel);

wpilibc/wpilibC++Devices/include/AnalogOutput.h

@@ -21,14 +21,14 @@ public:
     virtual ~AnalogOutput();
 
     void SetVoltage(float voltage);
-    float GetVoltage();
+    float GetVoltage() const;
 
-    void UpdateTable();
-    void StartLiveWindowMode();
-    void StopLiveWindowMode();
-    std::string GetSmartDashboardType();
-    void InitTable(ITable *subTable);
-    ITable *GetTable();
+    void UpdateTable() override;
+    void StartLiveWindowMode() override;
+    void StopLiveWindowMode() override;
+    std::string GetSmartDashboardType() const override;
+    void InitTable(ITable *subTable) override;
+    ITable *GetTable() const override;
 
 protected:
     void InitAnalogOutput(uint32_t channel);

wpilibc/wpilibC++Devices/include/AnalogPotentiometer.h

@@ -43,7 +43,7 @@ public:
      *
      * @return The current position of the potentiometer.
      */
-    virtual double Get();
+    virtual double Get() const override;
 
 
     /**
@@ -51,26 +51,26 @@ public:
      *
      * @return The current reading.
      */
-    virtual double PIDGet();
+    virtual double PIDGet() const override;
 
 
     /*
      * Live Window code, only does anything if live window is activated.
      */
-    virtual std::string GetSmartDashboardType();
-    virtual void InitTable(ITable *subtable);
-    virtual void UpdateTable();
-    virtual ITable* GetTable();
+    virtual std::string GetSmartDashboardType() const override;
+    virtual void InitTable(ITable *subtable) override;
+    virtual void UpdateTable() override;
+    virtual ITable* GetTable() const override;
 
     /**
      * AnalogPotentiometers don't have to do anything special when entering the LiveWindow.
      */
-    virtual void StartLiveWindowMode() {}
+    virtual void StartLiveWindowMode() override {}
 
     /**
      * AnalogPotentiometers don't have to do anything special when exiting the LiveWindow.
      */
-    virtual void StopLiveWindowMode() {}
+    virtual void StopLiveWindowMode() override {}
 
 private:
     double m_fullRange, m_offset;

wpilibc/wpilibC++Devices/include/AnalogTriggerOutput.h

@@ -42,12 +42,12 @@ class AnalogTriggerOutput : public DigitalSource
 public:
 
 	virtual ~AnalogTriggerOutput();
-	bool Get();
+	bool Get() const;
 
 	// DigitalSource interface
-	virtual uint32_t GetChannelForRouting();
-	virtual uint32_t GetModuleForRouting();
-	virtual bool GetAnalogTriggerForRouting();
+	virtual uint32_t GetChannelForRouting() const override;
+	virtual uint32_t GetModuleForRouting() const override;
+	virtual bool GetAnalogTriggerForRouting() const override;
 protected:
 	AnalogTriggerOutput(AnalogTrigger *trigger, AnalogTriggerType outputType);
 

wpilibc/wpilibC++Devices/include/BuiltInAccelerometer.h

@@ -21,17 +21,17 @@ public:
         virtual ~BuiltInAccelerometer();
 
 	// Accelerometer interface
-	virtual void SetRange(Range range);
-	virtual double GetX();
-	virtual double GetY();
-	virtual double GetZ();
+	virtual void SetRange(Range range) override;
+	virtual double GetX() override;
+	virtual double GetY() override;
+	virtual double GetZ() override;
 
-	virtual std::string GetSmartDashboardType();
-	virtual void InitTable(ITable *subtable);
-	virtual void UpdateTable();
-	virtual ITable* GetTable();
-	virtual void StartLiveWindowMode() {}
-	virtual void StopLiveWindowMode() {}
+	virtual std::string GetSmartDashboardType() const override;
+	virtual void InitTable(ITable *subtable) override;
+	virtual void UpdateTable() override;
+	virtual ITable* GetTable() const override;
+	virtual void StartLiveWindowMode() override {}
+	virtual void StopLiveWindowMode() override {}
 
 private:
 	ITable *m_table;

wpilibc/wpilibC++Devices/include/CANJaguar.h

@@ -17,6 +17,8 @@
 #include "tables/ITable.h"
 #include "NetworkCommunication/CANSessionMux.h"
 
+#include <atomic>
+#include <mutex>
 #include <utility>
 
 /**
@@ -45,10 +47,10 @@ public:
 	virtual ~CANJaguar();
 
 	uint8_t getDeviceNumber() const;
-	uint8_t GetHardwareVersion();
+	uint8_t GetHardwareVersion() const;
 
 	// PIDOutput interface
-	virtual void PIDWrite(float output);
+	virtual void PIDWrite(float output) override;
 
 	// Control mode methods
 	void EnableControl(double encoderInitialPosition = 0.0);
@@ -76,27 +78,27 @@ public:
 	void SetVoltageMode(PotentiometerStruct);
 
 	// CANSpeedController interface
-	virtual float Get() override;
+	virtual float Get() const override;
 	virtual void Set(float value, uint8_t syncGroup=0) override;
 	virtual void Disable() override;
 	virtual void SetP(double p) override;
 	virtual void SetI(double i) override;
 	virtual void SetD(double d) override;
 	virtual void SetPID(double p, double i, double d) override;
-	virtual double GetP() override;
-	virtual double GetI() override;
-	virtual double GetD() override;
-	virtual float GetBusVoltage() override;
-	virtual float GetOutputVoltage() override;
-	virtual float GetOutputCurrent() override;
-	virtual float GetTemperature() override;
-	virtual double GetPosition() override;
-	virtual double GetSpeed() override;
-	virtual bool GetForwardLimitOK() override;
-	virtual bool GetReverseLimitOK() override;
-	virtual uint16_t GetFaults() override;
+	virtual double GetP() const override;
+	virtual double GetI() const override;
+	virtual double GetD() const override;
+	virtual float GetBusVoltage() const override;
+	virtual float GetOutputVoltage() const override;
+	virtual float GetOutputCurrent() const override;
+	virtual float GetTemperature() const override;
+	virtual double GetPosition() const override;
+	virtual double GetSpeed() const override;
+	virtual bool GetForwardLimitOK() const override;
+	virtual bool GetReverseLimitOK() const override;
+	virtual uint16_t GetFaults() const override;
 	virtual void SetVoltageRampRate(double rampRate) override;
-	virtual uint32_t GetFirmwareVersion() override;
+	virtual uint32_t GetFirmwareVersion() const override;
 	virtual void ConfigNeutralMode(NeutralMode mode) override;
 	virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
 	virtual void ConfigPotentiometerTurns(uint16_t turns) override;
@@ -108,44 +110,46 @@ public:
 	virtual void ConfigMaxOutputVoltage(double voltage) override;
 	virtual void ConfigFaultTime(float faultTime) override;
 	virtual void SetControlMode(ControlMode mode);
-	virtual ControlMode GetControlMode();
+	virtual ControlMode GetControlMode() const;
 
  	static void UpdateSyncGroup(uint8_t syncGroup);
 
-	void SetExpiration(float timeout);
-	float GetExpiration();
-	bool IsAlive();
-	void StopMotor();
-	bool IsSafetyEnabled();
-	void SetSafetyEnabled(bool enabled);
-	void GetDescription(char *desc);
-	uint8_t GetDeviceID();
+	void SetExpiration(float timeout) override;
+	float GetExpiration() const override;
+	bool IsAlive() const override;
+	void StopMotor() override;
+	bool IsSafetyEnabled() const override;
+	void SetSafetyEnabled(bool enabled) override;
+	void GetDescription(char *desc) const override;
+	uint8_t GetDeviceID() const;
 
 protected:
 	// Control mode helpers
 	void SetSpeedReference(uint8_t reference);
-	uint8_t GetSpeedReference();
+	uint8_t GetSpeedReference() const;
 
 	void SetPositionReference(uint8_t reference);
-	uint8_t GetPositionReference();
+	uint8_t GetPositionReference() const;
 
 	uint8_t packPercentage(uint8_t *buffer, double value);
 	uint8_t packFXP8_8(uint8_t *buffer, double value);
 	uint8_t packFXP16_16(uint8_t *buffer, double value);
 	uint8_t packint16_t(uint8_t *buffer, int16_t value);
 	uint8_t packint32_t(uint8_t *buffer, int32_t value);
-	double unpackPercentage(uint8_t *buffer);
-	double unpackFXP8_8(uint8_t *buffer);
-	double unpackFXP16_16(uint8_t *buffer);
-	int16_t unpackint16_t(uint8_t *buffer);
-	int32_t unpackint32_t(uint8_t *buffer);
+	double unpackPercentage(uint8_t *buffer) const;
+	double unpackFXP8_8(uint8_t *buffer) const;
+	double unpackFXP16_16(uint8_t *buffer) const;
+	int16_t unpackint16_t(uint8_t *buffer) const;
+	int32_t unpackint32_t(uint8_t *buffer) const;
 
 	void sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
 	void requestMessage(uint32_t messageID, int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
-	bool getMessage(uint32_t messageID, uint32_t mask, uint8_t *data, uint8_t *dataSize);
+	bool getMessage(uint32_t messageID, uint32_t mask, uint8_t *data, uint8_t *dataSize) const;
 
 	void setupPeriodicStatus();
-	void updatePeriodicStatus();
+	void updatePeriodicStatus() const;
+
+	mutable std::recursive_mutex m_mutex;
 
 	uint8_t m_deviceNumber;
 	float m_value;
@@ -185,21 +189,21 @@ protected:
 	bool m_faultTimeVerified;
 
 	// Status data
-	float m_busVoltage;
-	float m_outputVoltage;
-	float m_outputCurrent;
-	float m_temperature;
-	double m_position;
-	double m_speed;
-	uint8_t m_limits;
-	uint16_t m_faults;
+	mutable float m_busVoltage;
+	mutable float m_outputVoltage;
+	mutable float m_outputCurrent;
+	mutable float m_temperature;
+	mutable double m_position;
+	mutable double m_speed;
+	mutable uint8_t m_limits;
+	mutable uint16_t m_faults;
 	uint32_t m_firmwareVersion;
 	uint8_t m_hardwareVersion;
 
 	// Which periodic status messages have we received at least once?
-	bool m_receivedStatusMessage0;
-	bool m_receivedStatusMessage1;
-	bool m_receivedStatusMessage2;
+	mutable std::atomic<bool> m_receivedStatusMessage0;
+	mutable std::atomic<bool> m_receivedStatusMessage1;
+	mutable std::atomic<bool> m_receivedStatusMessage2;
 
 	bool m_controlEnabled;
 
@@ -207,13 +211,13 @@ protected:
 
 	MotorSafetyHelper *m_safetyHelper;
 
-	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) override;
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 
 	ITable *m_table;
 

wpilibc/wpilibC++Devices/include/CANSpeedController.h

@@ -60,27 +60,27 @@ public:
 		kLimitMode_SrxDisableSwitchInputs = 2,
 	};
 
-	virtual float Get() = 0;
+	virtual float Get() const = 0;
 	virtual void Set(float value, uint8_t syncGroup=0) = 0;
 	virtual void Disable() = 0;
 	virtual void SetP(double p) = 0;
 	virtual void SetI(double i) = 0;
 	virtual void SetD(double d) = 0;
 	virtual void SetPID(double p, double i, double d) = 0;
-	virtual double GetP() = 0;
-	virtual double GetI() = 0;
-	virtual double GetD() = 0;
-	virtual float GetBusVoltage() = 0;
-	virtual float GetOutputVoltage() = 0;
-	virtual float GetOutputCurrent() = 0;
-	virtual float GetTemperature() = 0;
-	virtual double GetPosition() = 0;
-	virtual double GetSpeed() = 0;
-	virtual bool GetForwardLimitOK() = 0;
-	virtual bool GetReverseLimitOK() = 0;
-	virtual uint16_t GetFaults() = 0;
+	virtual double GetP() const = 0;
+	virtual double GetI() const = 0;
+	virtual double GetD() const = 0;
+	virtual float GetBusVoltage() const = 0;
+	virtual float GetOutputVoltage() const = 0;
+	virtual float GetOutputCurrent() const = 0;
+	virtual float GetTemperature() const = 0;
+	virtual double GetPosition() const = 0;
+	virtual double GetSpeed() const = 0;
+	virtual bool GetForwardLimitOK() const = 0;
+	virtual bool GetReverseLimitOK() const = 0;
+	virtual uint16_t GetFaults() const = 0;
 	virtual void SetVoltageRampRate(double rampRate) = 0;
-	virtual uint32_t GetFirmwareVersion() = 0;
+	virtual uint32_t GetFirmwareVersion() const = 0;
 	virtual void ConfigNeutralMode(NeutralMode mode) = 0;
 	virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
 	virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
@@ -93,5 +93,5 @@ public:
 	virtual void ConfigFaultTime(float faultTime) = 0;
   // Hold off on interface until we figure out ControlMode enums.
 //	virtual void SetControlMode(ControlMode mode) = 0;
-//	virtual ControlMode GetControlMode() = 0;
+//	virtual ControlMode GetControlMode() const = 0;
 };

wpilibc/wpilibC++Devices/include/CANTalon.h

@@ -46,15 +46,15 @@ public:
 
 	// MotorSafety interface
 	virtual void SetExpiration(float timeout) override;
-	virtual float GetExpiration() override;
-	virtual bool IsAlive() override;
+	virtual float GetExpiration() const override;
+	virtual bool IsAlive() const override;
 	virtual void StopMotor() override;
 	virtual void SetSafetyEnabled(bool enabled) override;
-	virtual bool IsSafetyEnabled() override;
-	virtual void GetDescription(char *desc) override;
+	virtual bool IsSafetyEnabled() const override;
+	virtual void GetDescription(char *desc) const override;
 
 	// CANSpeedController interface
-	virtual float Get() override;
+	virtual float Get() const override;
 	virtual void Set(float value, uint8_t syncGroup=0) override;
 	virtual void Disable() override;
   virtual void EnableControl();
@@ -65,37 +65,37 @@ public:
 	void SetIzone(unsigned iz);
 	virtual void SetPID(double p, double i, double d) override;
 	void SetPID(double p, double i, double d, double f);
-	virtual double GetP() override;
-	virtual double GetI() override;
-	virtual double GetD() override;
-	double GetF();
-	virtual float GetBusVoltage() override;
-	virtual float GetOutputVoltage() override;
-	virtual float GetOutputCurrent() override;
-	virtual float GetTemperature() override;
+	virtual double GetP() const override;
+	virtual double GetI() const override;
+	virtual double GetD() const override;
+	double GetF() const;
+	virtual float GetBusVoltage() const override;
+	virtual float GetOutputVoltage() const override;
+	virtual float GetOutputCurrent() const override;
+	virtual float GetTemperature() const override;
 	void SetPosition(double pos);
-	virtual double GetPosition() override;
-	virtual double GetSpeed() override;
-  virtual int GetClosedLoopError();
-  virtual int GetAnalogIn();
-  virtual int GetAnalogInRaw();
-  virtual int GetAnalogInVel();
-  virtual int GetEncPosition();
-  virtual int GetEncVel();
-	int GetPinStateQuadA();
-	int GetPinStateQuadB();
-	int GetPinStateQuadIdx();
-	int IsFwdLimitSwitchClosed();
-	int IsRevLimitSwitchClosed();
-	int GetNumberOfQuadIdxRises();
+	virtual double GetPosition() const override;
+	virtual double GetSpeed() const override;
+  virtual int GetClosedLoopError() const;
+  virtual int GetAnalogIn() const;
+  virtual int GetAnalogInRaw() const;
+  virtual int GetAnalogInVel() const;
+  virtual int GetEncPosition() const;
+  virtual int GetEncVel() const;
+	int GetPinStateQuadA() const;
+	int GetPinStateQuadB() const;
+	int GetPinStateQuadIdx() const;
+	int IsFwdLimitSwitchClosed() const;
+	int IsRevLimitSwitchClosed() const;
+	int GetNumberOfQuadIdxRises() const;
 	void SetNumberOfQuadIdxRises(int rises);
-	virtual bool GetForwardLimitOK() override;
-	virtual bool GetReverseLimitOK() override;
-	virtual uint16_t GetFaults() override;
-	uint16_t GetStickyFaults();
+	virtual bool GetForwardLimitOK() const override;
+	virtual bool GetReverseLimitOK() const override;
+	virtual uint16_t GetFaults() const override;
+	uint16_t GetStickyFaults() const;
 	void ClearStickyFaults();
 	virtual void SetVoltageRampRate(double rampRate) override;
-	virtual uint32_t GetFirmwareVersion() override;
+	virtual uint32_t GetFirmwareVersion() const override;
 	virtual void ConfigNeutralMode(NeutralMode mode) override;
 	virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
 	virtual void ConfigPotentiometerTurns(uint16_t turns) override;
@@ -131,26 +131,26 @@ public:
 	virtual void SetControlMode(ControlMode mode);
   void SetFeedbackDevice(FeedbackDevice device);
 	void SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs);
-	virtual ControlMode GetControlMode();
+	virtual ControlMode GetControlMode() const;
 	void SetSensorDirection(bool reverseSensor);
 	void SetCloseLoopRampRate(double rampRate);
 	void SelectProfileSlot(int slotIdx);
-	int GetIzone();
-	int GetIaccum();
+	int GetIzone() const;
+	int GetIaccum() const;
 	void ClearIaccum();
-	int GetBrakeEnableDuringNeutral();
+	int GetBrakeEnableDuringNeutral() const;
 
-  bool IsControlEnabled();
-  double GetSetpoint();
+  bool IsControlEnabled() const;
+  double GetSetpoint() const;
 
   // LiveWindow stuff.
-	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) override;
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 private:
   // Values for various modes as is sent in the CAN packets for the Talon.
   enum TalonControlMode {

wpilibc/wpilibC++Devices/include/Compressor.h

@@ -23,29 +23,29 @@ public:
 
 	void Start();
 	void Stop();
-	bool Enabled();
+	bool Enabled() const;
 
-	bool GetPressureSwitchValue();
+	bool GetPressureSwitchValue() const;
 
-	float GetCompressorCurrent();
+	float GetCompressorCurrent() const;
 
 	void SetClosedLoopControl(bool on);
-	bool GetClosedLoopControl();
+	bool GetClosedLoopControl() const;
 
-	bool GetCompressorCurrentTooHighFault();
-	bool GetCompressorCurrentTooHighStickyFault();
-	bool GetCompressorShortedStickyFault();
-	bool GetCompressorShortedFault();
-	bool GetCompressorNotConnectedStickyFault();
-	bool GetCompressorNotConnectedFault();
+	bool GetCompressorCurrentTooHighFault() const;
+	bool GetCompressorCurrentTooHighStickyFault() const;
+	bool GetCompressorShortedStickyFault() const;
+	bool GetCompressorShortedFault() const;
+	bool GetCompressorNotConnectedStickyFault() const;
+	bool GetCompressorNotConnectedFault() const;
 	void ClearAllPCMStickyFaults();
 
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable *GetTable();
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable *GetTable() const override;
 	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
 
 protected:

wpilibc/wpilibC++Devices/include/Counter.h

@@ -58,26 +58,27 @@ public:
 	void SetReverseDirection(bool reverseDirection);
 
 	// CounterBase interface
-	int32_t Get();
-	void Reset();
-	double GetPeriod();
-	void SetMaxPeriod(double maxPeriod);
+	int32_t Get() const override;
+	void Reset() override;
+	double GetPeriod() const override;
+	void SetMaxPeriod(double maxPeriod) override;
 	void SetUpdateWhenEmpty(bool enabled);
-	bool GetStopped();
-	bool GetDirection();
+	bool GetStopped() const override;
+	bool GetDirection() const override;
+
 	void SetSamplesToAverage(int samplesToAverage);
-	int GetSamplesToAverage();
-	uint32_t GetFPGAIndex()
+	int GetSamplesToAverage() const;
+	uint32_t GetFPGAIndex() const
 	{
 		return m_index;
 	}
 
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	virtual std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	virtual std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 protected:
 	DigitalSource *m_upSource;		///< What makes the counter count up.
 	DigitalSource *m_downSource;	///< What makes the counter count down.

wpilibc/wpilibC++Devices/include/CounterBase.h

@@ -26,10 +26,10 @@ public:
 	};
 
 	virtual ~CounterBase() {}
-	virtual int32_t Get() = 0;
+	virtual int32_t Get() const = 0;
 	virtual void Reset() = 0;
-	virtual double GetPeriod() = 0;
+	virtual double GetPeriod() const = 0;
 	virtual void SetMaxPeriod(double maxPeriod) = 0;
-	virtual bool GetStopped() = 0;
-	virtual bool GetDirection() = 0;
+	virtual bool GetStopped() const = 0;
+	virtual bool GetDirection() const = 0;
 };

wpilibc/wpilibC++Devices/include/DigitalInput.h

@@ -20,20 +20,20 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable
 public:
 	explicit DigitalInput(uint32_t channel);
 	virtual ~DigitalInput();
-	bool Get();
-	uint32_t GetChannel();
+	bool Get() const;
+	uint32_t GetChannel() const;
 
 	// Digital Source Interface
-	virtual uint32_t GetChannelForRouting();
-	virtual uint32_t GetModuleForRouting();
-	virtual bool GetAnalogTriggerForRouting();
+	virtual uint32_t GetChannelForRouting() const;
+	virtual uint32_t GetModuleForRouting() const;
+	virtual bool GetAnalogTriggerForRouting() const;
 
 	void UpdateTable();
 	void StartLiveWindowMode();
 	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
+	std::string GetSmartDashboardType() const;
 	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	ITable * GetTable() const;
 
 private:
 	void InitDigitalInput(uint32_t channel);

wpilibc/wpilibC++Devices/include/DigitalOutput.h

@@ -20,26 +20,26 @@ public:
 	explicit DigitalOutput(uint32_t channel);
 	virtual ~DigitalOutput();
 	void Set(uint32_t value);
-	uint32_t GetChannel();
+	uint32_t GetChannel() const;
 	void Pulse(float length);
-	bool IsPulsing();
+	bool IsPulsing() const;
 	void SetPWMRate(float rate);
 	void EnablePWM(float initialDutyCycle);
 	void DisablePWM();
 	void UpdateDutyCycle(float dutyCycle);
 
 	// Digital Source Interface
-	virtual uint32_t GetChannelForRouting();
-	virtual uint32_t GetModuleForRouting();
-	virtual bool GetAnalogTriggerForRouting();
+	virtual uint32_t GetChannelForRouting() const;
+	virtual uint32_t GetModuleForRouting() const;
+	virtual bool GetAnalogTriggerForRouting() const;
 
 	virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
 	void UpdateTable();
 	void StartLiveWindowMode();
 	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
+	std::string GetSmartDashboardType() const;
 	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	ITable * GetTable() const;
 
 private:
 	void InitDigitalOutput(uint32_t channel);

wpilibc/wpilibC++Devices/include/DigitalSource.h

@@ -18,7 +18,7 @@ class DigitalSource : public InterruptableSensorBase
 {
 public:
 	virtual ~DigitalSource();
-	virtual uint32_t GetChannelForRouting() = 0;
-	virtual uint32_t GetModuleForRouting() = 0;
-	virtual bool GetAnalogTriggerForRouting() = 0;
+	virtual uint32_t GetChannelForRouting() const = 0;
+	virtual uint32_t GetModuleForRouting() const = 0;
+	virtual bool GetAnalogTriggerForRouting() const = 0;
 };

wpilibc/wpilibC++Devices/include/DoubleSolenoid.h

@@ -30,17 +30,17 @@ public:
 	DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, uint32_t reverseChannel);
 	virtual ~DoubleSolenoid();
 	virtual void Set(Value value);
-	virtual Value Get();
-	bool IsFwdSolenoidBlackListed();
-	bool IsRevSolenoidBlackListed();
+	virtual Value Get() const;
+	bool IsFwdSolenoidBlackListed() const;
+	bool IsRevSolenoidBlackListed() const;
 
 	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
 	void UpdateTable();
 	void StartLiveWindowMode();
 	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
+	std::string GetSmartDashboardType() const;
 	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	ITable * GetTable() const;
 
 private:
 	virtual void InitSolenoid();

wpilibc/wpilibC++Devices/include/DriverStation.h

@@ -34,34 +34,34 @@ public:
 
 	float GetStickAxis(uint32_t stick, uint32_t axis);
 	int GetStickPOV(uint32_t stick, uint32_t pov);
-	uint32_t GetStickButtons(uint32_t stick);
+	uint32_t GetStickButtons(uint32_t stick) const;
 	bool GetStickButton(uint32_t stick, uint8_t button);
 
-	int GetStickAxisCount(uint32_t stick);
-	int GetStickPOVCount(uint32_t stick);
-	int GetStickButtonCount(uint32_t stick);
-	
-	bool GetJoystickIsXbox(uint32_t stick);
-	int GetJoystickType(uint32_t stick);
-	std::string GetJoystickName(uint32_t stick);
-	int GetJoystickAxisType(uint32_t stick, uint8_t axis);
-	
-	bool IsEnabled();
-	bool IsDisabled();
-	bool IsAutonomous();
-	bool IsOperatorControl();
-	bool IsTest();
-	bool IsDSAttached();
-	bool IsNewControlData();
-	bool IsFMSAttached();
-	bool IsSysActive();
-	bool IsSysBrownedOut();
+	int GetStickAxisCount(uint32_t stick) const;
+	int GetStickPOVCount(uint32_t stick) const;
+	int GetStickButtonCount(uint32_t stick) const;
 
-	Alliance GetAlliance();
-	uint32_t GetLocation();
+	bool GetJoystickIsXbox(uint32_t stick) const;
+	int GetJoystickType(uint32_t stick) const;
+	std::string GetJoystickName(uint32_t stick) const;
+	int GetJoystickAxisType(uint32_t stick, uint8_t axis) const;
+
+	bool IsEnabled() const override;
+	bool IsDisabled() const override;
+	bool IsAutonomous() const override;
+	bool IsOperatorControl() const override;
+	bool IsTest() const override;
+	bool IsDSAttached() const;
+	bool IsNewControlData() const;
+	bool IsFMSAttached() const;
+	bool IsSysActive() const;
+	bool IsSysBrownedOut() const;
+	
+	Alliance GetAlliance() const;
+	uint32_t GetLocation() const;
 	void WaitForData();
-	double GetMatchTime();
-	float GetBatteryVoltage();
+	double GetMatchTime() const;
+	float GetBatteryVoltage() const;
 
 	/** Only to be used to tell the Driver Station what code you claim to be executing
 	 *   for diagnostic purposes only

wpilibc/wpilibC++Devices/include/Encoder.h

@@ -40,43 +40,44 @@ public:
 	virtual ~Encoder();
 
 	// CounterBase interface
-	int32_t Get();
-	int32_t GetRaw();
-	int32_t GetEncodingScale();
-	void Reset();
-	double GetPeriod();
-	void SetMaxPeriod(double maxPeriod);
-	bool GetStopped();
-	bool GetDirection();
-	double GetDistance();
-	double GetRate();
+	int32_t Get() const override;
+	int32_t GetRaw() const;
+	int32_t GetEncodingScale() const;
+	void Reset() override;
+	double GetPeriod() const override;
+	void SetMaxPeriod(double maxPeriod) override;
+	bool GetStopped() const override;
+	bool GetDirection() const override;
+
+	double GetDistance() const;
+	double GetRate() const;
 	void SetMinRate(double minRate);
 	void SetDistancePerPulse(double distancePerPulse);
 	void SetReverseDirection(bool reverseDirection);
 	void SetSamplesToAverage(int samplesToAverage);
-	int GetSamplesToAverage();
+	int GetSamplesToAverage() const;
 	void SetPIDSourceParameter(PIDSourceParameter pidSource);
-	double PIDGet();
+	double PIDGet() const override;
 
 	void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge);
 	void SetIndexSource(DigitalSource *source, IndexingType type = kResetOnRisingEdge);
 	void SetIndexSource(DigitalSource &source, IndexingType type = kResetOnRisingEdge);
 
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 
-	int32_t GetFPGAIndex()
+	int32_t GetFPGAIndex() const
 	{
 		return m_index;
 	}
 
 private:
 	void InitEncoder(bool _reverseDirection, EncodingType encodingType);
-	double DecodingScaleFactor();
+	double DecodingScaleFactor() const;
 
 	DigitalSource *m_aSource;		// the A phase of the quad encoder
 	DigitalSource *m_bSource;		// the B phase of the quad encoder

wpilibc/wpilibC++Devices/include/GearTooth.h

@@ -24,5 +24,5 @@ public:
 	virtual ~GearTooth();
 	void EnableDirectionSensing(bool directionSensitive);
 
-	virtual std::string GetSmartDashboardType();
+	virtual std::string GetSmartDashboardType() const override;
 };

wpilibc/wpilibC++Devices/include/Gyro.h

@@ -34,8 +34,8 @@ public:
 	explicit Gyro(AnalogInput *channel);
 	explicit Gyro(AnalogInput &channel);
 	virtual ~Gyro();
-	virtual float GetAngle();
-	virtual double GetRate();
+	virtual float GetAngle() const;
+	virtual double GetRate() const;
 	void SetSensitivity(float voltsPerDegreePerSecond);
 	void SetDeadband(float volts);
 	void SetPIDSourceParameter(PIDSourceParameter pidSource);
@@ -43,14 +43,14 @@ public:
 	void InitGyro();
 
 	// PIDSource interface
-	double PIDGet();
+	double PIDGet() const override;
 
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 
 protected:
 	AnalogInput *m_analog;

wpilibc/wpilibC++Devices/include/InterruptableSensorBase.h

@@ -21,9 +21,9 @@ public:
 
 	InterruptableSensorBase();
 	virtual ~InterruptableSensorBase();
-	virtual uint32_t GetChannelForRouting() = 0;
-	virtual uint32_t GetModuleForRouting() = 0;
-	virtual bool GetAnalogTriggerForRouting() = 0;
+	virtual uint32_t GetChannelForRouting() const = 0;
+	virtual uint32_t GetModuleForRouting() const = 0;
+	virtual bool GetAnalogTriggerForRouting() const = 0;
 	virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param); ///< Asynchronus handler version.
 	virtual void RequestInterrupts();		///< Synchronus Wait version.
 	virtual void CancelInterrupts();			///< Free up the underlying chipobject functions.

wpilibc/wpilibC++Devices/include/Jaguar.h

@@ -18,10 +18,10 @@ public:
 	explicit Jaguar(uint32_t channel);
 	virtual ~Jaguar();
 	virtual void Set(float value, uint8_t syncGroup = 0);
-	virtual float Get();
+	virtual float Get() const;
 	virtual void Disable();
 
-	virtual void PIDWrite(float output);
+	virtual void PIDWrite(float output) override;
 
 private:
 	void InitJaguar();

wpilibc/wpilibC++Devices/include/Joystick.h

@@ -50,37 +50,37 @@ public:
 	Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
 	virtual ~Joystick();
 
-	uint32_t GetAxisChannel(AxisType axis);
+	uint32_t GetAxisChannel(AxisType axis) const;
 	void SetAxisChannel(AxisType axis, uint32_t channel);
 
-	virtual float GetX(JoystickHand hand = kRightHand);
-	virtual float GetY(JoystickHand hand = kRightHand);
-	virtual float GetZ();
-	virtual float GetTwist();
-	virtual float GetThrottle();
-	virtual float GetAxis(AxisType axis);
-	float GetRawAxis(uint32_t axis);
+	virtual float GetX(JoystickHand hand = kRightHand) const override;
+	virtual float GetY(JoystickHand hand = kRightHand) const override;
+	virtual float GetZ() const override;
+	virtual float GetTwist() const override;
+	virtual float GetThrottle() const override;
+	virtual float GetAxis(AxisType axis) const;
+	float GetRawAxis(uint32_t axis) const override;
 
-	virtual bool GetTrigger(JoystickHand hand = kRightHand);
-	virtual bool GetTop(JoystickHand hand = kRightHand);
-	virtual bool GetBumper(JoystickHand hand = kRightHand);
-	virtual bool GetRawButton(uint32_t button);
-	virtual int GetPOV(uint32_t pov = 0);
-	bool GetButton(ButtonType button);
+	virtual bool GetTrigger(JoystickHand hand = kRightHand) const override;
+	virtual bool GetTop(JoystickHand hand = kRightHand) const override;
+	virtual bool GetBumper(JoystickHand hand = kRightHand) const override;
+	virtual bool GetRawButton(uint32_t button) const override;
+	virtual int GetPOV(uint32_t pov = 0) const override;
+	bool GetButton(ButtonType button) const;
 	static Joystick* GetStickForPort(uint32_t port);
 
-	virtual float GetMagnitude();
-	virtual float GetDirectionRadians();
-	virtual float GetDirectionDegrees();
+	virtual float GetMagnitude() const;
+	virtual float GetDirectionRadians() const;
+	virtual float GetDirectionDegrees() const;
 
-	bool GetIsXbox();
-	Joystick::HIDType GetType();
-	std::string GetName();
-	int GetAxisType(uint8_t axis);
+	bool GetIsXbox() const;
+	Joystick::HIDType GetType() const;
+	std::string GetName() const;
+	int GetAxisType(uint8_t axis) const;
 	
-	int GetAxisCount();
-	int GetButtonCount();
-	int GetPOVCount();
+	int GetAxisCount() const;
+	int GetButtonCount() const;
+	int GetPOVCount() const;
 	
 	void SetRumble(RumbleType type, float value);
 	void SetOutput(uint8_t outputNumber, bool value);

wpilibc/wpilibC++Devices/include/MotorSafety.h

@@ -11,10 +11,10 @@ class MotorSafety
 {
 public:
 	virtual void SetExpiration(float timeout) = 0;
-	virtual float GetExpiration() = 0;
-	virtual bool IsAlive() = 0;
+	virtual float GetExpiration() const = 0;
+	virtual bool IsAlive() const = 0;
 	virtual void StopMotor() = 0;
 	virtual void SetSafetyEnabled(bool enabled) = 0;
-	virtual bool IsSafetyEnabled() = 0;
-	virtual void GetDescription(char *desc) = 0;
+	virtual bool IsSafetyEnabled() const = 0;
+	virtual void GetDescription(char *desc) const = 0;
 };

wpilibc/wpilibC++Devices/include/MotorSafetyHelper.h

@@ -17,17 +17,17 @@ public:
 	~MotorSafetyHelper();
 	void Feed();
 	void SetExpiration(float expirationTime);
-	float GetExpiration();
-	bool IsAlive();
+	float GetExpiration() const;
+	bool IsAlive() const;
 	void Check();
 	void SetSafetyEnabled(bool enabled);
-	bool IsSafetyEnabled();
+	bool IsSafetyEnabled() const;
 	static void CheckMotors();
 private:
 	double m_expiration;			// the expiration time for this object
 	bool m_enabled;					// true if motor safety is enabled for this motor
 	double m_stopTime; 				// the FPGA clock value when this motor has expired
-	ReentrantSemaphore m_syncMutex;			// protect accesses to the state for this object
+	mutable ReentrantSemaphore m_syncMutex;			// protect accesses to the state for this object
 	MotorSafety *m_safeObject;		// the object that is using the helper
 	MotorSafetyHelper *m_nextHelper; // next object in the list of MotorSafetyHelpers
 	static MotorSafetyHelper *m_headHelper; // the head of the list of MotorSafetyHelper objects

wpilibc/wpilibC++Devices/include/PWM.h

@@ -38,14 +38,14 @@ public:
 	explicit PWM(uint32_t channel);
 	virtual ~PWM();
 	virtual void SetRaw(unsigned short value);
-	virtual unsigned short GetRaw();
+	virtual unsigned short GetRaw() const;
 	void SetPeriodMultiplier(PeriodMultiplier mult);
 	void SetZeroLatch();
 	void EnableDeadbandElimination(bool eliminateDeadband);
 	void SetBounds(int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin,
 			int32_t min);
 	void SetBounds(double max, double deadbandMax, double center, double deadbandMin, double min);
-	uint32_t GetChannel()
+	uint32_t GetChannel() const
 	{
 		return m_channel;
 	}
@@ -79,9 +79,9 @@ protected:
 	static const int32_t kPwmDisabled = 0;
 
 	virtual void SetPosition(float pos);
-	virtual float GetPosition();
+	virtual float GetPosition() const;
 	virtual void SetSpeed(float speed);
-	virtual float GetSpeed();
+	virtual float GetSpeed() const;
 
 	bool m_eliminateDeadband;
 	int32_t m_maxPwm;
@@ -90,48 +90,48 @@ protected:
 	int32_t m_deadbandMinPwm;
 	int32_t m_minPwm;
 
-	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) override;
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 
 	ITable *m_table;
 
 private:
 	void InitPWM(uint32_t channel);
 	uint32_t m_channel;
-	int32_t GetMaxPositivePwm()
+	int32_t GetMaxPositivePwm() const
 	{
 		return m_maxPwm;
 	}
-	int32_t GetMinPositivePwm()
+	int32_t GetMinPositivePwm() const
 	{
 		return m_eliminateDeadband ? m_deadbandMaxPwm : m_centerPwm + 1;
 	}
-	int32_t GetCenterPwm()
+	int32_t GetCenterPwm() const
 	{
 		return m_centerPwm;
 	}
-	int32_t GetMaxNegativePwm()
+	int32_t GetMaxNegativePwm() const
 	{
 		return m_eliminateDeadband ? m_deadbandMinPwm : m_centerPwm - 1;
 	}
-	int32_t GetMinNegativePwm()
+	int32_t GetMinNegativePwm() const
 	{
 		return m_minPwm;
 	}
-	int32_t GetPositiveScaleFactor()
+	int32_t GetPositiveScaleFactor() const
 	{
 		return GetMaxPositivePwm() - GetMinPositivePwm();
 	} ///< The scale for positive speeds.
-	int32_t GetNegativeScaleFactor()
+	int32_t GetNegativeScaleFactor() const
 	{
 		return GetMaxNegativePwm() - GetMinNegativePwm();
 	} ///< The scale for negative speeds.
-	int32_t GetFullRangeScaleFactor()
+	int32_t GetFullRangeScaleFactor() const
 	{
 		return GetMaxPositivePwm() - GetMinNegativePwm();
 	} ///< The scale for positions.

wpilibc/wpilibC++Devices/include/PowerDistributionPanel.h

@@ -21,21 +21,21 @@ class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
 		PowerDistributionPanel();
 		PowerDistributionPanel(uint8_t module);
 		
-		double GetVoltage();
-		double GetTemperature();
-		double GetCurrent(uint8_t channel);
-		double GetTotalCurrent();
-		double GetTotalPower();
-		double GetTotalEnergy();
+		double GetVoltage() const;
+		double GetTemperature() const;
+		double GetCurrent(uint8_t channel) const;
+		double GetTotalCurrent() const;
+		double GetTotalPower() const;
+		double GetTotalEnergy() const;
 		void ResetTotalEnergy();
 		void ClearStickyFaults();
 
-		void UpdateTable();
-		void StartLiveWindowMode();
-		void StopLiveWindowMode();
-		std::string GetSmartDashboardType();
-		void InitTable(ITable *subTable);
-		ITable * GetTable();
+		void UpdateTable() override;
+		void StartLiveWindowMode() override;
+		void StopLiveWindowMode() override;
+		std::string GetSmartDashboardType() const override;
+		void InitTable(ITable *subTable) override;
+		ITable * GetTable() const override;
 
 	private:
 		ITable *m_table;

wpilibc/wpilibC++Devices/include/Preferences.h

@@ -52,7 +52,7 @@ public:
 	bool ContainsKey(const char *key);
 	void Remove(const char *key);
 
-	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
+	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) override;
 
 protected:
 	Preferences();

wpilibc/wpilibC++Devices/include/Relay.h

@@ -40,15 +40,15 @@ public:
 	virtual ~Relay();
 
 	void Set(Value value);
-	Value Get();
+	Value Get() const;
 
-	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) override;
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 
 	ITable *m_table;
 

wpilibc/wpilibC++Devices/include/RobotBase.h

@@ -35,12 +35,12 @@ public:
 	static RobotBase &getInstance();
 	static void setInstance(RobotBase* robot);
 
-	bool IsEnabled();
-	bool IsDisabled();
-	bool IsAutonomous();
-	bool IsOperatorControl();
-	bool IsTest();
-	bool IsNewDataAvailable();
+	bool IsEnabled() const;
+	bool IsDisabled() const;
+	bool IsAutonomous() const;
+	bool IsOperatorControl() const;
+	bool IsTest() const;
+	bool IsNewDataAvailable() const;
 	static void startRobotTask(FUNCPTR factory);
 	static void robotTask(FUNCPTR factory, Task *task);
 	virtual void StartCompetition() = 0;

wpilibc/wpilibC++Devices/include/RobotDrive.h

@@ -69,13 +69,13 @@ public:
 	void SetMaxOutput(double maxOutput);
 	void SetCANJaguarSyncGroup(uint8_t syncGroup);
 
-	void SetExpiration(float timeout);
-	float GetExpiration();
-	bool IsAlive();
-	void StopMotor();
-	bool IsSafetyEnabled();
-	void SetSafetyEnabled(bool enabled);
-	void GetDescription(char *desc);
+	void SetExpiration(float timeout) override;
+	float GetExpiration() const override;
+	bool IsAlive() const override;
+	void StopMotor() override;
+	bool IsSafetyEnabled() const override;
+	void SetSafetyEnabled(bool enabled) override;
+	void GetDescription(char *desc) const override;
 
 protected:
 	void InitRobotDrive();

wpilibc/wpilibC++Devices/include/SafePWM.h

@@ -24,12 +24,12 @@ public:
 	~SafePWM();
 
 	void SetExpiration(float timeout);
-	float GetExpiration();
-	bool IsAlive();
+	float GetExpiration() const;
+	bool IsAlive() const;
 	void StopMotor();
-	bool IsSafetyEnabled();
+	bool IsSafetyEnabled() const;
 	void SetSafetyEnabled(bool enabled);
-	void GetDescription(char *desc);
+	void GetDescription(char *desc) const;
 
 	virtual void SetSpeed(float speed);
 private:

wpilibc/wpilibC++Devices/include/Servo.h

@@ -21,9 +21,9 @@ public:
 	virtual ~Servo();
 	void Set(float value);
 	void SetOffline();
-	float Get();
+	float Get() const;
 	void SetAngle(float angle);
-	float GetAngle();
+	float GetAngle() const;
 	static float GetMaxAngle()
 	{
 		return kMaxServoAngle;
@@ -33,19 +33,19 @@ public:
 		return kMinServoAngle;
 	}
 
-	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) override;
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 
 	ITable *m_table;
 
 private:
 	void InitServo();
-	float GetServoAngleRange()
+	float GetServoAngleRange() const
 	{
 		return kMaxServoAngle - kMinServoAngle;
 	}

wpilibc/wpilibC++Devices/include/Solenoid.h

@@ -22,16 +22,16 @@ public:
 	Solenoid(uint8_t moduleNumber, uint32_t channel);
 	virtual ~Solenoid();
 	virtual void Set(bool on);
-	virtual bool Get();
-	bool IsBlackListed();
+	virtual bool Get() const;
+	bool IsBlackListed() const;
 
 	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
 	void UpdateTable();
 	void StartLiveWindowMode();
 	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
+	std::string GetSmartDashboardType() const;
 	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	ITable * GetTable() const;
 
 private:
 	void InitSolenoid();

wpilibc/wpilibC++Devices/include/SolenoidBase.h

@@ -19,11 +19,11 @@ class SolenoidBase : public SensorBase
 {
 public:
 	virtual ~SolenoidBase();
-	uint8_t GetAll(int module = 0);
-	
-	uint8_t GetPCMSolenoidBlackList(int module);
-	bool GetPCMSolenoidVoltageStickyFault(int module);
-	bool GetPCMSolenoidVoltageFault(int module);
+	uint8_t GetAll(int module = 0) const;
+
+	uint8_t GetPCMSolenoidBlackList(int module) const;
+	bool GetPCMSolenoidVoltageStickyFault(int module) const;
+	bool GetPCMSolenoidVoltageFault(int module) const;
 	void ClearAllPCMStickyFaults(int module);
 protected:
 	explicit SolenoidBase(uint8_t pcmID);

wpilibc/wpilibC++Devices/include/SpeedController.h

@@ -27,7 +27,7 @@ public:
 	 * 
 	 * @return The current set speed.  Value is between -1.0 and 1.0.
 	 */
-	virtual float Get() = 0;
+	virtual float Get() const = 0;
 	/**
 	 * Common interface for disabling a motor.
 	 */

wpilibc/wpilibC++Devices/include/Talon.h

@@ -18,10 +18,10 @@ public:
 	explicit Talon(uint32_t channel);
 	virtual ~Talon();
 	virtual void Set(float value, uint8_t syncGroup = 0);
-	virtual float Get();
+	virtual float Get() const;
 	virtual void Disable();
 
-	virtual void PIDWrite(float output);
+	virtual void PIDWrite(float output) override;
 
 private:
 	void InitTalon();

wpilibc/wpilibC++Devices/include/TalonSRX.h

@@ -18,11 +18,11 @@ class TalonSRX : public SafePWM, public SpeedController
 public:
 	explicit TalonSRX(uint32_t channel);
 	virtual ~TalonSRX();
-	virtual void Set(float value, uint8_t syncGroup = 0);
-	virtual float Get();
-	virtual void Disable();
+	virtual void Set(float value, uint8_t syncGroup = 0) override;
+	virtual float Get() const override;
+	virtual void Disable() override;
 
-	virtual void PIDWrite(float output);
+	virtual void PIDWrite(float output) override;
 
 private:
 	void InitTalonSRX();

wpilibc/wpilibC++Devices/include/Ultrasonic.h

@@ -39,11 +39,11 @@ public:
 	virtual ~Ultrasonic();
 
 	void Ping();
-	bool IsRangeValid();
+	bool IsRangeValid() const;
 	static void SetAutomaticMode(bool enabling);
-	double GetRangeInches();
-	double GetRangeMM();
-	bool IsEnabled()
+	double GetRangeInches() const;
+	double GetRangeMM() const;
+	bool IsEnabled() const
 	{
 		return m_enabled;
 	}
@@ -52,16 +52,16 @@ public:
 		m_enabled = enable;
 	}
 
-	double PIDGet();
+	double PIDGet() const override;
 	void SetDistanceUnits(DistanceUnit units);
-	DistanceUnit GetDistanceUnits();
+	DistanceUnit GetDistanceUnits() const;
 
-	void UpdateTable();
-	void StartLiveWindowMode();
-	void StopLiveWindowMode();
-	std::string GetSmartDashboardType();
-	void InitTable(ITable *subTable);
-	ITable * GetTable();
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(ITable *subTable) override;
+	ITable * GetTable() const override;
 
 private:
 	void Initialize();

wpilibc/wpilibC++Devices/include/Victor.h

@@ -21,10 +21,10 @@ public:
 	explicit Victor(uint32_t channel);
 	virtual ~Victor();
 	virtual void Set(float value, uint8_t syncGroup = 0);
-	virtual float Get();
+	virtual float Get() const;
 	virtual void Disable();
 
-	virtual void PIDWrite(float output);
+	virtual void PIDWrite(float output) override;
 
 private:
 	void InitVictor();

wpilibc/wpilibC++Devices/include/VictorSP.h

@@ -18,10 +18,10 @@ public:
 	explicit VictorSP(uint32_t channel);
 	virtual ~VictorSP();
 	virtual void Set(float value, uint8_t syncGroup = 0);
-	virtual float Get();
+	virtual float Get() const;
 	virtual void Disable();
 
-	virtual void PIDWrite(float output);
+	virtual void PIDWrite(float output) override;
 
 private:
 	void InitVictorSP();

wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp

@@ -104,7 +104,7 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
 	return data;
 }
 
-std::string ADXL345_I2C::GetSmartDashboardType() {
+std::string ADXL345_I2C::GetSmartDashboardType() const {
 	return "3AxisAccelerometer";
 }
 
@@ -121,6 +121,6 @@ void ADXL345_I2C::UpdateTable() {
 	}
 }
 
-ITable* ADXL345_I2C::GetTable() {
+ITable* ADXL345_I2C::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp

@@ -141,7 +141,7 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations()
 	return data;
 }
 
-std::string ADXL345_SPI::GetSmartDashboardType() {
+std::string ADXL345_SPI::GetSmartDashboardType() const {
 	return "3AxisAccelerometer";
 }
 
@@ -158,6 +158,6 @@ void ADXL345_SPI::UpdateTable() {
 	}
 }
 
-ITable* ADXL345_SPI::GetTable() {
+ITable* ADXL345_SPI::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp

@@ -72,7 +72,7 @@ AnalogAccelerometer::~AnalogAccelerometer()
  *
  * @return The current acceleration of the sensor in Gs.
  */
-float AnalogAccelerometer::GetAcceleration()
+float AnalogAccelerometer::GetAcceleration() const
 {
 	return (m_AnalogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
 }
@@ -107,7 +107,7 @@ void AnalogAccelerometer::SetZero(float zero)
  *
  * @return The current acceleration in Gs.
  */
-double AnalogAccelerometer::PIDGet()
+double AnalogAccelerometer::PIDGet() const
 {
 	return GetAcceleration();
 }
@@ -124,7 +124,7 @@ void AnalogAccelerometer::StartLiveWindowMode() {
 void AnalogAccelerometer::StopLiveWindowMode() {
 }
 
-std::string AnalogAccelerometer::GetSmartDashboardType() {
+std::string AnalogAccelerometer::GetSmartDashboardType() const {
 	return "Accelerometer";
 }
 
@@ -133,6 +133,6 @@ void AnalogAccelerometer::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable * AnalogAccelerometer::GetTable() {
+ITable * AnalogAccelerometer::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/AnalogInput.cpp

@@ -75,7 +75,7 @@ AnalogInput::~AnalogInput()
  * The units are in A/D converter codes.  Use GetVoltage() to get the analog value in calibrated units.
  * @return A sample straight from this channel.
  */
-int16_t AnalogInput::GetValue()
+int16_t AnalogInput::GetValue() const
 {
 	if (StatusIsFatal()) return 0;
 	int32_t status = 0;
@@ -93,7 +93,7 @@ int16_t AnalogInput::GetValue()
  * Use GetAverageVoltage() to get the analog value in calibrated units.
  * @return A sample from the oversample and average engine for this channel.
  */
-int32_t AnalogInput::GetAverageValue()
+int32_t AnalogInput::GetAverageValue() const
 {
 	if (StatusIsFatal()) return 0;
 	int32_t status = 0;
@@ -107,7 +107,7 @@ int32_t AnalogInput::GetAverageValue()
  * The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().
  * @return A scaled sample straight from this channel.
  */
-float AnalogInput::GetVoltage()
+float AnalogInput::GetVoltage() const
 {
 	if (StatusIsFatal()) return 0.0f;
 	int32_t status = 0;
@@ -123,7 +123,7 @@ float AnalogInput::GetVoltage()
  * Using averaging will cause this value to be more stable, but it will update more slowly.
  * @return A scaled sample from the output of the oversample and average engine for this channel.
  */
-float AnalogInput::GetAverageVoltage()
+float AnalogInput::GetAverageVoltage() const
 {
 	if (StatusIsFatal()) return 0.0f;
 	int32_t status = 0;
@@ -139,7 +139,7 @@ float AnalogInput::GetAverageVoltage()
  *
  * @return Least significant bit weight.
  */
-uint32_t AnalogInput::GetLSBWeight()
+uint32_t AnalogInput::GetLSBWeight() const
 {
 	if (StatusIsFatal()) return 0;
 	int32_t status = 0;
@@ -155,7 +155,7 @@ uint32_t AnalogInput::GetLSBWeight()
  *
  * @return Offset constant.
  */
-int32_t AnalogInput::GetOffset()
+int32_t AnalogInput::GetOffset() const
 {
 	if (StatusIsFatal()) return 0;
 	int32_t status = 0;
@@ -168,7 +168,7 @@ int32_t AnalogInput::GetOffset()
  * Get the channel number.
  * @return The channel number.
  */
-uint32_t AnalogInput::GetChannel()
+uint32_t AnalogInput::GetChannel() const
 {
 	if (StatusIsFatal()) return 0;
 	return m_channel;
@@ -197,7 +197,7 @@ void AnalogInput::SetAverageBits(uint32_t bits)
  *
  * @return Number of bits of averaging previously configured.
  */
-uint32_t AnalogInput::GetAverageBits()
+uint32_t AnalogInput::GetAverageBits() const
 {
 	int32_t status = 0;
 	int32_t averageBits = getAnalogAverageBits(m_port, &status);
@@ -228,7 +228,7 @@ void AnalogInput::SetOversampleBits(uint32_t bits)
  *
  * @return Number of bits of oversampling previously configured.
  */
-uint32_t AnalogInput::GetOversampleBits()
+uint32_t AnalogInput::GetOversampleBits() const
 {
 	if (StatusIsFatal()) return 0;
 	int32_t status = 0;
@@ -242,7 +242,7 @@ uint32_t AnalogInput::GetOversampleBits()
  *
  * @return The analog input is attached to an accumulator.
  */
-bool AnalogInput::IsAccumulatorChannel()
+bool AnalogInput::IsAccumulatorChannel() const
 {
 	if (StatusIsFatal()) return false;
 	int32_t status = 0;
@@ -335,7 +335,7 @@ void AnalogInput::SetAccumulatorDeadband(int32_t deadband)
  *
  * @return The 64-bit value accumulated since the last Reset().
  */
-int64_t AnalogInput::GetAccumulatorValue()
+int64_t AnalogInput::GetAccumulatorValue() const
 {
 	if (StatusIsFatal()) return 0;
 	int32_t status = 0;
@@ -351,7 +351,7 @@ int64_t AnalogInput::GetAccumulatorValue()
  *
  * @return The number of times samples from the channel were accumulated.
  */
-uint32_t AnalogInput::GetAccumulatorCount()
+uint32_t AnalogInput::GetAccumulatorCount() const
 {
 	if (StatusIsFatal()) return 0;
 	int32_t status = 0;
@@ -370,7 +370,7 @@ uint32_t AnalogInput::GetAccumulatorCount()
  * @param value Pointer to the 64-bit accumulated output.
  * @param count Pointer to the number of accumulation cycles.
  */
-void AnalogInput::GetAccumulatorOutput(int64_t *value, uint32_t *count)
+void AnalogInput::GetAccumulatorOutput(int64_t *value, uint32_t *count) const
 {
 	if (StatusIsFatal()) return;
 	int32_t status = 0;
@@ -410,7 +410,7 @@ float AnalogInput::GetSampleRate()
  *
  * @return The average voltage.
  */
-double AnalogInput::PIDGet()
+double AnalogInput::PIDGet() const
 {
 	if (StatusIsFatal()) return 0.0;
 	return GetAverageVoltage();
@@ -430,7 +430,7 @@ void AnalogInput::StopLiveWindowMode() {
 
 }
 
-std::string AnalogInput::GetSmartDashboardType() {
+std::string AnalogInput::GetSmartDashboardType() const {
 	return "Analog Input";
 }
 
@@ -439,6 +439,6 @@ void AnalogInput::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable * AnalogInput::GetTable() {
+ITable * AnalogInput::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/AnalogOutput.cpp

@@ -76,7 +76,7 @@ void AnalogOutput::SetVoltage(float voltage) {
  *
  * @return The value in Volts, from 0.0 to +5.0
  */
-float AnalogOutput::GetVoltage() {
+float AnalogOutput::GetVoltage() const {
     int32_t status = 0;
     float voltage = getAnalogOutput(m_port, &status);
 
@@ -97,7 +97,7 @@ void AnalogOutput::StartLiveWindowMode() {
 void AnalogOutput::StopLiveWindowMode() {
 }
 
-std::string AnalogOutput::GetSmartDashboardType() {
+std::string AnalogOutput::GetSmartDashboardType() const {
     return "Analog Output";
 }
 
@@ -106,6 +106,6 @@ void AnalogOutput::InitTable(ITable *subTable) {
     UpdateTable();
 }
 
-ITable *AnalogOutput::GetTable() {
+ITable *AnalogOutput::GetTable() const {
     return m_table;
 }

wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp

@@ -59,7 +59,7 @@ AnalogPotentiometer::~AnalogPotentiometer() {
  *
  * @return The current position of the potentiometer (in the units used for fullRaneg and offset).
  */
-double AnalogPotentiometer::Get() {
+double AnalogPotentiometer::Get() const {
     return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) * m_fullRange + m_offset;
 }
 
@@ -68,7 +68,7 @@ double AnalogPotentiometer::Get() {
  *
  * @return The current reading.
  */
-double AnalogPotentiometer::PIDGet() {
+double AnalogPotentiometer::PIDGet() const {
     return Get();
 }
 
@@ -76,7 +76,7 @@ double AnalogPotentiometer::PIDGet() {
 /**
  * @return the Smart Dashboard Type
  */
-std::string AnalogPotentiometer::GetSmartDashboardType() {
+std::string AnalogPotentiometer::GetSmartDashboardType() const {
     return "Analog Input";
 }
 
@@ -94,6 +94,6 @@ void AnalogPotentiometer::UpdateTable() {
     }
 }
 
-ITable* AnalogPotentiometer::GetTable() {
+ITable* AnalogPotentiometer::GetTable() const {
     return m_table;
 }

wpilibc/wpilibC++Devices/src/AnalogTriggerOutput.cpp

@@ -41,7 +41,7 @@ AnalogTriggerOutput::~AnalogTriggerOutput()
  * Get the state of the analog trigger output.
  * @return The state of the analog trigger output.
  */
-bool AnalogTriggerOutput::Get()
+bool AnalogTriggerOutput::Get() const
 {
   int32_t status = 0;
   bool result = getAnalogTriggerOutput(m_trigger->m_trigger, m_outputType, &status);
@@ -52,7 +52,7 @@ bool AnalogTriggerOutput::Get()
 /**
  * @return The value to be written to the channel field of a routing mux.
  */
-uint32_t AnalogTriggerOutput::GetChannelForRouting()
+uint32_t AnalogTriggerOutput::GetChannelForRouting() const
 {
 	return (m_trigger->m_index << 2) + m_outputType;
 }
@@ -60,7 +60,7 @@ uint32_t AnalogTriggerOutput::GetChannelForRouting()
 /**
  * @return The value to be written to the module field of a routing mux.
  */
-uint32_t AnalogTriggerOutput::GetModuleForRouting()
+uint32_t AnalogTriggerOutput::GetModuleForRouting() const
 {
 	return 0;
 }
@@ -68,7 +68,7 @@ uint32_t AnalogTriggerOutput::GetModuleForRouting()
 /**
  * @return The value to be written to the module field of a routing mux.
  */
-bool AnalogTriggerOutput::GetAnalogTriggerForRouting()
+bool AnalogTriggerOutput::GetAnalogTriggerForRouting() const
 {
 	return true;
 }

wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp

@@ -63,7 +63,7 @@ double BuiltInAccelerometer::GetZ()
 	return getAccelerometerZ();
 }
 
-std::string BuiltInAccelerometer::GetSmartDashboardType() {
+std::string BuiltInAccelerometer::GetSmartDashboardType() const {
 	return "3AxisAccelerometer";
 }
 
@@ -80,6 +80,6 @@ void BuiltInAccelerometer::UpdateTable() {
 	}
 }
 
-ITable* BuiltInAccelerometer::GetTable() {
+ITable* BuiltInAccelerometer::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/CANJaguar.cpp

@@ -374,7 +374,7 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup)
  *
  * @return The most recently set outputValue setpoint.
  */
-float CANJaguar::Get()
+float CANJaguar::Get() const
 {
 	return m_value;
 }
@@ -441,34 +441,34 @@ uint8_t CANJaguar::packint32_t(uint8_t *buffer, int32_t value)
 	return sizeof(int32_t);
 }
 
-double CANJaguar::unpackPercentage(uint8_t *buffer)
+double CANJaguar::unpackPercentage(uint8_t *buffer) const
 {
 	int16_t value = *((int16_t*)buffer);
 	value = swap16(value);
 	return value / 32767.0;
 }
 
-double CANJaguar::unpackFXP8_8(uint8_t *buffer)
+double CANJaguar::unpackFXP8_8(uint8_t *buffer) const
 {
 	int16_t value = *((int16_t*)buffer);
 	value = swap16(value);
 	return value / 256.0;
 }
 
-double CANJaguar::unpackFXP16_16(uint8_t *buffer)
+double CANJaguar::unpackFXP16_16(uint8_t *buffer) const
 {
 	int32_t value = *((int32_t*)buffer);
 	value = swap32(value);
 	return value / 65536.0;
 }
 
-int16_t CANJaguar::unpackint16_t(uint8_t *buffer)
+int16_t CANJaguar::unpackint16_t(uint8_t *buffer) const
 {
 	int16_t value = *((int16_t*)buffer);
 	return swap16(value);
 }
 
-int32_t CANJaguar::unpackint32_t(uint8_t *buffer)
+int32_t CANJaguar::unpackint32_t(uint8_t *buffer) const
 {
 	int32_t value = *((int32_t*)buffer);
 	return swap32(value);
@@ -516,7 +516,7 @@ void CANJaguar::requestMessage(uint32_t messageID, int32_t period)
  *
  * @return true if the message was found.  Otherwise, no new message is available.
  */
-bool CANJaguar::getMessage(uint32_t messageID, uint32_t messageMask, uint8_t *data, uint8_t *dataSize)
+bool CANJaguar::getMessage(uint32_t messageID, uint32_t messageMask, uint8_t *data, uint8_t *dataSize) const
 {
 	uint32_t targetedMessageID = messageID | m_deviceNumber;
 	int32_t status = 0;
@@ -580,33 +580,39 @@ void CANJaguar::setupPeriodicStatus() {
 /**
  * Check for new periodic status updates and unpack them into local variables
  */
-void CANJaguar::updatePeriodicStatus() {
+void CANJaguar::updatePeriodicStatus() const {
 	uint8_t data[8];
 	uint8_t dataSize;
 
 	// Check if a new bus voltage/output voltage/current/temperature message
 	// has arrived and unpack the values into the cached member variables
 	if(getMessage(LM_API_PSTAT_DATA_S0, CAN_MSGID_FULL_M, data, &dataSize)) {
+		m_mutex.lock();
 		m_busVoltage    = unpackFXP8_8(data);
 		m_outputVoltage = unpackPercentage(data + 2) * m_busVoltage;
 		m_outputCurrent = unpackFXP8_8(data + 4);
 		m_temperature   = unpackFXP8_8(data + 6);
+		m_mutex.unlock();
 
 		m_receivedStatusMessage0 = true;
 	}
 
 	// Check if a new position/speed message has arrived and do the same
 	if(getMessage(LM_API_PSTAT_DATA_S1, CAN_MSGID_FULL_M, data, &dataSize)) {
+		m_mutex.lock();
 		m_position = unpackFXP16_16(data);
 		m_speed    = unpackFXP16_16(data + 4);
+		m_mutex.unlock();
 
 		m_receivedStatusMessage1 = true;
 	}
 
 	// Check if a new limits/faults message has arrived and do the same
 	if(getMessage(LM_API_PSTAT_DATA_S2, CAN_MSGID_FULL_M, data, &dataSize)) {
+		m_mutex.lock();
 		m_limits = data[0];
 		m_faults = data[1];
+		m_mutex.unlock();
 
 		m_receivedStatusMessage2 = true;
 	}
@@ -1094,7 +1100,7 @@ void CANJaguar::SetSpeedReference(uint8_t reference)
  * @return A speed reference indicating the currently selected reference device
  * for speed controller mode.
  */
-uint8_t CANJaguar::GetSpeedReference()
+uint8_t CANJaguar::GetSpeedReference() const
 {
 	return m_speedReference;
 }
@@ -1124,7 +1130,7 @@ void CANJaguar::SetPositionReference(uint8_t reference)
  *
  * @return A PositionReference indicating the currently selected reference device for position controller mode.
  */
-uint8_t CANJaguar::GetPositionReference()
+uint8_t CANJaguar::GetPositionReference() const
 {
 	return m_positionReference;
 }
@@ -1253,7 +1259,7 @@ void CANJaguar::SetD(double d)
  *
  * @return The proportional gain.
  */
-double CANJaguar::GetP()
+double CANJaguar::GetP() const
 {
 	if(m_controlMode == kPercentVbus || m_controlMode == kVoltage)
 	{
@@ -1269,7 +1275,7 @@ double CANJaguar::GetP()
  *
  * @return The integral gain.
  */
-double CANJaguar::GetI()
+double CANJaguar::GetI() const
 {
 	if(m_controlMode == kPercentVbus || m_controlMode == kVoltage)
 	{
@@ -1285,7 +1291,7 @@ double CANJaguar::GetI()
  *
  * @return The differential gain.
  */
-double CANJaguar::GetD()
+double CANJaguar::GetD() const
 {
 	if(m_controlMode == kPercentVbus || m_controlMode == kVoltage)
 	{
@@ -1659,7 +1665,7 @@ void CANJaguar::SetControlMode(ControlMode controlMode)
  *
  * @return ControlMode that the Jag is in.
  */
-CANJaguar::ControlMode CANJaguar::GetControlMode()
+CANJaguar::ControlMode CANJaguar::GetControlMode() const
 {
 	return m_controlMode;
 }
@@ -1669,9 +1675,10 @@ CANJaguar::ControlMode CANJaguar::GetControlMode()
  *
  * @return The bus voltage in volts.
  */
-float CANJaguar::GetBusVoltage()
+float CANJaguar::GetBusVoltage() const
 {
 	updatePeriodicStatus();
+	std::lock_guard<std::recursive_mutex> lock(m_mutex);
 
 	return m_busVoltage;
 }
@@ -1681,9 +1688,10 @@ float CANJaguar::GetBusVoltage()
  *
  * @return The output voltage in volts.
  */
-float CANJaguar::GetOutputVoltage()
+float CANJaguar::GetOutputVoltage() const
 {
 	updatePeriodicStatus();
+	std::lock_guard<std::recursive_mutex> lock(m_mutex);
 
 	return m_outputVoltage;
 }
@@ -1693,9 +1701,10 @@ float CANJaguar::GetOutputVoltage()
  *
  * @return The output current in amps.
  */
-float CANJaguar::GetOutputCurrent()
+float CANJaguar::GetOutputCurrent() const
 {
 	updatePeriodicStatus();
+	std::lock_guard<std::recursive_mutex> lock(m_mutex);
 
 	return m_outputCurrent;
 }
@@ -1705,9 +1714,10 @@ float CANJaguar::GetOutputCurrent()
  *
  * @return The temperature of the Jaguar in degrees Celsius.
  */
-float CANJaguar::GetTemperature()
+float CANJaguar::GetTemperature() const
 {
 	updatePeriodicStatus();
+	std::lock_guard<std::recursive_mutex> lock(m_mutex);
 
 	return m_temperature;
 }
@@ -1719,9 +1729,10 @@ float CANJaguar::GetTemperature()
  * @see CANJaguar#ConfigPotentiometerTurns(int)
  * @see CANJaguar#ConfigEncoderCodesPerRev(int)
  */
-double CANJaguar::GetPosition()
+double CANJaguar::GetPosition() const
 {
 	updatePeriodicStatus();
+	std::lock_guard<std::recursive_mutex> lock(m_mutex);
 
 	return m_position;
 }
@@ -1731,9 +1742,10 @@ double CANJaguar::GetPosition()
  *
  * @return The speed of the motor in RPM based on the configured feedback.
  */
-double CANJaguar::GetSpeed()
+double CANJaguar::GetSpeed() const
 {
 	updatePeriodicStatus();
+	std::lock_guard<std::recursive_mutex> lock(m_mutex);
 
 	return m_speed;
 }
@@ -1743,9 +1755,10 @@ double CANJaguar::GetSpeed()
  *
  * @return The motor is allowed to turn in the forward direction when true.
  */
-bool CANJaguar::GetForwardLimitOK()
+bool CANJaguar::GetForwardLimitOK() const
 {
 	updatePeriodicStatus();
+	std::lock_guard<std::recursive_mutex> lock(m_mutex);
 
 	return m_limits & kForwardLimit;
 }
@@ -1755,9 +1768,10 @@ bool CANJaguar::GetForwardLimitOK()
  *
  * @return The motor is allowed to turn in the reverse direction when true.
  */
-bool CANJaguar::GetReverseLimitOK()
+bool CANJaguar::GetReverseLimitOK() const
 {
 	updatePeriodicStatus();
+	std::lock_guard<std::recursive_mutex> lock(m_mutex);
 
 	return m_limits & kReverseLimit;
 }
@@ -1771,9 +1785,10 @@ bool CANJaguar::GetReverseLimitOK()
  * @see #kTemperatureFault
  * @see #kGateDriverFault
  */
-uint16_t CANJaguar::GetFaults()
+uint16_t CANJaguar::GetFaults() const
 {
 	updatePeriodicStatus();
+	std::lock_guard<std::recursive_mutex> lock(m_mutex);
 
 	return m_faults;
 }
@@ -1818,7 +1833,7 @@ void CANJaguar::SetVoltageRampRate(double rampRate)
  *
  * @return The firmware version.  0 if the device did not respond.
  */
-uint32_t CANJaguar::GetFirmwareVersion()
+uint32_t CANJaguar::GetFirmwareVersion() const
 {
 	return m_firmwareVersion;
 }
@@ -1828,7 +1843,7 @@ uint32_t CANJaguar::GetFirmwareVersion()
  *
  * @return The hardware version. 1: Jaguar,  2: Black Jaguar
  */
-uint8_t CANJaguar::GetHardwareVersion()
+uint8_t CANJaguar::GetHardwareVersion() const
 {
 	return m_hardwareVersion;
 }
@@ -2030,19 +2045,19 @@ void CANJaguar::SetExpiration(float timeout)
 	if (m_safetyHelper) m_safetyHelper->SetExpiration(timeout);
 }
 
-float CANJaguar::GetExpiration()
+float CANJaguar::GetExpiration() const
 {
 	if (!m_safetyHelper) return 0.0;
 	return m_safetyHelper->GetExpiration();
 }
 
-bool CANJaguar::IsAlive()
+bool CANJaguar::IsAlive() const
 {
 	if (!m_safetyHelper) return false;
 	return m_safetyHelper->IsAlive();
 }
 
-bool CANJaguar::IsSafetyEnabled()
+bool CANJaguar::IsSafetyEnabled() const
 {
 	if (!m_safetyHelper) return false;
 	return m_safetyHelper->IsSafetyEnabled();
@@ -2053,12 +2068,12 @@ void CANJaguar::SetSafetyEnabled(bool enabled)
 	if (m_safetyHelper) m_safetyHelper->SetSafetyEnabled(enabled);
 }
 
-void CANJaguar::GetDescription(char *desc)
+void CANJaguar::GetDescription(char *desc) const
 {
 	sprintf(desc, "CANJaguar ID %d", m_deviceNumber);
 }
 
-uint8_t CANJaguar::GetDeviceID()
+uint8_t CANJaguar::GetDeviceID() const
 {
 	return m_deviceNumber;
 }
@@ -2103,7 +2118,7 @@ void CANJaguar::StopLiveWindowMode()
 	}
 }
 
-std::string CANJaguar::GetSmartDashboardType()
+std::string CANJaguar::GetSmartDashboardType() const
 {
 	return "Speed Controller";
 }
@@ -2114,7 +2129,7 @@ void CANJaguar::InitTable(ITable *subTable)
 	UpdateTable();
 }
 
-ITable * CANJaguar::GetTable()
+ITable * CANJaguar::GetTable() const
 {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/CANTalon.cpp

@@ -76,7 +76,7 @@ void CANTalon::PIDWrite(float output)
    *
    * @return The current sensor value of the Talon.
    */
-float CANTalon::Get()
+float CANTalon::Get() const
 {
   int value;
   switch(m_controlMode) {
@@ -184,7 +184,7 @@ void CANTalon::EnableControl() {
 /**
  * @return Whether the Talon is currently enabled.
  */
-bool CANTalon::IsControlEnabled() {
+bool CANTalon::IsControlEnabled() const {
   return m_controlEnabled;
 }
 
@@ -322,7 +322,7 @@ void CANTalon::SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs)
  * @return double proportional constant for current profile.
  * @see SelectProfileSlot to choose between the two sets of gains.
  */
-double CANTalon::GetP()
+double CANTalon::GetP() const
 {
   CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_P : CanTalonSRX::eProfileParamSlot0_P;
   // Update the info in m_impl.
@@ -343,7 +343,7 @@ double CANTalon::GetP()
  * TODO documentation (see CANJaguar.cpp)
  * @see SelectProfileSlot to choose between the two sets of gains.
  */
-double CANTalon::GetI()
+double CANTalon::GetI() const
 {
   CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_I : CanTalonSRX::eProfileParamSlot0_I;
   // Update the info in m_impl.
@@ -365,7 +365,7 @@ double CANTalon::GetI()
  * TODO documentation (see CANJaguar.cpp)
  * @see SelectProfileSlot to choose between the two sets of gains.
  */
-double CANTalon::GetD()
+double CANTalon::GetD() const
 {
   CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_D : CanTalonSRX::eProfileParamSlot0_D;
   // Update the info in m_impl.
@@ -386,7 +386,7 @@ double CANTalon::GetD()
  *
  * @see SelectProfileSlot to choose between the two sets of gains.
  */
-double CANTalon::GetF()
+double CANTalon::GetF() const
 {
   CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_F : CanTalonSRX::eProfileParamSlot0_F;
   // Update the info in m_impl.
@@ -406,7 +406,7 @@ double CANTalon::GetF()
 /**
  * @see SelectProfileSlot to choose between the two sets of gains.
  */
-int CANTalon::GetIzone()
+int CANTalon::GetIzone() const
 {
   CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_IZone: CanTalonSRX::eProfileParamSlot0_IZone;
  // Update the info in m_impl.
@@ -427,7 +427,7 @@ int CANTalon::GetIzone()
 /**
  * @return the current setpoint; ie, whatever was last passed to Set().
  */
-double CANTalon::GetSetpoint() {
+double CANTalon::GetSetpoint() const {
   return m_setPoint;
 }
 
@@ -436,7 +436,7 @@ double CANTalon::GetSetpoint() {
  *
  * @return The input voltage in volts.
  */
-float CANTalon::GetBusVoltage()
+float CANTalon::GetBusVoltage() const
 {
   double voltage;
   CTR_Code status = m_impl->GetBatteryV(voltage);
@@ -449,7 +449,7 @@ float CANTalon::GetBusVoltage()
 /**
  * @return The voltage being output by the Talon, in Volts.
  */
-float CANTalon::GetOutputVoltage()
+float CANTalon::GetOutputVoltage() const
 {
   int throttle11;
   CTR_Code status = m_impl->GetAppliedThrottle(throttle11);
@@ -464,7 +464,7 @@ float CANTalon::GetOutputVoltage()
 /**
  *  Returns the current going through the Talon, in Amperes.
  */
-float CANTalon::GetOutputCurrent()
+float CANTalon::GetOutputCurrent() const
 {
   double current;
 
@@ -479,7 +479,7 @@ float CANTalon::GetOutputCurrent()
   /**
    *  Returns temperature of Talon, in degrees Celsius.
    */
-float CANTalon::GetTemperature()
+float CANTalon::GetTemperature() const
 {
   double temp;
 
@@ -505,7 +505,7 @@ void CANTalon::SetPosition(double pos)
  * 			When using an analog encoder (wrapping around 1023 => 0 is possible) the units are still 3.3V per 1023 units.
  * 			When using quadrature, each unit is a quadrature edge (4X) mode.
  */
-double CANTalon::GetPosition()
+double CANTalon::GetPosition() const
 {
   int postition;
 
@@ -533,7 +533,7 @@ void CANTalon::SetSensorDirection(bool reverseSensor)
  *
  * @return the difference between the setpoint and the sensor value.
  */
-int CANTalon::GetClosedLoopError() {
+int CANTalon::GetClosedLoopError() const {
   int error;
   CTR_Code status = m_impl->GetCloseLoopErr(error);
 	if(status != CTR_OKAY) {
@@ -557,7 +557,7 @@ int CANTalon::GetClosedLoopError() {
  * 		An example speed of 200 would then equate to 20% of a rotation per 100ms,
  * 		or 10 rotations per second.
  */
-double CANTalon::GetSpeed()
+double CANTalon::GetSpeed() const
 {
   int speed;
   // TODO convert from int to appropriate units (or at least document it).
@@ -577,7 +577,7 @@ double CANTalon::GetSpeed()
  *								the analog pin of the Talon. The upper 14 bits
  *								tracks the overflows and underflows (continuous sensor).
  */
-int CANTalon::GetAnalogIn()
+int CANTalon::GetAnalogIn() const
 {
   int position;
   CTR_Code status = m_impl->GetAnalogInWithOv(position);
@@ -592,7 +592,7 @@ int CANTalon::GetAnalogIn()
  *
  * @returns The ADC (0 - 1023) on analog pin of the Talon.
  */
-int CANTalon::GetAnalogInRaw()
+int CANTalon::GetAnalogInRaw() const
 {
     return GetAnalogIn() & 0x3FF;
 }
@@ -602,7 +602,7 @@ int CANTalon::GetAnalogInRaw()
  *
  * @returns The value (0 - 1023) on the analog pin of the Talon.
  */
-int CANTalon::GetAnalogInVel()
+int CANTalon::GetAnalogInVel() const
 {
   int vel;
   CTR_Code status = m_impl->GetAnalogInVel(vel);
@@ -618,7 +618,7 @@ int CANTalon::GetAnalogInVel()
  *
  * @returns The value (0 - 1023) on the analog pin of the Talon.
  */
-int CANTalon::GetEncPosition()
+int CANTalon::GetEncPosition() const
 {
   int position;
   CTR_Code status = m_impl->GetEncPosition(position);
@@ -634,7 +634,7 @@ int CANTalon::GetEncPosition()
  *
  * @returns The value (0 - 1023) on the analog pin of the Talon.
  */
-int CANTalon::GetEncVel()
+int CANTalon::GetEncVel() const
 {
   int vel;
   CTR_Code status = m_impl->GetEncVel(vel);
@@ -646,7 +646,7 @@ int CANTalon::GetEncVel()
 /**
  * @return IO level of QUADA pin.
  */
-int CANTalon::GetPinStateQuadA()
+int CANTalon::GetPinStateQuadA() const
 {
 	int retval;
 	CTR_Code status = m_impl->GetQuadApin(retval);
@@ -658,7 +658,7 @@ int CANTalon::GetPinStateQuadA()
 /**
  * @return IO level of QUADB pin.
  */
-int CANTalon::GetPinStateQuadB()
+int CANTalon::GetPinStateQuadB() const
 {
 	int retval;
 	CTR_Code status = m_impl->GetQuadBpin(retval);
@@ -670,7 +670,7 @@ int CANTalon::GetPinStateQuadB()
 /**
  * @return IO level of QUAD Index pin.
  */
-int CANTalon::GetPinStateQuadIdx()
+int CANTalon::GetPinStateQuadIdx() const
 {
 	int retval;
 	CTR_Code status = m_impl->GetQuadIdxpin(retval);
@@ -683,7 +683,7 @@ int CANTalon::GetPinStateQuadIdx()
  * @return '1' iff forward limit switch is closed, 0 iff switch is open.
  * This function works regardless if limit switch feature is enabled.
  */
-int CANTalon::IsFwdLimitSwitchClosed()
+int CANTalon::IsFwdLimitSwitchClosed() const
 {
 	int retval;
 	CTR_Code status = m_impl->GetLimitSwitchClosedFor(retval); /* rename this func, '1' => open, '0' => closed */
@@ -696,7 +696,7 @@ int CANTalon::IsFwdLimitSwitchClosed()
  * @return '1' iff reverse limit switch is closed, 0 iff switch is open.
  * This function works regardless if limit switch feature is enabled.
  */
-int CANTalon::IsRevLimitSwitchClosed()
+int CANTalon::IsRevLimitSwitchClosed() const
 {
 	int retval;
 	CTR_Code status = m_impl->GetLimitSwitchClosedRev(retval); /* rename this func, '1' => open, '0' => closed */
@@ -709,7 +709,7 @@ int CANTalon::IsRevLimitSwitchClosed()
  * Simple accessor for tracked rise eventso index pin.
  * @return number of rising edges on idx pin.
  */
-int CANTalon::GetNumberOfQuadIdxRises()
+int CANTalon::GetNumberOfQuadIdxRises() const
 {
 	int rises;
 	CTR_Code status = m_impl->GetEncIndexRiseEvents(rises); /* rename this func, '1' => open, '0' => closed */
@@ -731,7 +731,7 @@ void CANTalon::SetNumberOfQuadIdxRises(int rises)
 /**
  * TODO documentation (see CANJaguar.cpp)
  */
-bool CANTalon::GetForwardLimitOK()
+bool CANTalon::GetForwardLimitOK() const
 {
 	int limSwit=0;
 	int softLim=0;
@@ -751,7 +751,7 @@ bool CANTalon::GetForwardLimitOK()
 /**
  * TODO documentation (see CANJaguar.cpp)
  */
-bool CANTalon::GetReverseLimitOK()
+bool CANTalon::GetReverseLimitOK() const
 {
 	int limSwit=0;
 	int softLim=0;
@@ -771,7 +771,7 @@ bool CANTalon::GetReverseLimitOK()
 /**
  * TODO documentation (see CANJaguar.cpp)
  */
-uint16_t CANTalon::GetFaults()
+uint16_t CANTalon::GetFaults() const
 {
 	uint16_t retval = 0;
 	int val;
@@ -821,7 +821,7 @@ uint16_t CANTalon::GetFaults()
 
 	return retval;
 }
-uint16_t CANTalon::GetStickyFaults()
+uint16_t CANTalon::GetStickyFaults() const
 {
 	uint16_t retval = 0;
 	int val;
@@ -913,7 +913,7 @@ void CANTalon::SetCloseLoopRampRate(double rampRate)
 /**
  * @return The version of the firmware running on the Talon
  */
-uint32_t CANTalon::GetFirmwareVersion()
+uint32_t CANTalon::GetFirmwareVersion() const
 {
 	int firmwareVersion;
 	CTR_Code status = m_impl->RequestParam(CanTalonSRX::eFirmVers);
@@ -937,7 +937,7 @@ uint32_t CANTalon::GetFirmwareVersion()
 /**
  * @return The accumulator for I gain.
  */
-int CANTalon::GetIaccum()
+int CANTalon::GetIaccum() const
 {
 	CTR_Code status = m_impl->RequestParam(CanTalonSRX::ePidIaccum);
 	if(status != CTR_OKAY) {
@@ -987,7 +987,7 @@ void CANTalon::ConfigNeutralMode(NeutralMode mode)
 /**
  * @return nonzero if brake is enabled during neutral.  Zero if coast is enabled during neutral.
  */
-int CANTalon::GetBrakeEnableDuringNeutral()
+int CANTalon::GetBrakeEnableDuringNeutral() const
 {
   int brakeEn = 0;
   CTR_Code status = m_impl->GetBrakeIsEnabled(brakeEn);
@@ -1217,7 +1217,7 @@ void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
 /**
  * TODO documentation (see CANJaguar.cpp)
  */
-CANSpeedController::ControlMode CANTalon::GetControlMode()
+CANSpeedController::ControlMode CANTalon::GetControlMode() const
 {
   return m_controlMode;
 }
@@ -1227,17 +1227,17 @@ void CANTalon::SetExpiration(float timeout)
 	m_safetyHelper->SetExpiration(timeout);
 }
 
-float CANTalon::GetExpiration()
+float CANTalon::GetExpiration() const
 {
 	return m_safetyHelper->GetExpiration();
 }
 
-bool CANTalon::IsAlive()
+bool CANTalon::IsAlive() const
 {
 	return m_safetyHelper->IsAlive();
 }
 
-bool CANTalon::IsSafetyEnabled()
+bool CANTalon::IsSafetyEnabled() const
 {
 	return m_safetyHelper->IsSafetyEnabled();
 }
@@ -1247,7 +1247,7 @@ void CANTalon::SetSafetyEnabled(bool enabled)
 	m_safetyHelper->SetSafetyEnabled(enabled);
 }
 
-void CANTalon::GetDescription(char *desc)
+void CANTalon::GetDescription(char *desc) const
 {
 	sprintf(desc, "CANTalon ID %d", m_deviceNumber);
 }
@@ -1292,7 +1292,7 @@ void CANTalon::StopLiveWindowMode()
 	}
 }
 
-std::string CANTalon::GetSmartDashboardType()
+std::string CANTalon::GetSmartDashboardType() const
 {
 	return "Speed Controller";
 }
@@ -1303,7 +1303,7 @@ void CANTalon::InitTable(ITable *subTable)
 	UpdateTable();
 }
 
-ITable * CANTalon::GetTable()
+ITable * CANTalon::GetTable() const
 {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/Compressor.cpp

@@ -52,7 +52,7 @@ void Compressor::Stop() {
  * Check if compressor output is active
  * @return true if the compressor is on
  */
-bool Compressor::Enabled() {
+bool Compressor::Enabled() const {
 	int32_t status = 0;
 	bool value;
 
@@ -69,7 +69,7 @@ bool Compressor::Enabled() {
  * Check if the pressure switch is triggered
  * @return true if pressure is low
  */
-bool Compressor::GetPressureSwitchValue() {
+bool Compressor::GetPressureSwitchValue() const {
 	int32_t status = 0;
 	bool value;
 
@@ -87,7 +87,7 @@ bool Compressor::GetPressureSwitchValue() {
  * Query how much current the compressor is drawing
  * @return The current through the compressor, in amps
  */
-float Compressor::GetCompressorCurrent() {
+float Compressor::GetCompressorCurrent() const {
 	int32_t status = 0;
 	float value;
 
@@ -121,7 +121,7 @@ void Compressor::SetClosedLoopControl(bool on) {
  * pressure is low.
  * @return True if closed loop control of the compressor is enabled. False if disabled.
  */
-bool Compressor::GetClosedLoopControl() {
+bool Compressor::GetClosedLoopControl() const {
 	int32_t status = 0;
 	bool value;
 
@@ -139,7 +139,7 @@ bool Compressor::GetClosedLoopControl() {
  * @return true if PCM is in fault state : Compressor Drive is 
  *			disabled due to compressor current being too high.
  */
-bool Compressor::GetCompressorCurrentTooHighFault() {
+bool Compressor::GetCompressorCurrentTooHighFault() const {
 	int32_t status = 0;
 	bool value;
 
@@ -157,7 +157,7 @@ bool Compressor::GetCompressorCurrentTooHighFault() {
  * @return true if PCM sticky fault is set : Compressor Drive is 
  *			disabled due to compressor current being too high.
  */
-bool Compressor::GetCompressorCurrentTooHighStickyFault() {
+bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
 	int32_t status = 0;
 	bool value;
 
@@ -175,7 +175,7 @@ bool Compressor::GetCompressorCurrentTooHighStickyFault() {
  * @return true if PCM sticky fault is set : Compressor output 
  *			appears to be shorted.
  */
-bool Compressor::GetCompressorShortedStickyFault() {
+bool Compressor::GetCompressorShortedStickyFault() const {
 	int32_t status = 0;
 	bool value;
 
@@ -192,7 +192,7 @@ bool Compressor::GetCompressorShortedStickyFault() {
  * @return true if PCM is in fault state : Compressor output 
  *			appears to be shorted.
  */
-bool Compressor::GetCompressorShortedFault() {
+bool Compressor::GetCompressorShortedFault() const {
 	int32_t status = 0;
 	bool value;
 
@@ -211,7 +211,7 @@ bool Compressor::GetCompressorShortedFault() {
  *			appear to be wired, i.e. compressor is
  * 			not drawing enough current.
  */
-bool Compressor::GetCompressorNotConnectedStickyFault() {
+bool Compressor::GetCompressorNotConnectedStickyFault() const {
 	int32_t status = 0;
 	bool value;
 
@@ -229,7 +229,7 @@ bool Compressor::GetCompressorNotConnectedStickyFault() {
  *			appear to be wired, i.e. compressor is
  * 			not drawing enough current.
  */
-bool Compressor::GetCompressorNotConnectedFault() {
+bool Compressor::GetCompressorNotConnectedFault() const {
 	int32_t status = 0;
 	bool value;
 
@@ -273,7 +273,7 @@ void Compressor::StartLiveWindowMode() {
 void Compressor::StopLiveWindowMode() {
 }
 
-std::string Compressor::GetSmartDashboardType() {
+std::string Compressor::GetSmartDashboardType() const {
 	return "Compressor";
 }
 
@@ -282,7 +282,7 @@ void Compressor::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable *Compressor::GetTable() {
+ITable *Compressor::GetTable() const {
 	return m_table;
 }
 

wpilibc/wpilibC++Devices/src/Counter.cpp

@@ -474,7 +474,7 @@ void Counter::SetPulseLengthMode(float threshold)
  * mechanical imperfections or as oversampling to increase resolution.
  * @return SamplesToAverage The number of samples being averaged (from 1 to 127)
  */
-int Counter::GetSamplesToAverage()
+int Counter::GetSamplesToAverage() const
 {
 	int32_t status = 0;
 	int32_t samples = getCounterSamplesToAverage(m_counter, &status);
@@ -503,7 +503,7 @@ void Counter::SetSamplesToAverage (int samplesToAverage) {
  * Read the value at this instant. It may still be running, so it reflects the current value. Next
  * time it is read, it might have a different value.
  */
-int32_t Counter::Get()
+int32_t Counter::Get() const
 {
 	if (StatusIsFatal()) return 0;
 	int32_t status = 0;
@@ -531,7 +531,7 @@ void Counter::Reset()
  * to determine shaft speed.
  * @returns The period between the last two pulses in units of seconds.
  */
-double Counter::GetPeriod()
+double Counter::GetPeriod() const
 {
 	if (StatusIsFatal()) return 0.0;
 	int32_t status = 0;
@@ -584,7 +584,7 @@ void Counter::SetUpdateWhenEmpty(bool enabled)
  * @return Returns true if the most recent counter period exceeds the MaxPeriod value set by
  * SetMaxPeriod.
  */
-bool Counter::GetStopped()
+bool Counter::GetStopped() const
 {
 	if (StatusIsFatal()) return false;
 	int32_t status = 0;
@@ -597,7 +597,7 @@ bool Counter::GetStopped()
  * The last direction the counter value changed.
  * @return The last direction the counter value changed.
  */
-bool Counter::GetDirection()
+bool Counter::GetDirection() const
 {
 	if (StatusIsFatal()) return false;
 	int32_t status = 0;
@@ -635,7 +635,7 @@ void Counter::StopLiveWindowMode() {
 
 }
 
-std::string Counter::GetSmartDashboardType() {
+std::string Counter::GetSmartDashboardType() const {
 	return "Counter";
 }
 
@@ -644,6 +644,6 @@ void Counter::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable * Counter::GetTable() {
+ITable * Counter::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/DigitalInput.cpp

@@ -71,7 +71,7 @@ DigitalInput::~DigitalInput()
  * Get the value from a digital input channel.
  * Retrieve the value of a single digital input channel from the FPGA.
  */
-bool DigitalInput::Get()
+bool DigitalInput::Get() const
 {
 	int32_t status = 0;
 	bool value = getDIO(m_digital_ports[m_channel], &status);
@@ -82,7 +82,7 @@ bool DigitalInput::Get()
 /**
  * @return The GPIO channel number that this object represents.
  */
-uint32_t DigitalInput::GetChannel()
+uint32_t DigitalInput::GetChannel() const
 {
 	return m_channel;
 }
@@ -90,7 +90,7 @@ uint32_t DigitalInput::GetChannel()
 /**
  * @return The value to be written to the channel field of a routing mux.
  */
-uint32_t DigitalInput::GetChannelForRouting()
+uint32_t DigitalInput::GetChannelForRouting() const
 {
 	return GetChannel();
 }
@@ -98,7 +98,7 @@ uint32_t DigitalInput::GetChannelForRouting()
 /**
  * @return The value to be written to the module field of a routing mux.
  */
-uint32_t DigitalInput::GetModuleForRouting()
+uint32_t DigitalInput::GetModuleForRouting() const
 {
 	return 0;
 }
@@ -106,7 +106,7 @@ uint32_t DigitalInput::GetModuleForRouting()
 /**
  * @return The value to be written to the analog trigger field of a routing mux.
  */
-bool DigitalInput::GetAnalogTriggerForRouting()
+bool DigitalInput::GetAnalogTriggerForRouting() const
 {
 	return false;
 }
@@ -125,7 +125,7 @@ void DigitalInput::StopLiveWindowMode() {
 
 }
 
-std::string DigitalInput::GetSmartDashboardType() {
+std::string DigitalInput::GetSmartDashboardType() const {
 	return "DigitalInput";
 }
 
@@ -134,6 +134,6 @@ void DigitalInput::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable * DigitalInput::GetTable() {
+ITable * DigitalInput::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/DigitalOutput.cpp

@@ -77,7 +77,7 @@ void DigitalOutput::Set(uint32_t value)
 /**
  * @return The GPIO channel number that this object represents.
  */
-uint32_t DigitalOutput::GetChannel()
+uint32_t DigitalOutput::GetChannel() const
 {
 	return m_channel;
 }
@@ -101,7 +101,7 @@ void DigitalOutput::Pulse(float length)
  * Determine if the pulse is still going.
  * Determine if a previously started pulse is still going.
  */
-bool DigitalOutput::IsPulsing()
+bool DigitalOutput::IsPulsing() const
 {
 	if (StatusIsFatal()) return false;
 
@@ -202,7 +202,7 @@ void DigitalOutput::UpdateDutyCycle(float dutyCycle)
 /**
  * @return The value to be written to the channel field of a routing mux.
  */
-uint32_t DigitalOutput::GetChannelForRouting()
+uint32_t DigitalOutput::GetChannelForRouting() const
 {
 	return GetChannel();
 }
@@ -210,7 +210,7 @@ uint32_t DigitalOutput::GetChannelForRouting()
 /**
  * @return The value to be written to the module field of a routing mux.
  */
-uint32_t DigitalOutput::GetModuleForRouting()
+uint32_t DigitalOutput::GetModuleForRouting() const
 {
 	return 0;
 }
@@ -218,7 +218,7 @@ uint32_t DigitalOutput::GetModuleForRouting()
 /**
  * @return The value to be written to the analog trigger field of a routing mux.
  */
-bool DigitalOutput::GetAnalogTriggerForRouting()
+bool DigitalOutput::GetAnalogTriggerForRouting() const
 {
 	return false;
 }
@@ -242,7 +242,7 @@ void DigitalOutput::StopLiveWindowMode() {
 	}
 }
 
-std::string DigitalOutput::GetSmartDashboardType() {
+std::string DigitalOutput::GetSmartDashboardType() const {
 	return "Digital Output";
 }
 
@@ -251,6 +251,6 @@ void DigitalOutput::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable * DigitalOutput::GetTable() {
+ITable * DigitalOutput::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp

@@ -129,7 +129,7 @@ void DoubleSolenoid::Set(Value value)
  *
  * @return The current value of the solenoid.
  */
-DoubleSolenoid::Value DoubleSolenoid::Get()
+DoubleSolenoid::Value DoubleSolenoid::Get() const
 {
 	if (StatusIsFatal()) return kOff;
 	uint8_t value = GetAll(m_moduleNumber);
@@ -146,7 +146,7 @@ DoubleSolenoid::Value DoubleSolenoid::Get()
  *
  * @return If solenoid is disabled due to short.
  */
-bool DoubleSolenoid::IsFwdSolenoidBlackListed()
+bool DoubleSolenoid::IsFwdSolenoidBlackListed() const
 {
 	int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
 	return (blackList & m_forwardMask) ? 1 : 0;
@@ -159,7 +159,7 @@ bool DoubleSolenoid::IsFwdSolenoidBlackListed()
  *
  * @return If solenoid is disabled due to short.
  */
-bool DoubleSolenoid::IsRevSolenoidBlackListed()
+bool DoubleSolenoid::IsRevSolenoidBlackListed() const
 {
 	int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
 	return (blackList & m_reverseMask) ? 1 : 0;
@@ -195,7 +195,7 @@ void DoubleSolenoid::StopLiveWindowMode() {
 	}
 }
 
-std::string DoubleSolenoid::GetSmartDashboardType() {
+std::string DoubleSolenoid::GetSmartDashboardType() const {
 	return "Double Solenoid";
 }
 
@@ -204,6 +204,6 @@ void DoubleSolenoid::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable * DoubleSolenoid::GetTable() {
+ITable * DoubleSolenoid::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/DriverStation.cpp

@@ -159,7 +159,7 @@ void DriverStation::GetData()
  *
  * @return The battery voltage in Volts.
  */
-float DriverStation::GetBatteryVoltage()
+float DriverStation::GetBatteryVoltage() const
 {
 	int32_t status = 0;
 	float voltage = getVinVoltage(&status);
@@ -186,7 +186,7 @@ void DriverStation::ReportJoystickUnpluggedError(std::string message) {
  * @param stick The joystick port number
  * @return The number of axes on the indicated joystick
  */
-int DriverStation::GetStickAxisCount(uint32_t stick)
+int DriverStation::GetStickAxisCount(uint32_t stick) const
 {
     if (stick >= kJoystickPorts)
     {
@@ -204,7 +204,7 @@ int DriverStation::GetStickAxisCount(uint32_t stick)
  *@param stick The joystick port number
  *@return The name of the joystick at the given port
  */
-std::string DriverStation::GetJoystickName(uint32_t stick)
+std::string DriverStation::GetJoystickName(uint32_t stick) const
 {
 	if (stick >= kJoystickPorts)
 	{
@@ -220,7 +220,7 @@ std::string DriverStation::GetJoystickName(uint32_t stick)
  *@param stick The joystick port number
  *@return The HID type of joystick at the given port
  */
-int DriverStation::GetJoystickType(uint32_t stick)
+int DriverStation::GetJoystickType(uint32_t stick) const
 {
 	if (stick >= kJoystickPorts)
 	{
@@ -236,7 +236,7 @@ int DriverStation::GetJoystickType(uint32_t stick)
  *@param stick The joystick port number
  *@return A boolean that is true if the controller is an xbox controller.
  */
-bool DriverStation::GetJoystickIsXbox(uint32_t stick)
+bool DriverStation::GetJoystickIsXbox(uint32_t stick) const
 {
 	if (stick >= kJoystickPorts)
 	{
@@ -252,7 +252,7 @@ bool DriverStation::GetJoystickIsXbox(uint32_t stick)
  *@param stick The joystick port number and the target axis
  *@return What type of axis the axis is reporting to be
  */
-int DriverStation::GetJoystickAxisType(uint32_t stick, uint8_t axis)
+int DriverStation::GetJoystickAxisType(uint32_t stick, uint8_t axis) const
 {
 	if (stick >= kJoystickPorts)
 	{
@@ -268,7 +268,7 @@ int DriverStation::GetJoystickAxisType(uint32_t stick, uint8_t axis)
  * @param stick The joystick port number
  * @return The number of POVs on the indicated joystick
  */
-int DriverStation::GetStickPOVCount(uint32_t stick)
+int DriverStation::GetStickPOVCount(uint32_t stick) const
 {
     if (stick >= kJoystickPorts)
     {
@@ -286,7 +286,7 @@ int DriverStation::GetStickPOVCount(uint32_t stick)
  * @param stick The joystick port number
  * @return The number of buttons on the indicated joystick
  */
-int DriverStation::GetStickButtonCount(uint32_t stick)
+int DriverStation::GetStickButtonCount(uint32_t stick) const
 {
     if (stick >= kJoystickPorts)
     {
@@ -365,7 +365,7 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
  * @param stick The joystick to read.
  * @return The state of the buttons on the joystick.
  */
-uint32_t DriverStation::GetStickButtons(uint32_t stick)
+uint32_t DriverStation::GetStickButtons(uint32_t stick) const
 {
 	if (stick >= kJoystickPorts)
 	{
@@ -408,7 +408,7 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button)
  * Check if the DS has enabled the robot
  * @return True if the robot is enabled and the DS is connected
  */
-bool DriverStation::IsEnabled()
+bool DriverStation::IsEnabled() const
 {
 	HALControlWord controlWord;
     memset(&controlWord, 0, sizeof(controlWord));
@@ -420,7 +420,7 @@ bool DriverStation::IsEnabled()
  * Check if the robot is disabled
  * @return True if the robot is explicitly disabled or the DS is not connected
  */
-bool DriverStation::IsDisabled()
+bool DriverStation::IsDisabled() const
 {
 	HALControlWord controlWord;
     memset(&controlWord, 0, sizeof(controlWord));
@@ -432,7 +432,7 @@ bool DriverStation::IsDisabled()
  * Check if the DS is commanding autonomous mode
  * @return True if the robot is being commanded to be in autonomous mode
  */
-bool DriverStation::IsAutonomous()
+bool DriverStation::IsAutonomous() const
 {
 	HALControlWord controlWord;
     memset(&controlWord, 0, sizeof(controlWord));
@@ -444,7 +444,7 @@ bool DriverStation::IsAutonomous()
  * Check if the DS is commanding teleop mode
  * @return True if the robot is being commanded to be in teleop mode
  */
-bool DriverStation::IsOperatorControl()
+bool DriverStation::IsOperatorControl() const
 {
 	HALControlWord controlWord;
     memset(&controlWord, 0, sizeof(controlWord));
@@ -456,7 +456,7 @@ bool DriverStation::IsOperatorControl()
  * Check if the DS is commanding test mode
  * @return True if the robot is being commanded to be in test mode
  */
-bool DriverStation::IsTest()
+bool DriverStation::IsTest() const
 {
 	HALControlWord controlWord;
 	HALGetControlWord(&controlWord);
@@ -467,7 +467,7 @@ bool DriverStation::IsTest()
  * Check if the DS is attached
  * @return True if the DS is connected to the robot
  */
-bool DriverStation::IsDSAttached()
+bool DriverStation::IsDSAttached() const
 {
 	HALControlWord controlWord;
     memset(&controlWord, 0, sizeof(controlWord));
@@ -480,7 +480,7 @@ bool DriverStation::IsDSAttached()
  * or e-stopped, the watchdog has expired, or if the roboRIO browns out.
  * @return True if the FPGA outputs are enabled.
  */
-bool DriverStation::IsSysActive()
+bool DriverStation::IsSysActive() const
 {
 	int32_t status = 0;
 	bool retVal = HALGetSystemActive(&status);
@@ -492,7 +492,7 @@ bool DriverStation::IsSysActive()
  * Check if the system is browned out.
  * @return True if the system is browned out
  */
-bool DriverStation::IsSysBrownedOut()
+bool DriverStation::IsSysBrownedOut() const
 {
 	int32_t status = 0;
 	bool retVal = HALGetBrownedOut(&status);
@@ -506,7 +506,7 @@ bool DriverStation::IsSysBrownedOut()
  * you will not get the get the intended behaviour.
  * @return True if the control data has been updated since the last call.
  */
-bool DriverStation::IsNewControlData()
+bool DriverStation::IsNewControlData() const
 {
 	return tryTakeSemaphore(m_newControlData) == 0;
 }
@@ -515,7 +515,7 @@ bool DriverStation::IsNewControlData()
  * Is the driver station attached to a Field Management System?
  * @return True if the robot is competing on a field being controlled by a Field Management System
  */
-bool DriverStation::IsFMSAttached()
+bool DriverStation::IsFMSAttached() const
 {
 	HALControlWord controlWord;
 	HALGetControlWord(&controlWord);
@@ -527,7 +527,7 @@ bool DriverStation::IsFMSAttached()
  * This could return kRed or kBlue
  * @return The Alliance enum (kRed, kBlue or kInvalid)
  */
-DriverStation::Alliance DriverStation::GetAlliance()
+DriverStation::Alliance DriverStation::GetAlliance() const
 {
 	HALAllianceStationID allianceStationID;
 	HALGetAllianceStation(&allianceStationID);
@@ -551,7 +551,7 @@ DriverStation::Alliance DriverStation::GetAlliance()
  * This could return 1, 2, or 3
  * @return The location of the driver station (1-3, 0 for invalid)
  */
-uint32_t DriverStation::GetLocation()
+uint32_t DriverStation::GetLocation() const
 {
 	HALAllianceStationID allianceStationID;
 	HALGetAllianceStation(&allianceStationID);
@@ -590,7 +590,7 @@ void DriverStation::WaitForData()
  * The Practice Match function of the DS approximates the behaviour seen on the field.
  * @return Time remaining in current match period (auto or teleop)
  */
-double DriverStation::GetMatchTime()
+double DriverStation::GetMatchTime() const
 {
 	float matchTime;
 	HALGetMatchTime(&matchTime);

wpilibc/wpilibC++Devices/src/Encoder.cpp

@@ -186,7 +186,7 @@ Encoder::~Encoder()
  * The encoding scale factor 1x, 2x, or 4x, per the requested encodingType.
  * Used to divide raw edge counts down to spec'd counts.
  */
-int32_t Encoder::GetEncodingScale() { return m_encodingScale; }
+int32_t Encoder::GetEncodingScale() const { return m_encodingScale; }
 
 /**
  * Gets the raw value from the encoder.
@@ -194,7 +194,7 @@ int32_t Encoder::GetEncodingScale() { return m_encodingScale; }
  * factor.
  * @return Current raw count from the encoder
  */
-int32_t Encoder::GetRaw()
+int32_t Encoder::GetRaw() const
 {
 	if (StatusIsFatal()) return 0;
 	int32_t value;
@@ -216,7 +216,7 @@ int32_t Encoder::GetRaw()
  *
  * @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
  */
-int32_t Encoder::Get()
+int32_t Encoder::Get() const
 {
 	if (StatusIsFatal()) return 0;
 	return (int32_t) (GetRaw() * DecodingScaleFactor());
@@ -248,7 +248,7 @@ void Encoder::Reset()
  *
  * @return Period in seconds of the most recent pulse.
  */
-double Encoder::GetPeriod()
+double Encoder::GetPeriod() const
 {
 	if (StatusIsFatal()) return 0.0;
 	if (m_counter)
@@ -299,7 +299,7 @@ void Encoder::SetMaxPeriod(double maxPeriod)
  * width exceeds the MaxPeriod.
  * @return True if the encoder is considered stopped.
  */
-bool Encoder::GetStopped()
+bool Encoder::GetStopped() const
 {
 	if (StatusIsFatal()) return true;
 	if (m_counter)
@@ -319,7 +319,7 @@ bool Encoder::GetStopped()
  * The last direction the encoder value changed.
  * @return The last direction the encoder value changed.
  */
-bool Encoder::GetDirection()
+bool Encoder::GetDirection() const
 {
 	if (StatusIsFatal()) return false;
 	if (m_counter)
@@ -338,7 +338,7 @@ bool Encoder::GetDirection()
 /**
  * The scale needed to convert a raw counter value into a number of encoder pulses.
  */
-double Encoder::DecodingScaleFactor()
+double Encoder::DecodingScaleFactor() const
 {
 	if (StatusIsFatal()) return 0.0;
 	switch (m_encodingType)
@@ -359,7 +359,7 @@ double Encoder::DecodingScaleFactor()
  *
  * @return The distance driven since the last reset as scaled by the value from SetDistancePerPulse().
  */
-double Encoder::GetDistance()
+double Encoder::GetDistance() const
 {
 	if (StatusIsFatal()) return 0.0;
 	return GetRaw() * DecodingScaleFactor() * m_distancePerPulse;
@@ -371,7 +371,7 @@ double Encoder::GetDistance()
  *
  * @return The current rate of the encoder.
  */
-double Encoder::GetRate()
+double Encoder::GetRate() const
 {
 	if (StatusIsFatal()) return 0.0;
 	return (m_distancePerPulse / GetPeriod());
@@ -458,7 +458,7 @@ void Encoder::SetSamplesToAverage(int samplesToAverage)
  * mechanical imperfections or as oversampling to increase resolution.
  * @return SamplesToAverage The number of samples being averaged (from 1 to 127)
  */
-int Encoder::GetSamplesToAverage()
+int Encoder::GetSamplesToAverage() const
 {
 	int result = 1;
 	int32_t status = 0;
@@ -493,7 +493,7 @@ void Encoder::SetPIDSourceParameter(PIDSourceParameter pidSource)
  *
  * @return The current value of the selected source parameter.
  */
-double Encoder::PIDGet()
+double Encoder::PIDGet() const
 {
 	if (StatusIsFatal()) return 0.0;
 	switch (m_pidSource)
@@ -564,7 +564,7 @@ void Encoder::StopLiveWindowMode() {
 
 }
 
-std::string Encoder::GetSmartDashboardType() {
+std::string Encoder::GetSmartDashboardType() const {
 	if (m_encodingType == k4X)
 		return "Quadrature Encoder";
 	else
@@ -576,6 +576,6 @@ void Encoder::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable * Encoder::GetTable() {
+ITable * Encoder::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/GearTooth.cpp

@@ -66,6 +66,6 @@ GearTooth::~GearTooth()
 }
 
 
-std::string GearTooth::GetSmartDashboardType() {
+std::string GearTooth::GetSmartDashboardType() const {
 	return "GearTooth";
 }

wpilibc/wpilibC++Devices/src/Gyro.cpp

@@ -147,7 +147,7 @@ Gyro::~Gyro()
  * @return the current heading of the robot in degrees. This heading is based on integration
  * of the returned rate from the gyro.
  */
-float Gyro::GetAngle( void )
+float Gyro::GetAngle() const
 {
 	int64_t rawValue;
 	uint32_t count;
@@ -169,7 +169,7 @@ float Gyro::GetAngle( void )
  *
  * @return the current rate in degrees per second
  */
-double Gyro::GetRate( void )
+double Gyro::GetRate() const
 {
 	return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 * m_analog->GetLSBWeight()
 			/ ((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
@@ -220,7 +220,7 @@ void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource)
  *
  * @return The PIDOutput (angle or rate, defaults to angle)
  */
-double Gyro::PIDGet()
+double Gyro::PIDGet() const
 {
 	switch(m_pidSource){
 	case kRate:
@@ -246,7 +246,7 @@ void Gyro::StopLiveWindowMode() {
 
 }
 
-std::string Gyro::GetSmartDashboardType() {
+std::string Gyro::GetSmartDashboardType() const {
 	return "Gyro";
 }
 
@@ -255,6 +255,6 @@ void Gyro::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable * Gyro::GetTable() {
+ITable * Gyro::GetTable() const {
 	return m_table;
 }

wpilibc/wpilibC++Devices/src/Jaguar.cpp

@@ -64,7 +64,7 @@ void Jaguar::Set(float speed, uint8_t syncGroup)
  *
  * @return The most recently set value for the PWM between -1.0 and 1.0.
  */
-float Jaguar::Get()
+float Jaguar::Get() const
 {
 	return GetSpeed();
 }

wpilibc/wpilibC++Devices/src/Joystick.cpp

@@ -110,7 +110,7 @@ Joystick::~Joystick()
  * This depends on the mapping of the joystick connected to the current port.
  * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
  */
-float Joystick::GetX(JoystickHand hand)
+float Joystick::GetX(JoystickHand hand) const
 {
 	return GetRawAxis(m_axes[kXAxis]);
 }
@@ -120,7 +120,7 @@ float Joystick::GetX(JoystickHand hand)
  * This depends on the mapping of the joystick connected to the current port.
  * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
  */
-float Joystick::GetY(JoystickHand hand)
+float Joystick::GetY(JoystickHand hand) const
 {
 	return GetRawAxis(m_axes[kYAxis]);
 }
@@ -129,7 +129,7 @@ float Joystick::GetY(JoystickHand hand)
  * Get the Z value of the current joystick.
  * This depends on the mapping of the joystick connected to the current port.
  */
-float Joystick::GetZ()
+float Joystick::GetZ() const
 {
 	return GetRawAxis(m_axes[kZAxis]);
 }
@@ -138,7 +138,7 @@ float Joystick::GetZ()
  * Get the twist value of the current joystick.
  * This depends on the mapping of the joystick connected to the current port.
  */
-float Joystick::GetTwist()
+float Joystick::GetTwist() const
 {
 	return GetRawAxis(m_axes[kTwistAxis]);
 }
@@ -147,7 +147,7 @@ float Joystick::GetTwist()
  * Get the throttle value of the current joystick.
  * This depends on the mapping of the joystick connected to the current port.
  */
-float Joystick::GetThrottle()
+float Joystick::GetThrottle() const
 {
 	return GetRawAxis(m_axes[kThrottleAxis]);
 }
@@ -158,7 +158,7 @@ float Joystick::GetThrottle()
  * @param axis The axis to read, starting at 0.
  * @return The value of the axis.
  */
-float Joystick::GetRawAxis(uint32_t axis)
+float Joystick::GetRawAxis(uint32_t axis) const
 {
 	return m_ds->GetStickAxis(m_port, axis);
 }
@@ -172,7 +172,7 @@ float Joystick::GetRawAxis(uint32_t axis)
  * @param axis The axis to read.
  * @return The value of the axis.
  */
-float Joystick::GetAxis(AxisType axis)
+float Joystick::GetAxis(AxisType axis) const
 {
 	switch(axis)
 	{
@@ -195,7 +195,7 @@ float Joystick::GetAxis(AxisType axis)
  * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
  * @return The state of the trigger.
  */
-bool Joystick::GetTrigger(JoystickHand hand)
+bool Joystick::GetTrigger(JoystickHand hand) const
 {
 	return GetRawButton(m_buttons[kTriggerButton]);
 }
@@ -208,7 +208,7 @@ bool Joystick::GetTrigger(JoystickHand hand)
  * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
  * @return The state of the top button.
  */
-bool Joystick::GetTop(JoystickHand hand)
+bool Joystick::GetTop(JoystickHand hand) const
 {
 	return GetRawButton(m_buttons[kTopButton]);
 }
@@ -217,7 +217,7 @@ bool Joystick::GetTop(JoystickHand hand)
  * This is not supported for the Joystick.
  * This method is only here to complete the GenericHID interface.
  */
-bool Joystick::GetBumper(JoystickHand hand)
+bool Joystick::GetBumper(JoystickHand hand) const
 {
 	// Joysticks don't have bumpers.
 	return false;
@@ -232,7 +232,7 @@ bool Joystick::GetBumper(JoystickHand hand)
  * @param button The button number to be read (starting at 1)
  * @return The state of the button.
  **/
-bool Joystick::GetRawButton(uint32_t button)
+bool Joystick::GetRawButton(uint32_t button) const
 {
 	return m_ds->GetStickButton(m_port, button);
 }
@@ -243,7 +243,7 @@ bool Joystick::GetRawButton(uint32_t button)
  * @param pov The index of the POV to read (starting at 0)
  * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
  */
-int Joystick::GetPOV(uint32_t pov) {
+int Joystick::GetPOV(uint32_t pov) const {
 	return m_ds->GetStickPOV(m_port, pov);
 }
 
@@ -255,7 +255,7 @@ int Joystick::GetPOV(uint32_t pov) {
  * @param button The type of button to read.
  * @return The state of the button.
  */
-bool Joystick::GetButton(ButtonType button)
+bool Joystick::GetButton(ButtonType button) const
 {
 	switch (button)
 	{
@@ -271,7 +271,7 @@ bool Joystick::GetButton(ButtonType button)
  *
  * @return the number of axis for the current joystick
  */
-int Joystick::GetAxisCount()
+int Joystick::GetAxisCount() const
 {
     return m_ds->GetStickAxisCount(m_port);
 }
@@ -281,7 +281,7 @@ int Joystick::GetAxisCount()
  *
  * @return A boolean that is true if the joystick is an xbox controller.
  */
-bool Joystick::GetIsXbox()
+bool Joystick::GetIsXbox() const
 {
 	return m_ds->GetJoystickIsXbox(m_port);
 }
@@ -291,7 +291,7 @@ bool Joystick::GetIsXbox()
  *
  * @return the HID type of the controller.
  */
-Joystick::HIDType Joystick::GetType()
+Joystick::HIDType Joystick::GetType() const
 {
 	return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
 }
@@ -301,12 +301,12 @@ Joystick::HIDType Joystick::GetType()
  *
  * @return the name of the controller.
  */
-std::string Joystick::GetName()
+std::string Joystick::GetName() const
 {
 	return m_ds->GetJoystickName(m_port);
 }
 
-//int Joystick::GetAxisType(uint8_t axis)
+//int Joystick::GetAxisType(uint8_t axis) const
 //{
 //	return m_ds->GetJoystickAxisType(m_port, axis);
 //}
@@ -317,7 +317,7 @@ std::string Joystick::GetName()
   *
 * @return the number of buttons on the current joystick
  */
-int Joystick::GetButtonCount()
+int Joystick::GetButtonCount() const
 {
     return m_ds->GetStickButtonCount(m_port);
 }
@@ -327,7 +327,7 @@ int Joystick::GetButtonCount()
  *
  * @return then umber of POVs for the current joystick
  */
-int Joystick::GetPOVCount()
+int Joystick::GetPOVCount() const
 {
     return m_ds->GetStickPOVCount(m_port);
 }
@@ -339,7 +339,7 @@ int Joystick::GetPOVCount()
  * @param axis The axis to look up the channel for.
  * @return The channel fr the axis.
  */
-uint32_t Joystick::GetAxisChannel(AxisType axis)
+uint32_t Joystick::GetAxisChannel(AxisType axis) const
 {
 	return m_axes[axis];
 }
@@ -361,7 +361,7 @@ void Joystick::SetAxisChannel(AxisType axis, uint32_t channel)
  *
  * @return The magnitude of the direction vector
  */
-float Joystick::GetMagnitude(){
+float Joystick::GetMagnitude() const {
 	return sqrt(pow(GetX(),2) + pow(GetY(),2) );
 }
 
@@ -371,7 +371,7 @@ float Joystick::GetMagnitude(){
  *
  * @return The direction of the vector in radians
  */
-float Joystick::GetDirectionRadians(){
+float Joystick::GetDirectionRadians() const {
 	return atan2(GetX(), -GetY());
 }
 
@@ -384,7 +384,7 @@ float Joystick::GetDirectionRadians(){
  *
  * @return The direction of the vector in degrees
  */
-float Joystick::GetDirectionDegrees(){
+float Joystick::GetDirectionDegrees() const {
 	return (180/acos(-1))*GetDirectionRadians();
 }
 

wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp

@@ -80,7 +80,7 @@ void MotorSafetyHelper::SetExpiration(float expirationTime)
  * Retrieve the timeout value for the corresponding motor safety object.
  * @return the timeout value in seconds.
  */
-float MotorSafetyHelper::GetExpiration()
+float MotorSafetyHelper::GetExpiration() const
 {
 	Synchronized sync(m_syncMutex);
 	return m_expiration;
@@ -90,7 +90,7 @@ float MotorSafetyHelper::GetExpiration()
  * Determine if the motor is still operating or has timed out.
  * @return a true value if the motor is still operating normally and hasn't timed out.
  */
-bool MotorSafetyHelper::IsAlive()
+bool MotorSafetyHelper::IsAlive() const
 {
 	Synchronized sync(m_syncMutex);
 	return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
@@ -135,7 +135,7 @@ void MotorSafetyHelper::SetSafetyEnabled(bool enabled)
  * Return if the motor safety is currently enabled for this devicce.
  * @return True if motor safety is enforced for this device
  */
-bool MotorSafetyHelper::IsSafetyEnabled()
+bool MotorSafetyHelper::IsSafetyEnabled() const
 {
 	Synchronized sync(m_syncMutex);
 	return m_enabled;

wpilibc/wpilibC++Devices/src/PIDController.cpp

@@ -257,7 +257,7 @@ void PIDController::SetPID(float p, float i, float d, float f)
  * Get the Proportional coefficient
  * @return proportional coefficient
  */
-float PIDController::GetP()
+float PIDController::GetP() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -270,7 +270,7 @@ float PIDController::GetP()
  * Get the Integral coefficient
  * @return integral coefficient
  */
-float PIDController::GetI()
+float PIDController::GetI() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -283,7 +283,7 @@ float PIDController::GetI()
  * Get the Differential coefficient
  * @return differential coefficient
  */
-float PIDController::GetD()
+float PIDController::GetD() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -296,7 +296,7 @@ float PIDController::GetD()
  * Get the Feed forward coefficient
  * @return Feed forward coefficient
  */
-float PIDController::GetF()
+float PIDController::GetF() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -310,7 +310,7 @@ float PIDController::GetF()
  * This is always centered on zero and constrained the the max and min outs
  * @return the latest calculated output
  */
-float PIDController::Get()
+float PIDController::Get() const
 {
 	float result;
 	CRITICAL_REGION(m_semaphore)
@@ -404,7 +404,7 @@ void PIDController::SetSetpoint(float setpoint)
  * Returns the current setpoint of the PIDController
  * @return the current setpoint
  */
-float PIDController::GetSetpoint()
+float PIDController::GetSetpoint() const
 {
 	float setpoint;
 	CRITICAL_REGION(m_semaphore)
@@ -419,7 +419,7 @@ float PIDController::GetSetpoint()
  * Retruns the current difference of the input from the setpoint
  * @return the current error
  */
-float PIDController::GetError()
+float PIDController::GetError() const
 {
 	float error;
   double pidInput;
@@ -484,7 +484,7 @@ void PIDController::SetAbsoluteTolerance(float absTolerance)
  * Currently this just reports on target as the actual value passes through the setpoint.
  * Ideally it should be based on being within the tolerance for some period of time.
  */
-bool PIDController::OnTarget()
+bool PIDController::OnTarget() const
 {
 	bool temp;
   double error = GetError();
@@ -542,7 +542,7 @@ void PIDController::Disable()
 /**
  * Return true if PIDController is enabled.
  */
-bool PIDController::IsEnabled()
+bool PIDController::IsEnabled() const
 {
 	bool enabled;
 	CRITICAL_REGION(m_semaphore)
@@ -569,7 +569,7 @@ void PIDController::Reset()
 	END_REGION;
 }
 
-std::string PIDController::GetSmartDashboardType(){
+std::string PIDController::GetSmartDashboardType() const {
 	return "PIDController";
 }
 
@@ -588,7 +588,7 @@ void PIDController::InitTable(ITable* table){
 	}
 }
 
-ITable* PIDController::GetTable(){
+ITable* PIDController::GetTable() const {
 	return m_table;
 }
 

wpilibc/wpilibC++Devices/src/PWM.cpp

@@ -179,7 +179,7 @@ void PWM::SetPosition(float pos)
  *
  * @return The position the servo is set to between 0.0 and 1.0.
  */
-float PWM::GetPosition()
+float PWM::GetPosition() const
 {
 	if (StatusIsFatal()) return 0.0;
 	int32_t value = GetRaw();
@@ -260,7 +260,7 @@ void PWM::SetSpeed(float speed)
  *
  * @return The most recently set speed between -1.0 and 1.0.
  */
-float PWM::GetSpeed()
+float PWM::GetSpeed() const
 {
 	if (StatusIsFatal()) return 0.0;
 	int32_t value = GetRaw();
@@ -313,7 +313,7 @@ void PWM::SetRaw(unsigned short value)
  *
  * @return Raw PWM control value.
  */
-unsigned short PWM::GetRaw()
+unsigned short PWM::GetRaw() const
 {
 	if (StatusIsFatal()) return 0;
 
@@ -388,7 +388,7 @@ void PWM::StopLiveWindowMode() {
 	}
 }
 
-std::string PWM::GetSmartDashboardType() {
+std::string PWM::GetSmartDashboardType() const {
 	return "Speed Controller";
 }
 
@@ -397,6 +397,6 @@ void PWM::InitTable(ITable *subTable) {
 	UpdateTable();
 }
 
-ITable * PWM::GetTable() {
+ITable * PWM::GetTable() const {
 	return m_table;
 }