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Fixed FRCSim artf2609 - double ports handled wrong.

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Change-Id: I2dc59c8d3113f3024d237763eb4e2f94bb85ff1a
This commit is contained in:
Colby Skeggs
2014-07-03 11:56:19 -07:00
parent 65c3c0ba09
commit 55fde6b616
4 changed files with 24 additions and 8 deletions
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6
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
View File

@@ -45,6 +45,7 @@ public class DoubleSolenoid implements LiveWindowSendable {
private int m_forwardChannel; ///< The forward channel on the module to control.
private int m_reverseChannel; ///< The reverse channel on the module to control.
private int m_moduleNumber;
private boolean m_reverseDirection;
private SimSpeedController m_impl;
private Value m_value;
@@ -61,6 +62,7 @@ public class DoubleSolenoid implements LiveWindowSendable {
int channel = forwardChannel;
forwardChannel = reverseChannel;
reverseChannel = channel;
m_reverseDirection = true;
}
m_impl = new SimSpeedController("simulator/pneumatic/"+moduleNumber+"/"+forwardChannel+"/"+moduleNumber+"/"+reverseChannel);
}
@@ -103,10 +105,10 @@ public class DoubleSolenoid implements LiveWindowSendable {
m_impl.set(0);
break;
case Value.kForward_val:
m_impl.set(1);
m_impl.set(m_reverseDirection ? -1 : 1);
break;
case Value.kReverse_val:
m_impl.set(-1);
m_impl.set(m_reverseDirection ? 1 : -1);
break;
}
}

12
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -31,6 +31,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
private boolean m_allocatedA;
private boolean m_allocatedB;
private boolean m_allocatedI;
private boolean m_reverseDirection;
private PIDSourceParameter m_pidSource;
private SimEncoder impl;
@@ -59,6 +60,9 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
int channel = bChannel;
bChannel = aChannel;
aChannel = channel;
m_reverseDirection = !reverseDirection;
} else {
m_reverseDirection = reverseDirection;
}
impl = new SimEncoder("simulator/dio/1/"+aChannel+"/1/"+bChannel);
setDistancePerPulse(1);
@@ -243,7 +247,11 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
*/
public void setDistancePerPulse(double distancePerPulse) {
System.err.println("NOTE|WPILibJSim: Encoder.setDistancePerPulse() assumes 360 pulses per revolution in simulation.");
m_distancePerPulse = distancePerPulse;
if (m_reverseDirection) {
m_distancePerPulse = -distancePerPulse;
} else {
m_distancePerPulse = distancePerPulse;
}
}
/**
@@ -309,7 +317,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
if (m_table != null) {
m_table.putNumber("Speed", getRate());
m_table.putNumber("Distance", getDistance());
m_table.putNumber("Distance per Tick", m_distancePerPulse);
m_table.putNumber("Distance per Tick", m_reverseDirection ? -m_distancePerPulse : m_distancePerPulse);
}
}