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Removed analog and digital module numbers

Browse Source 
AnalogModule and DigitalModule classes still exist, at least until they are
refactored into the classes that use them.

Change-Id: I5544d5418822f19d54ba0a5d651e64fad8b7b10d
This commit is contained in:
thomasclark
2014-06-13 17:45:10 -04:00
parent aa3b24092a
commit 58021f7397
90 changed files with 852 additions and 1988 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibc/wpilibC++/include/ADXL345_I2C.h
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@@ -11,7 +11,7 @@ class I2C;
/**
* ADXL345 Accelerometer on I2C.
*
*
* This class alows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus.
* This class assumes the default (not alternate) sensor address of 0x3A (8-bit address).
*/
@@ -38,7 +38,7 @@ public:
};
public:
explicit ADXL345_I2C(uint8_t moduleNumber, DataFormat_Range range=kRange_2G);
explicit ADXL345_I2C(DataFormat_Range range=kRange_2G);
virtual ~ADXL345_I2C();
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();

4
wpilibc/wpilibC++/include/ADXL345_SPI.h
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@@ -13,7 +13,7 @@ class SPI;
/**
* ADXL345 Accelerometer on SPI.
*
*
* This class alows access to an Analog Devices ADXL345 3-axis accelerometer via SPI.
* This class assumes the sensor is wired in 4-wire SPI mode.
*/
@@ -44,7 +44,7 @@ public:
DigitalOutput &cs, DataFormat_Range range=kRange_2G);
ADXL345_SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
DigitalOutput *cs, DataFormat_Range range=kRange_2G);
ADXL345_SPI(uint8_t moduleNumber, uint32_t clk, uint32_t mosi, uint32_t miso, uint32_t cs,
ADXL345_SPI(uint32_t clk, uint32_t mosi, uint32_t miso, uint32_t cs,
DataFormat_Range range=kRange_2G);
virtual ~ADXL345_SPI();
virtual double GetAcceleration(Axes axis);

5
wpilibc/wpilibC++/include/Accelerometer.h
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@@ -10,7 +10,7 @@
#include "PIDSource.h"
#include "LiveWindow/LiveWindowSendable.h"
/**
/**
* Handle operation of the accelerometer.
* The accelerometer reads acceleration directly through the sensor. Many sensors have
* multiple axis and can be treated as multiple devices. Each is calibrated by finding
@@ -19,7 +19,6 @@
class Accelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
public:
explicit Accelerometer(uint32_t channel);
Accelerometer(uint8_t moduleNumber, uint32_t channel);
explicit Accelerometer(AnalogInput *channel);
virtual ~Accelerometer();
@@ -42,6 +41,6 @@ private:
float m_voltsPerG;
float m_zeroGVoltage;
bool m_allocatedChannel;
ITable *m_table;
};

15
wpilibc/wpilibC++/include/AnalogInput.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
@@ -9,12 +9,11 @@
#include "SensorBase.h"
#include "PIDSource.h"
#include "LiveWindow/LiveWindowSendable.h"
class AnalogModule;
#include "AnalogModule.h"
/**
* Analog input class.
*
*
* Connected to each analog channel is an averaging and oversampling engine. This engine accumulates
* the specified ( by SetAverageBits() and SetOversampleBits() ) number of samples before returning a new
* value. This is not a sliding window average. The only difference between the oversampled samples and
@@ -29,11 +28,10 @@ public:
static const uint32_t kAccumulatorNumChannels = 2;
static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
AnalogInput(uint8_t moduleNumber, uint32_t channel);
explicit AnalogInput(uint32_t channel);
virtual ~AnalogInput();
AnalogModule *GetModule();
AnalogModule *GetModule() { return AnalogModule::GetInstance(1); }
int16_t GetValue();
int32_t GetAverageValue();
@@ -41,7 +39,6 @@ public:
float GetVoltage();
float GetAverageVoltage();
uint8_t GetModuleNumber();
uint32_t GetChannel();
void SetAverageBits(uint32_t bits);
@@ -72,8 +69,8 @@ public:
ITable * GetTable();
private:
void InitAnalogInput(uint8_t moduleNumber, uint32_t channel);
uint32_t m_channel, m_module;
void InitAnalogInput(uint32_t channel);
uint32_t m_channel;
void* m_port;
int64_t m_accumulatorOffset;

29
wpilibc/wpilibC++/include/AnalogPotentiometer.h
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@@ -1,7 +1,7 @@
#include "AnalogInput.h"
#include "interfaces/Potentiometer.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "LiveWindow/LiveWindowSendable.h"
/**
* Class for reading analog potentiometers. Analog potentiometers read
@@ -13,23 +13,6 @@
*/
class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
public:
/**
* AnalogPotentiometer constructor.
*
* Use the scaling and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The scale value is 270.0(degrees)/5.0(volts) and the
* offset is -135.0 since the halfway point after scaling is 135
* degrees.
*
* @param slot The analog module this potentiometer is plugged into.
* @param channel The analog channel this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
* @param offset The offset to add to the scaled value for controlling the zero value
*/
AnalogPotentiometer(int slot, int channel, double scale, double offset);
/**
* AnalogPotentiometer constructor.
*
@@ -82,7 +65,7 @@ public:
* @return The current reading.
*/
virtual double PIDGet();
/*
* Live Window code, only does anything if live window is activated.
*/
@@ -95,14 +78,14 @@ public:
* AnalogPotentiometers don't have to do anything special when entering the LiveWindow.
*/
virtual void StartLiveWindowMode() {}
/**
* AnalogPotentiometers don't have to do anything special when exiting the LiveWindow.
*/
virtual void StopLiveWindowMode() {}
private:
int m_module, m_channel;
int m_channel;
double m_scale, m_offset;
AnalogInput* m_analog_channel;
ITable* m_table;
@@ -110,5 +93,5 @@ private:
/**
* Common initialization code called by all constructors.
*/
void initPot(int slot, int channel, double scale, double offset);
void initPot(int channel, double scale, double offset);
};

3
wpilibc/wpilibC++/include/AnalogTrigger.h
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@@ -16,7 +16,6 @@ class AnalogTrigger : public SensorBase
{
friend class AnalogTriggerOutput;
public:
AnalogTrigger(uint8_t moduleNumber, uint32_t channel);
explicit AnalogTrigger(uint32_t channel);
explicit AnalogTrigger(AnalogInput *channel);
virtual ~AnalogTrigger();
@@ -31,7 +30,7 @@ public:
AnalogTriggerOutput *CreateOutput(AnalogTriggerType type);
private:
void InitTrigger(uint8_t moduleNumber, uint32_t channel);
void InitTrigger(uint32_t channel);
uint8_t m_index;
void* m_trigger;

20
wpilibc/wpilibC++/include/Compressor.h
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@@ -1,6 +1,8 @@
/*
* Compressor.h
*/
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#ifndef Compressor_H_
#define Compressor_H_
@@ -11,24 +13,20 @@
#include "LiveWindow/LiveWindowSendable.h"
/**
* CAN pneumatic control module compressor
*
* Created on: May 28, 2014
* Author: Thomas Clark
*
* PCM compressor
*/
class Compressor: public SensorBase, public LiveWindowSendable, public ITableListener {
public:
Compressor(uint8_t module);
explicit Compressor(uint8_t pcmID);
Compressor();
~Compressor();
virtual ~Compressor();
void Start();
void Stop();
bool Enabled();
bool GetPressureSwitchValue();
float GetCompressorCurrent();
void SetClosedLoopControl(bool on);

9
wpilibc/wpilibC++/include/Counter.h
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@@ -23,7 +23,6 @@ public:
Counter();
explicit Counter(uint32_t channel);
Counter(uint8_t moduleNumber, uint32_t channel);
explicit Counter(DigitalSource *source);
explicit Counter(DigitalSource &source);
explicit Counter(AnalogTrigger *trigger);
@@ -33,7 +32,6 @@ public:
virtual ~Counter();
void SetUpSource(uint32_t channel);
void SetUpSource(uint8_t moduleNumber, uint32_t channel);
void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
void SetUpSource(AnalogTrigger &analogTrigger, AnalogTriggerType triggerType);
void SetUpSource(DigitalSource *source);
@@ -42,7 +40,6 @@ public:
void ClearUpSource();
void SetDownSource(uint32_t channel);
void SetDownSource(uint8_t moduleNumber, uint32_t channel);
void SetDownSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
void SetDownSource(AnalogTrigger &analogTrigger, AnalogTriggerType triggerType);
void SetDownSource(DigitalSource *source);
@@ -73,7 +70,7 @@ public:
{
return m_index;
}
void UpdateTable();
void StartLiveWindowMode();
void StopLiveWindowMode();
@@ -83,13 +80,13 @@ public:
protected:
DigitalSource *m_upSource; ///< What makes the counter count up.
DigitalSource *m_downSource; ///< What makes the counter count down.
void* m_counter; ///< The FPGA counter object.
void* m_counter; ///< The FPGA counter object.
private:
void InitCounter(Mode mode = kTwoPulse);
bool m_allocatedUpSource; ///< Was the upSource allocated locally?
bool m_allocatedDownSource; ///< Was the downSource allocated locally?
uint32_t m_index; ///< The index of this counter.
ITable *m_table;
};

3
wpilibc/wpilibC++/include/DigitalInput.h
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@@ -21,7 +21,6 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable
{
public:
explicit DigitalInput(uint32_t channel);
DigitalInput(uint8_t moduleNumber, uint32_t channel);
virtual ~DigitalInput();
uint32_t Get();
uint32_t GetChannel();
@@ -44,7 +43,7 @@ public:
ITable * GetTable();
private:
void InitDigitalInput(uint8_t moduleNumber, uint32_t channel);
void InitDigitalInput(uint32_t channel);
uint32_t m_channel;
DigitalModule *m_module;
bool m_lastValue;

3
wpilibc/wpilibC++/include/DigitalOutput.h
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@@ -20,7 +20,6 @@ class DigitalOutput : public DigitalSource, public ITableListener, public LiveWi
{
public:
explicit DigitalOutput(uint32_t channel);
DigitalOutput(uint8_t moduleNumber, uint32_t channel);
virtual ~DigitalOutput();
void Set(uint32_t value);
uint32_t GetChannel();
@@ -49,7 +48,7 @@ public:
ITable * GetTable();
private:
void InitDigitalOutput(uint8_t moduleNumber, uint32_t channel);
void InitDigitalOutput(uint32_t channel);
uint32_t m_channel;
uint32_t m_pwmGenerator;

1
wpilibc/wpilibC++/include/DriverStation.h
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@@ -29,7 +29,6 @@ public:
virtual ~DriverStation();
static DriverStation *GetInstance();
static const uint32_t kBatteryModuleNumber = 1;
static const uint32_t kBatteryChannel = 7;
static const uint32_t kJoystickPorts = 4;
static const uint32_t kJoystickAxes = 6;

6
wpilibc/wpilibC++/include/Encoder.h
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@@ -21,7 +21,7 @@ class DigitalSource;
* reverse direction counting. When creating QuadEncoders, a direction is supplied that changes the
* sense of the output to make code more readable if the encoder is mounted such that forward movement
* generates negative values. Quadrature encoders have two digital outputs, an A Channel and a B Channel
* that are out of phase with each other to allow the FPGA to do direction sensing.
* that are out of phase with each other to allow the FPGA to do direction sensing.
*/
class Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
{
@@ -29,8 +29,6 @@ public:
Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
EncodingType encodingType = k4X);
Encoder(uint8_t aModuleNumber, uint32_t aChannel, uint8_t bModuleNumber, uint32_t _bChannel,
bool reverseDirection = false, EncodingType encodingType = k4X);
Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection = false,
EncodingType encodingType = k4X);
Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection = false,
@@ -77,6 +75,6 @@ private:
Counter *m_counter; // Counter object for 1x and 2x encoding
EncodingType m_encodingType; // Encoding type
PIDSourceParameter m_pidSource; // Encoder parameter that sources a PID controller
ITable *m_table;
};

1
wpilibc/wpilibC++/include/GearTooth.h
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@@ -19,7 +19,6 @@ public:
/// 55 uSec for threshold
static constexpr double kGearToothThreshold = 55e-6;
GearTooth(uint32_t channel, bool directionSensitive = false);
GearTooth(uint8_t moduleNumber, uint32_t channel, bool directionSensitive = false);
GearTooth(DigitalSource *source, bool directionSensitive = false);
GearTooth(DigitalSource &source, bool directionSensitive = false);
virtual ~GearTooth();

4
wpilibc/wpilibC++/include/Gyro.h
View File

@@ -10,7 +10,6 @@
#include "LiveWindow/LiveWindowSendable.h"
class AnalogInput;
class AnalogModule;
/**
* Use a rate gyro to return the robots heading relative to a starting position.
@@ -18,7 +17,7 @@ class AnalogModule;
* rotates the new heading is computed by integrating the rate of rotation returned
* by the sensor. When the class is instantiated, it does a short calibration routine
* where it samples the gyro while at rest to determine the default offset. This is
* subtracted from each sample to determine the heading. This gyro class must be used
* subtracted from each sample to determine the heading. This gyro class must be used
* with a channel that is assigned one of the Analog accumulators from the FPGA. See
* AnalogInput for the current accumulator assignments.
*/
@@ -31,7 +30,6 @@ public:
static constexpr float kCalibrationSampleTime = 5.0;
static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
Gyro(uint8_t moduleNumber, uint32_t channel);
explicit Gyro(uint32_t channel);
explicit Gyro(AnalogInput *channel);
explicit Gyro(AnalogInput &channel);

2
wpilibc/wpilibC++/include/HiTechnicColorSensor.h
View File

@@ -36,7 +36,7 @@ public:
uint16_t blue;
uint16_t green;
};
explicit HiTechnicColorSensor(uint8_t moduleNumber);
HiTechnicColorSensor();
virtual ~HiTechnicColorSensor();
uint8_t GetColor();
uint8_t GetRed();

12
wpilibc/wpilibC++/include/HiTechnicCompass.h
View File

@@ -12,23 +12,23 @@ class I2C;
/**
* HiTechnic NXT Compass.
*
*
* This class alows access to a HiTechnic NXT Compass on an I2C bus.
* These sensors to not allow changing addresses so you cannot have more
* than one on a single bus.
*
*
* Details on the sensor can be found here:
* http://www.hitechnic.com/index.html?lang=en-us&target=d17.html
*
*
* @todo Implement a calibration method for the sensor.
*/
class HiTechnicCompass : public SensorBase, public LiveWindowSendable
{
public:
explicit HiTechnicCompass(uint8_t moduleNumber);
HiTechnicCompass();
virtual ~HiTechnicCompass();
float GetAngle();
void UpdateTable();
void StartLiveWindowMode();
void StopLiveWindowMode();
@@ -45,6 +45,6 @@ private:
static const uint8_t kHeadingRegister = 0x44;
I2C* m_i2c;
ITable *m_table;
};

1
wpilibc/wpilibC++/include/Jaguar.h
View File

@@ -16,7 +16,6 @@ class Jaguar : public SafePWM, public SpeedController
{
public:
explicit Jaguar(uint32_t channel);
Jaguar(uint8_t moduleNumber, uint32_t channel);
virtual ~Jaguar();
virtual void Set(float value, uint8_t syncGroup = 0);
virtual float Get();

14
wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h
View File

@@ -35,9 +35,10 @@ public:
void Run();
void AddSensor(const char *subsystem, const char *name, LiveWindowSendable *component);
void AddActuator(const char *subsystem, const char *name, LiveWindowSendable *component);
void AddSensor(std::string type, int module, int channel, LiveWindowSendable *component);
void AddSensor(std::string type, int channel, LiveWindowSendable *component);
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; }
void SetEnabled(bool enabled);
@@ -49,19 +50,18 @@ private:
void UpdateValues();
void Initialize();
void InitializeLiveWindowComponents();
std::vector<LiveWindowSendable *> m_sensors;
std::map<LiveWindowSendable *, LiveWindowComponent> m_components;
static LiveWindow *m_instance;
ITable *m_liveWindowTable;
ITable *m_statusTable;
Scheduler *m_scheduler;
bool m_enabled;
bool m_firstTime;
};
#endif

8
wpilibc/wpilibC++/include/PWM.h
View File

@@ -13,12 +13,12 @@ class DigitalModule;
/**
* Class implements the PWM generation in the FPGA.
*
*
* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped
* to the hardware dependent values, in this case 0-255 for the FPGA.
* Changes are immediately sent to the FPGA, and the update occurs at the next
* FPGA cycle. There is no delay.
*
*
* As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-255 values as follows:
* - 255 = full "forward"
* - 254 to 129 = linear scaling from "full forward" to "center"
@@ -39,7 +39,6 @@ public:
};
explicit PWM(uint32_t channel);
PWM(uint8_t moduleNumber, uint32_t channel);
virtual ~PWM();
virtual void SetRaw(unsigned short value);
virtual unsigned short GetRaw();
@@ -52,7 +51,6 @@ public:
{
return m_channel;
}
uint32_t GetModuleNumber();
protected:
/**
@@ -105,7 +103,7 @@ protected:
ITable *m_table;
private:
void InitPWM(uint8_t moduleNumber, uint32_t channel);
void InitPWM(uint32_t channel);
uint32_t m_channel;
DigitalModule *m_module;
int32_t GetMaxPositivePwm()

5
wpilibc/wpilibC++/include/Relay.h
View File

@@ -16,7 +16,7 @@ class DigitalModule;
* Class for Spike style relay outputs.
* Relays are intended to be connected to spikes or similar relays. The relay channels controls
* a pair of pins that are either both off, one on, the other on, or both on. This translates into
* two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two
* two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two
* spike outputs at 12V. This allows off, full forward, or full reverse control of motors without
* variable speed. It also allows the two channels (forward and reverse) to be used independently
* for something that does not care about voltage polatiry (like a solenoid).
@@ -39,7 +39,6 @@ public:
};
Relay(uint32_t channel, Direction direction = kBothDirections);
Relay(uint8_t moduleNumber, uint32_t channel, Direction direction = kBothDirections);
virtual ~Relay();
void Set(Value value);
@@ -56,7 +55,7 @@ public:
ITable *m_table;
private:
void InitRelay(uint8_t moduleNumber);
void InitRelay();
uint32_t m_channel;
Direction m_direction;

1
wpilibc/wpilibC++/include/SafePWM.h
View File

@@ -21,7 +21,6 @@ class SafePWM : public PWM, public MotorSafety
{
public:
explicit SafePWM(uint32_t channel);
SafePWM(uint8_t moduleNumber, uint32_t channel);
~SafePWM();
void SetExpiration(float timeout);

18
wpilibc/wpilibC++/include/SensorBase.h
View File

@@ -20,22 +20,12 @@ public:
SensorBase();
virtual ~SensorBase();
static void DeleteSingletons();
static uint32_t GetDefaultAnalogModule()
static uint32_t GetDefaultSolenoidModule()
{
return 1;
}
static uint32_t GetDefaultDigitalModule()
{
return 1;
}
static uint32_t GetDefaultSolenoidModule()
{
return 1;
}
static bool CheckAnalogModule(uint8_t moduleNumber);
static bool CheckDigitalModule(uint8_t moduleNumber);
static bool CheckPWMModule(uint8_t moduleNumber);
static bool CheckRelayModule(uint8_t moduleNumber);
static bool CheckSolenoidModule(uint8_t moduleNumber);
static bool CheckDigitalChannel(uint32_t channel);
static bool CheckRelayChannel(uint32_t channel);
@@ -48,8 +38,6 @@ public:
static const uint32_t kDigitalChannels = 20;
static const uint32_t kAnalogInputs = 8;
static const uint32_t kAnalogOutputs = 2;
static const uint32_t kAnalogModules = 2;
static const uint32_t kDigitalModules = 2;
static const uint32_t kSolenoidChannels = 8;
static const uint32_t kSolenoidModules = 2;
static const uint32_t kPwmChannels = 20;

3
wpilibc/wpilibC++/include/Servo.h
View File

@@ -10,7 +10,7 @@
/**
* Standard hobby style servo.
*
*
* The range parameters default to the appropriate values for the Hitec HS-322HD servo provided
* in the FIRST Kit of Parts in 2008.
*/
@@ -18,7 +18,6 @@ class Servo : public SafePWM
{
public:
explicit Servo(uint32_t channel);
Servo(uint8_t moduleNumber, uint32_t channel);
virtual ~Servo();
void Set(float value);
void SetOffline();

2
wpilibc/wpilibC++/include/SolenoidBase.h
View File

@@ -21,7 +21,7 @@ public:
uint8_t GetAll();
protected:
explicit SolenoidBase(uint8_t moduleNumber);
explicit SolenoidBase(uint8_t pcmID);
void Set(uint8_t value, uint8_t mask);
virtual void InitSolenoid() = 0;

1
wpilibc/wpilibC++/include/Talon.h
View File

@@ -16,7 +16,6 @@ class Talon : public SafePWM, public SpeedController
{
public:
explicit Talon(uint32_t channel);
Talon(uint8_t moduleNumber, uint32_t channel);
virtual ~Talon();
virtual void Set(float value, uint8_t syncGroup = 0);
virtual float Get();

5
wpilibc/wpilibC++/include/Ultrasonic.h
View File

@@ -36,8 +36,6 @@ public:
Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel, DistanceUnit units = kInches);
Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel, DistanceUnit units = kInches);
Ultrasonic(uint32_t pingChannel, uint32_t echoChannel, DistanceUnit units = kInches);
Ultrasonic(uint8_t pingModuleNumber, uint32_t pingChannel, uint8_t echoModuleNumber,
uint32_t echoChannel, DistanceUnit units = kInches);
virtual ~Ultrasonic();
void Ping();
@@ -53,7 +51,7 @@ public:
{
m_enabled = enable;
}
double PIDGet();
void SetDistanceUnits(DistanceUnit units);
DistanceUnit GetDistanceUnits();
@@ -90,4 +88,3 @@ private:
ITable *m_table;
};

1
wpilibc/wpilibC++/include/Victor.h
View File

@@ -16,7 +16,6 @@ class Victor : public SafePWM, public SpeedController
{
public:
explicit Victor(uint32_t channel);
Victor(uint8_t moduleNumber, uint32_t channel);
virtual ~Victor();
virtual void Set(float value, uint8_t syncGroup = 0);
virtual float Get();

14
wpilibc/wpilibC++/lib/ADXL345_I2C.cpp
View File

@@ -17,14 +17,13 @@ constexpr double ADXL345_I2C::kGsPerLSB;
/**
* Constructor.
*
* @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
*
* @param range The range (+ or -) that the accelerometer will measure.
*/
ADXL345_I2C::ADXL345_I2C(uint8_t moduleNumber, ADXL345_I2C::DataFormat_Range range)
ADXL345_I2C::ADXL345_I2C(ADXL345_I2C::DataFormat_Range range)
: m_i2c (NULL)
{
DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
DigitalModule *module = DigitalModule::GetInstance(1);
if (module)
{
m_i2c = module->GetI2C(kAddress);
@@ -34,7 +33,7 @@ ADXL345_I2C::ADXL345_I2C(uint8_t moduleNumber, ADXL345_I2C::DataFormat_Range ran
// Specify the data format to read
m_i2c->Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, 0);
}
}
@@ -49,7 +48,7 @@ ADXL345_I2C::~ADXL345_I2C()
/**
* Get the acceleration of one axis in Gs.
*
*
* @param axis The axis to read from.
* @return Acceleration of the ADXL345 in Gs.
*/
@@ -68,7 +67,7 @@ double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis)
/**
* Get the acceleration of all axes in Gs.
*
*
* @return Acceleration measured on all axes of the ADXL345 in Gs.
*/
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
@@ -91,4 +90,3 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
}
return data;
}

22
wpilibc/wpilibC++/lib/ADXL345_SPI.cpp
View File

@@ -17,7 +17,7 @@ constexpr double ADXL345_SPI::kGsPerLSB;
/**
* Constructor.
*
*
* @param clk The GPIO the clock signal is wired to.
* @param mosi The GPIO the MOSI (Master Out Slave In) signal is wired to.
* @param miso The GPIO the MISO (Master In Slave Out) signal is wired to.
@@ -37,7 +37,7 @@ ADXL345_SPI::ADXL345_SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &
/**
* Constructor.
*
*
* @param clk The GPIO the clock signal is wired to.
* @param mosi The GPIO the MOSI (Master Out Slave In) signal is wired to.
* @param miso The GPIO the MISO (Master In Slave Out) signal is wired to.
@@ -57,15 +57,14 @@ ADXL345_SPI::ADXL345_SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *
/**
* Constructor.
*
* @param moduleNumber The digital module with the sensor attached.
*
* @param clk The GPIO the clock signal is wired to.
* @param mosi The GPIO the MOSI (Master Out Slave In) signal is wired to.
* @param miso The GPIO the MISO (Master In Slave Out) signal is wired to.
* @param cs The GPIO the CS (Chip Select) signal is wired to.
* @param range The range (+ or -) that the accelerometer will measure.
*/
ADXL345_SPI::ADXL345_SPI(uint8_t moduleNumber, uint32_t clk, uint32_t mosi, uint32_t miso,
ADXL345_SPI::ADXL345_SPI(uint32_t clk, uint32_t mosi, uint32_t miso,
uint32_t cs, ADXL345_SPI::DataFormat_Range range)
: m_clk (NULL)
, m_mosi (NULL)
@@ -73,10 +72,10 @@ ADXL345_SPI::ADXL345_SPI(uint8_t moduleNumber, uint32_t clk, uint32_t mosi, uint
, m_cs (NULL)
, m_spi (NULL)
{
m_clk = new DigitalOutput(moduleNumber, clk);
m_mosi = new DigitalOutput(moduleNumber, mosi);
m_miso = new DigitalInput(moduleNumber, miso);
m_cs = new DigitalOutput(moduleNumber, cs);
m_clk = new DigitalOutput(clk);
m_mosi = new DigitalOutput(mosi);
m_miso = new DigitalInput(miso);
m_cs = new DigitalOutput(cs);
Init(m_clk, m_mosi, m_miso, m_cs, range);
}
@@ -132,7 +131,7 @@ ADXL345_SPI::~ADXL345_SPI()
/**
* Get the acceleration of one axis in Gs.
*
*
* @param axis The axis to read from.
* @return Acceleration of the ADXL345 in Gs.
*/
@@ -152,7 +151,7 @@ double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis)
/**
* Get the acceleration of all axes in Gs.
*
*
* @return Acceleration measured on all axes of the ADXL345 in Gs.
*/
ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations()
@@ -210,4 +209,3 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations()
}
return data;
}

45
wpilibc/wpilibC++/lib/Accelerometer.cpp
View File

@@ -5,7 +5,6 @@
/*----------------------------------------------------------------------------*/
#include "Accelerometer.h"
#include "AnalogModule.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "WPIErrors.h"
#include "LiveWindow/LiveWindow.h"
@@ -18,15 +17,14 @@ void Accelerometer::InitAccelerometer()
m_table = NULL;
m_voltsPerG = 1.0;
m_zeroGVoltage = 2.5;
HALReport(HALUsageReporting::kResourceType_Accelerometer, m_AnalogInput->GetChannel(), m_AnalogInput->GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddSensor("Accelerometer", m_AnalogInput->GetModuleNumber(), m_AnalogInput->GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Accelerometer, m_AnalogInput->GetChannel());
LiveWindow::GetInstance()->AddSensor("Accelerometer", m_AnalogInput->GetChannel(), this);
}
/**
* Create a new instance of an accelerometer.
*
* The accelerometer is assumed to be in the first analog module in the given analog channel. The
* constructor allocates desired analog channel.
*
* The constructor allocates desired analog input.
*/
Accelerometer::Accelerometer(uint32_t channel)
{
@@ -35,22 +33,6 @@ Accelerometer::Accelerometer(uint32_t channel)
InitAccelerometer();
}
/**
* Create new instance of accelerometer.
*
* Make a new instance of the accelerometer given a module and channel. The constructor allocates
* the desired analog channel from the specified module
*
* @param moduleNumber The analog module (1 or 2).
* @param channel The analog channel (1..8)
*/
Accelerometer::Accelerometer(uint8_t moduleNumber, uint32_t channel)
{
m_AnalogInput = new AnalogInput(moduleNumber, channel);
m_allocatedChannel = true;
InitAccelerometer();
}
/**
* Create a new instance of Accelerometer from an existing AnalogInput.
* Make a new instance of accelerometer given an AnalogInput. This is particularly
@@ -70,7 +52,7 @@ Accelerometer::Accelerometer(AnalogInput *channel)
}
m_allocatedChannel = false;
}
/**
* Delete the analog components used for the accelerometer.
*/
@@ -84,9 +66,9 @@ Accelerometer::~Accelerometer()
/**
* Return the acceleration in Gs.
*
*
* The acceleration is returned units of Gs.
*
*
* @return The current acceleration of the sensor in Gs.
*/
float Accelerometer::GetAcceleration()
@@ -96,10 +78,10 @@ float Accelerometer::GetAcceleration()
/**
* Set the accelerometer sensitivity.
*
*
* This sets the sensitivity of the accelerometer used for calculating the acceleration.
* The sensitivity varys by accelerometer model. There are constants defined for various models.
*
*
* @param sensitivity The sensitivity of accelerometer in Volts per G.
*/
void Accelerometer::SetSensitivity(float sensitivity)
@@ -109,9 +91,9 @@ void Accelerometer::SetSensitivity(float sensitivity)
/**
* Set the voltage that corresponds to 0 G.
*
*
* The zero G voltage varys by accelerometer model. There are constants defined for various models.
*
*
* @param zero The zero G voltage.
*/
void Accelerometer::SetZero(float zero)
@@ -121,9 +103,9 @@ void Accelerometer::SetZero(float zero)
/**
* Get the Acceleration for the PID Source parent.
*
*
* @return The current acceleration in Gs.
*/
*/
double Accelerometer::PIDGet()
{
return GetAcceleration();
@@ -153,4 +135,3 @@ void Accelerometer::InitTable(ITable *subTable) {
ITable * Accelerometer::GetTable() {
return m_table;
}

79
wpilibc/wpilibC++/lib/AnalogInput.cpp
View File

@@ -1,11 +1,10 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "AnalogInput.h"
#include "AnalogModule.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "Resource.h"
#include "WPIErrors.h"
@@ -20,61 +19,45 @@ const uint32_t AnalogInput::kAccumulatorChannels[] = {0, 1};
/**
* Common initialization.
*/
void AnalogInput::InitAnalogInput(uint8_t moduleNumber, uint32_t channel)
void AnalogInput::InitAnalogInput(uint32_t channel)
{
m_table = NULL;
char buf[64];
Resource::CreateResourceObject(&inputs, kAnalogModules * kAnalogInputs);
if (!checkAnalogModule(moduleNumber))
{
snprintf(buf, 64, "Analog Module %d", moduleNumber);
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
if (!checkAnalogInputChannel(channel))
Resource::CreateResourceObject(&inputs, kAnalogInputs);
if (!checkAnalogInputChannel(channel))
{
snprintf(buf, 64, "analog input %d", channel);
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
return;
}
snprintf(buf, 64, "Analog Input %d (Module: %d)", channel, moduleNumber);
if (inputs->Allocate((moduleNumber - 1) * kAnalogInputs + channel, buf) == ~0ul)
snprintf(buf, 64, "Analog Input %d", channel);
if (inputs->Allocate(channel, buf) == ~0ul)
{
CloneError(inputs);
return;
}
m_channel = channel;
m_module = moduleNumber;
void* port = getPortWithModule(moduleNumber, channel);
m_channel = channel;
void* port = getPort(channel);
int32_t status = 0;
m_port = initializeAnalogInputPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
LiveWindow::GetInstance()->AddSensor("AnalogInput",channel, GetModuleNumber(), this);
HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel, GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddSensor("AnalogInput",channel, this);
HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel);
}
/**
* Construct an analog input on a specified module.
*
* @param moduleNumber The analog module (1 or 2).
* @param channel The channel number to represent.
*/
AnalogInput::AnalogInput(uint8_t moduleNumber, uint32_t channel)
{
InitAnalogInput(moduleNumber, channel);
}
/**
* Construct an analog input on the default module.
* Construct an analog input.
*
* @param channel The channel number to represent.
*/
AnalogInput::AnalogInput(uint32_t channel)
{
InitAnalogInput(GetDefaultAnalogModule(), channel);
InitAnalogInput(channel);
}
/**
@@ -82,24 +65,14 @@ AnalogInput::AnalogInput(uint32_t channel)
*/
AnalogInput::~AnalogInput()
{
inputs->Free((m_module - 1) * kAnalogInputs + m_channel);
inputs->Free(m_channel);
}
/**
* Get the analog module that this channel is on.
* @return A pointer to the AnalogModule that this channel is on.
*/
AnalogModule *AnalogInput::GetModule()
{
if (StatusIsFatal()) return NULL;
return AnalogModule::GetInstance(m_module);
}
/**
* Get a sample straight from this channel on the module.
* Get a sample straight from this channel.
* The sample is a 12-bit value representing the -10V to 10V range of the A/D converter in the module.
* 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 on the module.
* @return A sample straight from this channel.
*/
int16_t AnalogInput::GetValue()
{
@@ -129,9 +102,9 @@ int32_t AnalogInput::GetAverageValue()
}
/**
* Get a scaled sample straight from this channel on the module.
* Get a scaled sample straight from this channel.
* 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 on the module.
* @return A scaled sample straight from this channel.
*/
float AnalogInput::GetVoltage()
{
@@ -160,8 +133,6 @@ float AnalogInput::GetAverageVoltage()
/**
* Get the factory scaling least significant bit weight constant.
* The least significant bit weight constant for the channel that was calibrated in
* manufacturing and stored in an eeprom in the module.
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
@@ -178,8 +149,6 @@ uint32_t AnalogInput::GetLSBWeight()
/**
* Get the factory scaling offset constant.
* The offset constant for the channel that was calibrated in manufacturing and stored
* in an eeprom in the module.
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
@@ -204,16 +173,6 @@ uint32_t AnalogInput::GetChannel()
return m_channel;
}
/**
* Get the module number.
* @return The module number.
*/
uint8_t AnalogInput::GetModuleNumber()
{
if (StatusIsFatal()) return 0;
return m_module;
}
/**
* Set the number of averaging bits.
* This sets the number of averaging bits. The actual number of averaged samples is 2**bits.

2
wpilibc/wpilibC++/lib/AnalogOutput.cpp
View File

@@ -39,7 +39,7 @@ void AnalogOutput::InitAnalogOutput(uint32_t channel) {
m_port = initializeAnalogOutputPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, 1, this);
LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
HALReport(HALUsageReporting::kResourceType_AnalogChannel, m_channel, 0);
}

17
wpilibc/wpilibC++/lib/AnalogPotentiometer.cpp
View File

@@ -1,35 +1,30 @@
#include "AnalogPotentiometer.h"
void AnalogPotentiometer::initPot(int slot, int channel, double scale, double offset) {
m_module = slot;
void AnalogPotentiometer::initPot(int channel, double scale, double offset) {
m_channel = channel;
m_scale = scale;
m_offset = offset;
m_analog_channel = new AnalogInput(slot, channel);
}
AnalogPotentiometer::AnalogPotentiometer(int slot, int channel, double scale, double offset) {
initPot(slot, channel, scale, offset);
m_analog_channel = new AnalogInput(channel);
}
AnalogPotentiometer::AnalogPotentiometer(int channel, double scale, double offset) {
initPot(1, channel, scale, offset);
initPot(channel, scale, offset);
}
AnalogPotentiometer::AnalogPotentiometer(int channel, double scale) {
initPot(1, channel, scale, 0);
initPot(channel, scale, 0);
}
AnalogPotentiometer::AnalogPotentiometer(int channel) {
initPot(1, channel, 1, 0);
initPot(channel, 1, 0);
}
double AnalogPotentiometer::Get() {
return m_analog_channel->GetVoltage() * m_scale + m_offset;
}
double AnalogPotentiometer::PIDGet() {
return Get();
}

38
wpilibc/wpilibC++/lib/AnalogTrigger.cpp
View File

@@ -13,51 +13,38 @@
#include "WPIErrors.h"
/**
* Initialize an analog trigger from a slot and channel.
* This is the common code for the two constructors that use a slot and channel.
* Initialize an analog trigger from a channel.
*/
void AnalogTrigger::InitTrigger(uint8_t moduleNumber, uint32_t channel)
void AnalogTrigger::InitTrigger(uint32_t channel)
{
void* port = getPortWithModule(moduleNumber, channel);
void* port = getPort(channel);
int32_t status = 0;
uint32_t index = 0;
m_trigger = initializeAnalogTrigger(port, &index, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_index = index;
HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel, moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel);
}
/**
* Constructor for an analog trigger given a channel number.
* The default module is used in this case.
*
* @param channel The analog channel (1..8).
* @param channel The analog channel (0..7).
*/
AnalogTrigger::AnalogTrigger(uint32_t channel)
{
InitTrigger(GetDefaultAnalogModule(), channel);
InitTrigger(channel);
}
/**
* Constructor for an analog trigger given both the slot and channel.
*
* @param moduleNumber The analog module (1 or 2).
* @param channel The analog channel (1..8).
* Construct an analog trigger given an analog input.
* This should be used in the case of sharing an analog channel between the
* trigger and an analog input object.
*/
AnalogTrigger::AnalogTrigger(uint8_t moduleNumber, uint32_t channel)
AnalogTrigger::AnalogTrigger(AnalogInput *input)
{
InitTrigger(moduleNumber, channel);
}
/**
* Construct an analog trigger given an analog channel.
* This should be used in the case of sharing an analog channel between the trigger
* and an analog input object.
*/
AnalogTrigger::AnalogTrigger(AnalogInput *channel)
{
InitTrigger(channel->GetModuleNumber(), channel->GetChannel());
InitTrigger(input->GetChannel());
}
AnalogTrigger::~AnalogTrigger()
@@ -171,4 +158,3 @@ AnalogTriggerOutput *AnalogTrigger::CreateOutput(AnalogTriggerType type)
if (StatusIsFatal()) return NULL;
return new AnalogTriggerOutput(this, type);
}

138
wpilibc/wpilibC++/lib/CANJaguar.cpp
View File

@@ -82,12 +82,12 @@ void CANJaguar::InitCANJaguar()
m_safetyHelper = new MotorSafetyHelper(this);
HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, m_controlMode);
LiveWindow::GetInstance()->AddActuator("CANJaguar", m_deviceNumber, 0, this);
LiveWindow::GetInstance()->AddActuator("CANJaguar", m_deviceNumber, this);
}
/**
* Constructor
*
*
* @param deviceNumber The the address of the Jaguar on the CAN bus.
*/
CANJaguar::CANJaguar(uint8_t deviceNumber, ControlMode controlMode)
@@ -109,15 +109,15 @@ CANJaguar::~CANJaguar()
}
/**
* Set the output set-point value.
*
* Set the output set-point value.
*
* The scale and the units depend on the mode the Jaguar is in.
* In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).
* In Voltage Mode, the outputValue is in Volts.
* In Current Mode, the outputValue is in Amps.
* In Speed Mode, the outputValue is in Rotations/Minute.
* In Position Mode, the outputValue is in Rotations.
*
*
* @param outputValue The set-point to sent to the motor controller.
* @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
*/
@@ -231,7 +231,7 @@ void CANJaguar::SetNoAck(float outputValue, uint8_t syncGroup)
dataSize++;
}
{ //setTransaction(messageID, dataBuffer, dataSize);
//uint32_t ackMessageID = LM_API_ACK | m_deviceNumber;
int32_t localStatus = 0;
@@ -245,11 +245,11 @@ void CANJaguar::SetNoAck(float outputValue, uint8_t syncGroup)
// Throw away any stale acks.
//receiveMessage(&ackMessageID, NULL, 0, 0.0f);
// Send the message with the data.
localStatus = sendMessage(messageID | m_deviceNumber, dataBuffer, dataSize);
wpi_setErrorWithContext(localStatus, "sendMessage");
// Wait for an ack.
//localStatus = receiveMessage(&ackMessageID, NULL, 0);
//wpi_setErrorWithContext(localStatus, "receiveMessage");
@@ -257,21 +257,21 @@ void CANJaguar::SetNoAck(float outputValue, uint8_t syncGroup)
// Transaction complete.
giveMutex(m_transactionSemaphore);
}
if (m_safetyHelper) m_safetyHelper->Feed();
}
/**
* Get the recently set outputValue setpoint.
*
*
* The scale and the units depend on the mode the Jaguar is in.
* In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).
* In Voltage Mode, the outputValue is in Volts.
* In Current Mode, the outputValue is in Amps.
* In Speed Mode, the outputValue is in Rotations/Minute.
* In Position Mode, the outputValue is in Rotations.
*
*
* @return The most recently set outputValue setpoint.
*/
float CANJaguar::Get()
@@ -322,7 +322,7 @@ float CANJaguar::Get()
/**
* Common interface for disabling a motor.
*
*
* @deprecated Call DisableControl instead.
*/
void CANJaguar::Disable()
@@ -332,9 +332,9 @@ void CANJaguar::Disable()
/**
* Write out the PID value as seen in the PIDOutput base object.
*
*
* @deprecated Call Set instead.
*
*
* @param output Write out the PercentVbus value as was computed by the PIDController
*/
void CANJaguar::PIDWrite(float output)
@@ -417,10 +417,10 @@ int32_t CANJaguar::unpackint32_t(uint8_t *buffer)
/**
* Send a message on the CAN bus through the CAN driver in FRC_NetworkCommunication
*
*
* Trusted messages require a 2-byte token at the beginning of the data payload.
* If the message being sent is trusted, make space for the token.
*
*
* @param messageID The messageID to be used on the CAN bus
* @param data The up to 8 bytes of data to be sent with the message
* @param dataSize Specify how much of the data in "data" to send
@@ -464,7 +464,7 @@ int32_t CANJaguar::sendMessage(uint32_t messageID, const uint8_t *data, uint8_t
/**
* Receive a message from the CAN bus through the CAN driver in FRC_NetworkCommunication
*
*
* @param messageID The messageID to read from the CAN bus
* @param data The up to 8 bytes of data that was received with the message
* @param dataSize Indicates how much data was received
@@ -482,10 +482,10 @@ int32_t CANJaguar::receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *d
/**
* Execute a transaction with a Jaguar that sets some property.
*
*
* Jaguar always acks when it receives a message. If we don't wait for an ack,
* the message object in the Jaguar could get overwritten before it is handled.
*
*
* @param messageID The messageID to be used on the CAN bus (device number is added internally)
* @param data The up to 8 bytes of data to be sent with the message
* @param dataSize Specify how much of the data in "data" to send
@@ -518,9 +518,9 @@ void CANJaguar::setTransaction(uint32_t messageID, const uint8_t *data, uint8_t
/**
* Execute a transaction with a Jaguar that gets some property.
*
*
* Jaguar always generates a message with the same message ID when replying.
*
*
* @param messageID The messageID to read from the CAN bus (device number is added internally)
* @param data The up to 8 bytes of data that was received with the message
* @param dataSize Indicates how much data was received
@@ -559,9 +559,9 @@ void CANJaguar::getTransaction(uint32_t messageID, uint8_t *data, uint8_t *dataS
/**
* Set the reference source device for speed controller mode.
*
*
* Choose encoder as the source of speed feedback when in speed control mode.
*
*
* @param reference Specify a SpeedReference.
*/
void CANJaguar::SetSpeedReference(SpeedReference reference)
@@ -574,7 +574,7 @@ void CANJaguar::SetSpeedReference(SpeedReference reference)
/**
* Get the reference source device for speed controller mode.
*
*
* @return A SpeedReference indicating the currently selected reference device for speed controller mode.
*/
CANJaguar::SpeedReference CANJaguar::GetSpeedReference()
@@ -592,10 +592,10 @@ CANJaguar::SpeedReference CANJaguar::GetSpeedReference()
/**
* Set the reference source device for position controller mode.
*
*
* Choose between using and encoder and using a potentiometer
* as the source of position feedback when in position control mode.
*
*
* @param reference Specify a PositionReference.
*/
void CANJaguar::SetPositionReference(PositionReference reference)
@@ -608,7 +608,7 @@ void CANJaguar::SetPositionReference(PositionReference reference)
/**
* Get the reference source device for position controller mode.
*
*
* @return A PositionReference indicating the currently selected reference device for position controller mode.
*/
CANJaguar::PositionReference CANJaguar::GetPositionReference()
@@ -626,7 +626,7 @@ CANJaguar::PositionReference CANJaguar::GetPositionReference()
/**
* Set the P, I, and D constants for the closed loop modes.
*
*
* @param p The proportional gain of the Jaguar's PID controller.
* @param i The integral gain of the Jaguar's PID controller.
* @param d The differential gain of the Jaguar's PID controller.
@@ -671,7 +671,7 @@ void CANJaguar::SetPID(double p, double i, double d)
/**
* Get the Proportional gain of the controller.
*
*
* @return The proportional gain.
*/
double CANJaguar::GetP()
@@ -712,7 +712,7 @@ double CANJaguar::GetP()
/**
* Get the Intregral gain of the controller.
*
*
* @return The integral gain.
*/
double CANJaguar::GetI()
@@ -753,7 +753,7 @@ double CANJaguar::GetI()
/**
* Get the Differential gain of the controller.
*
*
* @return The differential gain.
*/
double CANJaguar::GetD()
@@ -794,12 +794,12 @@ double CANJaguar::GetD()
/**
* Enable the closed loop controller.
*
*
* Start actually controlling the output based on the feedback.
* If starting a position controller with an encoder reference,
* use the encoderInitialPosition parameter to initialize the
* encoder state.
*
*
* @param encoderInitialPosition Encoder position to set if position with encoder reference. Ignored otherwise.
*/
void CANJaguar::EnableControl(double encoderInitialPosition)
@@ -830,7 +830,7 @@ void CANJaguar::EnableControl(double encoderInitialPosition)
/**
* Disable the closed loop controller.
*
*
* Stop driving the output based on the feedback.
*/
void CANJaguar::DisableControl()
@@ -860,10 +860,10 @@ void CANJaguar::DisableControl()
/**
* Change the control mode of this Jaguar object.
*
*
* After changing modes, configure any PID constants or other settings needed
* and then EnableControl() to actually change the mode on the Jaguar.
*
*
* @param controlMode The new mode.
*/
void CANJaguar::ChangeControlMode(ControlMode controlMode)
@@ -879,9 +879,9 @@ void CANJaguar::ChangeControlMode(ControlMode controlMode)
/**
* Get the active control mode from the Jaguar.
*
*
* Ask the Jag what mode it is in.
*
*
* @return ControlMode that the Jag is in.
*/
CANJaguar::ControlMode CANJaguar::GetControlMode()
@@ -899,7 +899,7 @@ CANJaguar::ControlMode CANJaguar::GetControlMode()
/**
* Get the voltage at the battery input terminals of the Jaguar.
*
*
* @return The bus voltage in Volts.
*/
float CANJaguar::GetBusVoltage()
@@ -917,7 +917,7 @@ float CANJaguar::GetBusVoltage()
/**
* Get the voltage being output from the motor terminals of the Jaguar.
*
*
* @return The output voltage in Volts.
*/
float CANJaguar::GetOutputVoltage()
@@ -936,7 +936,7 @@ float CANJaguar::GetOutputVoltage()
/**
* Get the current through the motor terminals of the Jaguar.
*
*
* @return The output current in Amps.
*/
float CANJaguar::GetOutputCurrent()
@@ -954,7 +954,7 @@ float CANJaguar::GetOutputCurrent()
/**
* Get the internal temperature of the Jaguar.
*
*
* @return The temperature of the Jaguar in degrees Celsius.
*/
float CANJaguar::GetTemperature()
@@ -972,7 +972,7 @@ float CANJaguar::GetTemperature()
/**
* Get the position of the encoder or potentiometer.
*
*
* @return The position of the motor in rotations based on the configured feedback.
*/
double CANJaguar::GetPosition()
@@ -990,7 +990,7 @@ double CANJaguar::GetPosition()
/**
* Get the speed of the encoder.
*
*
* @return The speed of the motor in RPM based on the configured feedback.
*/
double CANJaguar::GetSpeed()
@@ -1008,7 +1008,7 @@ double CANJaguar::GetSpeed()
/**
* Get the status of the forward limit switch.
*
*
* @return The motor is allowed to turn in the forward direction when true.
*/
bool CANJaguar::GetForwardLimitOK()
@@ -1026,7 +1026,7 @@ bool CANJaguar::GetForwardLimitOK()
/**
* Get the status of the reverse limit switch.
*
*
* @return The motor is allowed to turn in the reverse direction when true.
*/
bool CANJaguar::GetReverseLimitOK()
@@ -1044,7 +1044,7 @@ bool CANJaguar::GetReverseLimitOK()
/**
* Get the status of any faults the Jaguar has detected.
*
*
* @return A bit-mask of faults defined by the "Faults" enum.
*/
uint16_t CANJaguar::GetFaults()
@@ -1062,10 +1062,10 @@ uint16_t CANJaguar::GetFaults()
/**
* Check if the Jaguar's power has been cycled since this was last called.
*
*
* This should return true the first time called after a Jaguar power up,
* and false after that.
*
*
* @return The Jaguar was power cycled since the last call to this function.
*/
bool CANJaguar::GetPowerCycled()
@@ -1092,10 +1092,10 @@ bool CANJaguar::GetPowerCycled()
/**
* Set the maximum voltage change rate.
*
*
* When in PercentVbus or Voltage output mode, the rate at which the voltage changes can
* be limited to reduce current spikes. Set this to 0.0 to disable rate limiting.
*
*
* @param rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.
*/
void CANJaguar::SetVoltageRampRate(double rampRate)
@@ -1120,7 +1120,7 @@ void CANJaguar::SetVoltageRampRate(double rampRate)
/**
* Get the version of the firmware running on the Jaguar.
*
*
* @return The firmware version. 0 if the device did not respond.
*/
uint32_t CANJaguar::GetFirmwareVersion()
@@ -1139,7 +1139,7 @@ uint32_t CANJaguar::GetFirmwareVersion()
/**
* Get the version of the Jaguar hardware.
*
*
* @return The hardware version. 1: Jaguar, 2: Black Jaguar
*/
uint8_t CANJaguar::GetHardwareVersion()
@@ -1161,9 +1161,9 @@ uint8_t CANJaguar::GetHardwareVersion()
/**
* Configure what the controller does to the H-Bridge when neutral (not driving the output).
*
*
* This allows you to override the jumper configuration for brake or coast.
*
*
* @param mode Select to use the jumper setting or to override it to coast or brake.
*/
void CANJaguar::ConfigNeutralMode(NeutralMode mode)
@@ -1176,7 +1176,7 @@ void CANJaguar::ConfigNeutralMode(NeutralMode mode)
/**
* Configure how many codes per revolution are generated by your encoder.
*
*
* @param codesPerRev The number of counts per revolution in 1X mode.
*/
void CANJaguar::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
@@ -1190,10 +1190,10 @@ void CANJaguar::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
/**
* Configure the number of turns on the potentiometer.
*
*
* There is no special support for continuous turn potentiometers.
* Only integer numbers of turns are supported.
*
*
* @param turns The number of turns of the potentiometer
*/
void CANJaguar::ConfigPotentiometerTurns(uint16_t turns)
@@ -1207,11 +1207,11 @@ void CANJaguar::ConfigPotentiometerTurns(uint16_t turns)
/**
* Configure Soft Position Limits when in Position Controller mode.
*
*
* When controlling position, you can add additional limits on top of the limit switch inputs
* that are based on the position feedback. If the position limit is reached or the
* switch is opened, that direction will be disabled.
*
*
* @param forwardLimitPosition The position that if exceeded will disable the forward direction.
* @param reverseLimitPosition The position that if exceeded will disable the reverse direction.
@@ -1235,7 +1235,7 @@ void CANJaguar::ConfigSoftPositionLimits(double forwardLimitPosition, double rev
/**
* Disable Soft Position Limits if previously enabled.
*
*
* Soft Position Limits are disabled by default.
*/
void CANJaguar::DisableSoftPositionLimits()
@@ -1248,10 +1248,10 @@ void CANJaguar::DisableSoftPositionLimits()
/**
* Configure the maximum voltage that the Jaguar will ever output.
*
*
* This can be used to limit the maximum output voltage in all modes so that
* motors which cannot withstand full bus voltage can be used safely.
*
*
* @param voltage The maximum voltage output by the Jaguar.
*/
void CANJaguar::ConfigMaxOutputVoltage(double voltage)
@@ -1266,10 +1266,10 @@ void CANJaguar::ConfigMaxOutputVoltage(double voltage)
/**
* Configure how long the Jaguar waits in the case of a fault before resuming operation.
*
*
* Faults include over temerature, over current, and bus under voltage.
* The default is 3.0 seconds, but can be reduced to as low as 0.5 seconds.
*
*
* @param faultTime The time to wait before resuming operation, in seconds.
*/
void CANJaguar::ConfigFaultTime(float faultTime)
@@ -1284,7 +1284,7 @@ void CANJaguar::ConfigFaultTime(float faultTime)
/**
* Update all the motors that have pending sets in the syncGroup.
*
*
* @param syncGroup A bitmask of groups to generate synchronous output.
*/
void CANJaguar::UpdateSyncGroup(uint8_t syncGroup)
@@ -1329,7 +1329,7 @@ void CANJaguar::GetDescription(char *desc)
/**
* Common interface for stopping the motor
* Part of the MotorSafety interface
*
*
* @deprecated Call DisableControl instead.
*/
void CANJaguar::StopMotor()
@@ -1371,5 +1371,3 @@ void CANJaguar::InitTable(ITable *subTable) {
ITable * CANJaguar::GetTable() {
return m_table;
}

9
wpilibc/wpilibC++/lib/Compressor.cpp
View File

@@ -5,9 +5,9 @@
#include "Compressor.h"
#include "WPIErrors.h"
void Compressor::InitCompressor(uint8_t module) {
void Compressor::InitCompressor(uint8_t pcmID) {
m_table = 0;
m_pcm_pointer = initializeCompressor(module);
m_pcm_pointer = initializeCompressor(pcmID);
SetClosedLoopControl(true);
}
@@ -26,8 +26,8 @@ Compressor::Compressor() {
*
* @param module The module number to use (1 or 2)
*/
Compressor::Compressor(uint8_t module) {
InitCompressor(module);
Compressor::Compressor(uint8_t pcmID) {
InitCompressor(pcmID);
}
Compressor::~Compressor() {
@@ -160,4 +160,3 @@ void Compressor::ValueChanged(ITable* source, const std::string& key, EntryValue
else Stop();
}

75
wpilibc/wpilibC++/lib/Counter.cpp
View File

@@ -18,12 +18,12 @@
void Counter::InitCounter(Mode mode)
{
m_table = NULL;
int32_t status = 0;
uint32_t index = 0;
m_counter = initializeCounter(mode, &index, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_upSource = NULL;
m_downSource = NULL;
m_allocatedUpSource = false;
@@ -72,7 +72,7 @@ Counter::Counter(DigitalSource &source) :
/**
* Create an instance of a Counter object.
* Create an up-Counter instance given a channel. The default digital module is assumed.
* Create an up-Counter instance given a channel.
*/
Counter::Counter(uint32_t channel) :
m_upSource(NULL),
@@ -84,22 +84,6 @@ Counter::Counter(uint32_t channel) :
ClearDownSource();
}
/**
* Create an instance of a Counter object.
* Create an instance of an up-Counter given a digital module and a channel.
* @param moduleNumber The digital module (1 or 2).
* @param channel The channel in the digital module
*/
Counter::Counter(uint8_t moduleNumber, uint32_t channel) :
m_upSource(NULL),
m_downSource(NULL),
m_counter(NULL)
{
InitCounter();
SetUpSource(moduleNumber, channel);
ClearDownSource();
}
/**
* Create an instance of a Counter object.
* Create an instance of a simple up-Counter given an analog trigger.
@@ -173,35 +157,21 @@ Counter::~Counter()
delete m_downSource;
m_downSource = NULL;
}
int32_t status = 0;
freeCounter(m_counter, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_counter = NULL;
}
/**
* Set the up source for the counter as digital input channel and slot.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The digital channel (1..14).
*/
void Counter::SetUpSource(uint8_t moduleNumber, uint32_t channel)
{
if (StatusIsFatal()) return;
SetUpSource(new DigitalInput(moduleNumber, channel));
m_allocatedUpSource = true;
}
/**
* Set the upsource for the counter as a digital input channel.
* The slot will be the default digital module slot.
*/
void Counter::SetUpSource(uint32_t channel)
{
if (StatusIsFatal()) return;
SetUpSource(GetDefaultDigitalModule(), channel);
m_allocatedUpSource = true;
if (StatusIsFatal()) return;
SetUpSource(new DigitalInput(channel));
m_allocatedUpSource = true;
}
/**
@@ -297,7 +267,6 @@ void Counter::ClearUpSource()
/**
* Set the down counting source to be a digital input channel.
* The slot will be set to the default digital module slot.
*/
void Counter::SetDownSource(uint32_t channel)
{
@@ -306,19 +275,6 @@ void Counter::SetDownSource(uint32_t channel)
m_allocatedDownSource = true;
}
/**
* Set the down counting source to be a digital input slot and channel.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The digital channel (1..14).
*/
void Counter::SetDownSource(uint8_t moduleNumber, uint32_t channel)
{
if (StatusIsFatal()) return;
SetDownSource(new DigitalInput(moduleNumber, channel));
m_allocatedDownSource = true;
}
/**
* Set the down counting source to be an analog trigger.
* @param analogTrigger The analog trigger object that is used for the Down Source
@@ -437,7 +393,7 @@ void Counter::SetExternalDirectionMode()
/**
* Set Semi-period mode on this counter.
* Counts up on both rising and falling edges.
* Counts up on both rising and falling edges.
*/
void Counter::SetSemiPeriodMode(bool highSemiPeriod)
{
@@ -460,10 +416,10 @@ void Counter::SetPulseLengthMode(float threshold)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Get the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* Get the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
*/
@@ -476,8 +432,8 @@ int Counter::GetSamplesToAverage()
}
/**
* Set the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* Set the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @param samplesToAverage The number of samples to average from 1 to 127.
*/
@@ -645,11 +601,11 @@ void Counter::UpdateTable() {
}
void Counter::StartLiveWindowMode() {
}
void Counter::StopLiveWindowMode() {
}
std::string Counter::GetSmartDashboardType() {
@@ -664,4 +620,3 @@ void Counter::InitTable(ITable *subTable) {
ITable * Counter::GetTable() {
return m_table;
}

39
wpilibc/wpilibC++/lib/DigitalInput.cpp
View File

@@ -15,20 +15,15 @@ Resource *interruptsResource = NULL;
/**
* Create an instance of a DigitalInput.
* Creates a digital input given a slot and channel. Common creation routine
* for all constructors.
* Creates a digital input given a channel. Common creation routine for all
* constructors.
*/
void DigitalInput::InitDigitalInput(uint8_t moduleNumber, uint32_t channel)
void DigitalInput::InitDigitalInput(uint32_t channel)
{
m_table = NULL;
char buf[64];
Resource::CreateResourceObject(&interruptsResource, interrupt_kNumSystems);
if (!CheckDigitalModule(moduleNumber))
{
snprintf(buf, 64, "Digital Module %d", moduleNumber);
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
if (!CheckDigitalChannel(channel))
{
snprintf(buf, 64, "Digital Channel %d", channel);
@@ -36,33 +31,21 @@ void DigitalInput::InitDigitalInput(uint8_t moduleNumber, uint32_t channel)
return;
}
m_channel = channel;
m_module = DigitalModule::GetInstance(moduleNumber);
m_module = DigitalModule::GetInstance(1);
m_module->AllocateDIO(channel, true);
HALReport(HALUsageReporting::kResourceType_DigitalInput, channel, moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_DigitalInput, channel);
}
/**
* Create an instance of a Digital Input class.
* Creates a digital input given a channel and uses the default module.
* Creates a digital input given a channel.
*
* @param channel The digital channel (1..14).
* @param channel The digital channel (0..19).
*/
DigitalInput::DigitalInput(uint32_t channel)
{
InitDigitalInput(GetDefaultDigitalModule(), channel);
}
/**
* Create an instance of a Digital Input class.
* Creates a digital input given an channel and module.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The digital channel (1..14).
*/
DigitalInput::DigitalInput(uint8_t moduleNumber, uint32_t channel)
{
InitDigitalInput(moduleNumber, channel);
InitDigitalInput(channel);
}
/**
@@ -204,11 +187,11 @@ void DigitalInput::UpdateTable() {
}
void DigitalInput::StartLiveWindowMode() {
}
void DigitalInput::StopLiveWindowMode() {
}
std::string DigitalInput::GetSmartDashboardType() {

65
wpilibc/wpilibC++/lib/DigitalOutput.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
@@ -14,19 +14,14 @@ extern Resource *interruptsResource;
/**
* Create an instance of a DigitalOutput.
* Creates a digital output given a slot and channel. Common creation routine
* for all constructors.
* Creates a digital output given a channel. Common creation routine for all
* constructors.
*/
void DigitalOutput::InitDigitalOutput(uint8_t moduleNumber, uint32_t channel)
void DigitalOutput::InitDigitalOutput(uint32_t channel)
{
m_table = NULL;
char buf[64];
if (!CheckDigitalModule(moduleNumber))
{
snprintf(buf, 64, "Digital Module %d", moduleNumber);
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
if (!CheckDigitalChannel(channel))
{
snprintf(buf, 64, "Digital Channel %d", channel);
@@ -35,33 +30,21 @@ void DigitalOutput::InitDigitalOutput(uint8_t moduleNumber, uint32_t channel)
}
m_channel = channel;
m_pwmGenerator = ~0ul;
m_module = DigitalModule::GetInstance(moduleNumber);
m_module = DigitalModule::GetInstance(1);
m_module->AllocateDIO(m_channel, false);
HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel, moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel);
}
/**
* Create an instance of a digital output.
* Create a digital output given a channel. The default module is used.
* Create a digital output given a channel.
*
* @param channel The digital channel (1..14).
* @param channel The digital channel (0..19)
*/
DigitalOutput::DigitalOutput(uint32_t channel)
{
InitDigitalOutput(GetDefaultDigitalModule(), channel);
}
/**
* Create an instance of a digital output.
* Create an instance of a digital output given a module number and channel.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The digital channel (1..14).
*/
DigitalOutput::DigitalOutput(uint8_t moduleNumber, uint32_t channel)
{
InitDigitalOutput(moduleNumber, channel);
InitDigitalOutput(channel);
}
/**
@@ -117,11 +100,11 @@ bool DigitalOutput::IsPulsing()
/**
* Change the PWM frequency of the PWM output on a Digital Output line.
*
*
* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is logarithmic.
*
*
* There is only one PWM frequency per digital module.
*
*
* @param rate The frequency to output all digital output PWM signals on this module.
*/
void DigitalOutput::SetPWMRate(float rate)
@@ -132,14 +115,14 @@ void DigitalOutput::SetPWMRate(float rate)
/**
* Enable a PWM Output on this line.
*
*
* Allocate one of the 4 DO PWM generator resources from this module.
*
*
* Supply the initial duty-cycle to output so as to avoid a glitch when first starting.
*
*
* The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
* but is reduced the higher the frequency of the PWM signal is.
*
*
* @param initialDutyCycle The duty-cycle to start generating. [0..1]
*/
void DigitalOutput::EnablePWM(float initialDutyCycle)
@@ -153,7 +136,7 @@ void DigitalOutput::EnablePWM(float initialDutyCycle)
/**
* Change this line from a PWM output back to a static Digital Output line.
*
*
* Free up one of the 4 DO PWM generator resources that were in use.
*/
void DigitalOutput::DisablePWM()
@@ -167,10 +150,10 @@ void DigitalOutput::DisablePWM()
/**
* Change the duty-cycle that is being generated on the line.
*
*
* The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
* but is reduced the higher the frequency of the PWM signal is.
*
*
* @param dutyCycle The duty-cycle to change to. [0..1]
*/
void DigitalOutput::UpdateDutyCycle(float dutyCycle)
@@ -192,8 +175,8 @@ uint32_t DigitalOutput::GetChannelForRouting()
*/
uint32_t DigitalOutput::GetModuleForRouting()
{
if (StatusIsFatal()) return 0;
return m_module->GetNumber() - 1;
if (StatusIsFatal()) return 0;
return m_module->GetNumber() - 1;
}
/**
@@ -227,7 +210,7 @@ void DigitalOutput::RequestInterrupts(InterruptHandlerFunction handler, void *pa
AllocateInterrupts(false);
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
requestInterrupts(m_interrupt, 1, GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
SetUpSourceEdge(true, false);
attachInterruptHandler(m_interrupt, handler, param, &status);
@@ -307,5 +290,3 @@ void DigitalOutput::InitTable(ITable *subTable) {
ITable * DigitalOutput::GetTable() {
return m_table;
}

11
wpilibc/wpilibC++/lib/DoubleSolenoid.cpp
View File

@@ -54,12 +54,12 @@ void DoubleSolenoid::InitSolenoid()
HALReport(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel, m_moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel, m_moduleNumber - 1);
LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_forwardChannel, this);
}
/**
* Constructor.
*
*
* @param forwardChannel The forward channel on the module to control.
* @param reverseChannel The reverse channel on the module to control.
*/
@@ -73,7 +73,7 @@ DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
/**
* Constructor.
*
*
* @param moduleNumber The solenoid module (1 or 2).
* @param forwardChannel The forward channel on the module to control.
* @param reverseChannel The reverse channel on the module to control.
@@ -100,7 +100,7 @@ DoubleSolenoid::~DoubleSolenoid()
/**
* Set the value of a solenoid.
*
*
* @param value Move the solenoid to forward, reverse, or don't move it.
*/
void DoubleSolenoid::Set(Value value)
@@ -126,7 +126,7 @@ void DoubleSolenoid::Set(Value value)
/**
* Read the current value of the solenoid.
*
*
* @return The current value of the solenoid.
*/
DoubleSolenoid::Value DoubleSolenoid::Get()
@@ -181,4 +181,3 @@ void DoubleSolenoid::InitTable(ITable *subTable) {
ITable * DoubleSolenoid::GetTable() {
return m_table;
}

31
wpilibc/wpilibC++/lib/DriverStation.cpp
View File

@@ -23,7 +23,6 @@ TLogLevel dsLogLevel = logDEBUG;
if (level > dsLogLevel) ; \
else Log().Get(level)
const uint32_t DriverStation::kBatteryModuleNumber;
const uint32_t DriverStation::kBatteryChannel;
const uint32_t DriverStation::kJoystickPorts;
const uint32_t DriverStation::kJoystickAxes;
@@ -33,7 +32,7 @@ uint8_t DriverStation::m_updateNumber = 0;
/**
* DriverStation contructor.
*
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation()
@@ -61,7 +60,7 @@ DriverStation::DriverStation()
m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
// Register that semaphore with the network communications task.
// It will signal when new packet data is available.
// It will signal when new packet data is available.
HALSetNewDataSem(m_packetDataAvailableSem);
m_waitForDataSem = initializeMultiWait();
@@ -93,7 +92,7 @@ DriverStation::DriverStation()
m_controlData->analog4 = 0;
m_controlData->dsDigitalIn = 0;
m_batteryChannel = new AnalogInput(kBatteryModuleNumber, kBatteryChannel);
m_batteryChannel = new AnalogInput(kBatteryChannel);
AddToSingletonList();
@@ -170,7 +169,7 @@ void DriverStation::GetData()
HALGetCommonControlData(m_controlData, HAL_WAIT_FOREVER);
if (!lastEnabled && IsEnabled())
if (!lastEnabled && IsEnabled())
{
// If starting teleop, assume that autonomous just took up 15 seconds
if (IsAutonomous())
@@ -202,17 +201,17 @@ void DriverStation::SetData()
m_dashboardInUseLow->GetStatusBuffer(&userStatusDataLow, &userStatusDataLowSize);
HALSetStatusData(GetBatteryVoltage(), m_digitalOut, m_updateNumber,
userStatusDataHigh, userStatusDataHighSize, userStatusDataLow, userStatusDataLowSize, HAL_WAIT_FOREVER);
m_dashboardInUseHigh->Flush();
m_dashboardInUseLow->Flush();
}
/**
* Read the battery voltage from the specified AnalogInput.
*
*
* This accessor assumes that the battery voltage is being measured
* through the voltage divider on an analog breakout.
*
*
* @return The battery voltage.
*/
float DriverStation::GetBatteryVoltage()
@@ -229,7 +228,7 @@ float DriverStation::GetBatteryVoltage()
/**
* Get the value of the axis on a joystick.
* This depends on the mapping of the joystick connected to the specified port.
*
*
* @param stick The joystick to read.
* @param axis The analog axis value to read from the joystick.
* @return The value of the axis on the joystick.
@@ -261,7 +260,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
wpi_setWPIError(BadJoystickIndex);
return 0.0;
}
float result;
if (value < 0)
result = ((float) value) / 128.0;
@@ -278,7 +277,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
/**
* The state of the buttons on the joystick.
* 12 buttons (4 msb are unused) from the joystick.
*
*
* @param stick The joystick to read.
* @return The state of the buttons on the joystick.
*/
@@ -309,7 +308,7 @@ short DriverStation::GetStickButtons(uint32_t stick)
* The analog values are returned as voltage values for the Driver Station analog inputs.
* These inputs are typically used for advanced operator interfaces consisting of potentiometers
* or resistor networks representing values on a rotary switch.
*
*
* @param channel The analog input channel on the driver station to read from. Valid range is 1 - 4.
* @return The analog voltage on the input.
*/
@@ -362,14 +361,14 @@ bool DriverStation::GetDigitalIn(uint32_t channel)
/**
* Set a value for the digital outputs on the Driver Station.
*
*
* Control digital outputs on the Drivers Station. These values are typically used for
* giving feedback on a custom operator station such as LEDs.
*
*
* @param channel The digital output to set. Valid range is 1 - 8.
* @param value The state to set the digital output.
*/
void DriverStation::SetDigitalOut(uint32_t channel, bool value)
void DriverStation::SetDigitalOut(uint32_t channel, bool value)
{
if (channel < 1 || channel > 8)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 8");
@@ -390,7 +389,7 @@ void DriverStation::SetDigitalOut(uint32_t channel, bool value)
* @param channel The digital ouput to monitor. Valid range is 1 through 8.
* @return A digital value being output on the Drivers Station.
*/
bool DriverStation::GetDigitalOut(uint32_t channel)
bool DriverStation::GetDigitalOut(uint32_t channel)
{
if (channel < 1 || channel > 8)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 8");

71
wpilibc/wpilibC++/lib/Encoder.cpp
View File

@@ -63,40 +63,12 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
m_pidSource = kDistance;
HALReport(HALUsageReporting::kResourceType_Encoder, index, encodingType);
LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetModuleForRouting(), m_aSource->GetChannelForRouting(), this);
LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannelForRouting(), this);
}
/**
* Encoder constructor.
* Construct a Encoder given a and b modules and channels fully specified.
* @param aModuleNumber The a channel digital input module.
* @param aChannel The a channel digital input channel.
* @param bModuleNumber The b channel digital input module.
* @param bChannel The b channel digital input channel.
* @param reverseDirection represents the orientation of the encoder and inverts the output values
* if necessary so forward represents positive values.
* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
* selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
* spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
* a counter object will be used and the returned value will either exactly match the spec'd count
* or be double (2x) the spec'd count.
*/
Encoder::Encoder(uint8_t aModuleNumber, uint32_t aChannel,
uint8_t bModuleNumber, uint32_t bChannel,
bool reverseDirection, EncodingType encodingType) :
m_encoder(NULL),
m_counter(NULL)
{
m_aSource = new DigitalInput(aModuleNumber, aChannel);
m_bSource = new DigitalInput(bModuleNumber, bChannel);
InitEncoder(reverseDirection, encodingType);
m_allocatedASource = true;
m_allocatedBSource = true;
}
/**
* Encoder constructor.
* Construct a Encoder given a and b channels assuming the default module.
* Construct a Encoder given a and b channels.
* @param aChannel The a channel digital input channel.
* @param bChannel The b channel digital input channel.
* @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -251,7 +223,7 @@ int32_t Encoder::GetRaw()
* Gets the current count.
* Returns the current count on the Encoder.
* This method compensates for the decoding type.
*
*
* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
*/
int32_t Encoder::Get()
@@ -281,7 +253,7 @@ void Encoder::Reset()
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
* This method compenstates for the decoding type.
*
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled periods and GetRate() scales using value from SetDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
@@ -309,9 +281,9 @@ double Encoder::GetPeriod()
* that the attached device is stopped. This timeout allows users to determine if the wheels or
* other shaft has stopped rotating.
* This method compensates for the decoding type.
*
*
* @deprecated Use SetMinRate() in favor of this method. This takes unscaled periods and SetMinRate() scales using value from SetDistancePerPulse().
*
*
* @param maxPeriod The maximum time between rising and falling edges before the FPGA will
* report the device stopped. This is expressed in seconds.
*/
@@ -389,12 +361,12 @@ double Encoder::DecodingScaleFactor()
return 0.25;
default:
return 0.0;
}
}
}
/**
* Get the distance the robot has driven since the last reset.
*
*
* @return The distance driven since the last reset as scaled by the value from SetDistancePerPulse().
*/
double Encoder::GetDistance()
@@ -406,7 +378,7 @@ double Encoder::GetDistance()
/**
* Get the current rate of the encoder.
* Units are distance per second as scaled by the value from SetDistancePerPulse().
*
*
* @return The current rate of the encoder.
*/
double Encoder::GetRate()
@@ -417,7 +389,7 @@ double Encoder::GetRate()
/**
* Set the minimum rate of the device before the hardware reports it stopped.
*
*
* @param minRate The minimum rate. The units are in distance per second as scaled by the value from SetDistancePerPulse().
*/
void Encoder::SetMinRate(double minRate)
@@ -434,7 +406,7 @@ void Encoder::SetMinRate(double minRate)
* Set this value based on the encoder's rated Pulses per Revolution and
* factor in gearing reductions following the encoder shaft.
* This distance can be in any units you like, linear or angular.
*
*
* @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
*/
void Encoder::SetDistancePerPulse(double distancePerPulse)
@@ -464,10 +436,10 @@ void Encoder::SetReverseDirection(bool reverseDirection)
}
}
/**
* Set the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* Set the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @param samplesToAverage The number of samples to average from 1 to 127.
*/
@@ -489,10 +461,10 @@ void Encoder::SetSamplesToAverage(int samplesToAverage)
break;
}
}
/**
* Get the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* Get the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
*/
@@ -517,7 +489,7 @@ int Encoder::GetSamplesToAverage()
/**
* Set which parameter of the encoder you are using as a process control variable.
*
*
* @param pidSource An enum to select the parameter.
*/
void Encoder::SetPIDSourceParameter(PIDSourceParameter pidSource)
@@ -528,7 +500,7 @@ void Encoder::SetPIDSourceParameter(PIDSourceParameter pidSource)
/**
* Implement the PIDSource interface.
*
*
* @return The current value of the selected source parameter.
*/
double Encoder::PIDGet()
@@ -554,11 +526,11 @@ void Encoder::UpdateTable() {
}
void Encoder::StartLiveWindowMode() {
}
void Encoder::StopLiveWindowMode() {
}
std::string Encoder::GetSmartDashboardType() {
@@ -576,4 +548,3 @@ void Encoder::InitTable(ITable *subTable) {
ITable * Encoder::GetTable() {
return m_table;
}

24
wpilibc/wpilibC++/lib/GearTooth.cpp
View File

@@ -22,36 +22,21 @@ void GearTooth::EnableDirectionSensing(bool directionSensitive)
/**
* Construct a GearTooth sensor given a channel.
*
* The default module is assumed.
*
* @param channel The GPIO channel on the digital module that the sensor is connected to.
*
* @param channel The GPIO channel that the sensor is connected to.
* @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
*/
GearTooth::GearTooth(uint32_t channel, bool directionSensitive)
: Counter(channel)
{
EnableDirectionSensing(directionSensitive);
}
/**
* Construct a GearTooth sensor given a channel and module.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The GPIO channel on the digital module that the sensor is connected to.
* @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
*/
GearTooth::GearTooth(uint8_t moduleNumber, uint32_t channel, bool directionSensitive)
: Counter(moduleNumber, channel)
{
EnableDirectionSensing(directionSensitive);
LiveWindow::GetInstance()->AddSensor("GearTooth", moduleNumber, channel, this);
LiveWindow::GetInstance()->AddSensor("GearTooth", channel, this);
}
/**
* Construct a GearTooth sensor given a digital input.
* This should be used when sharing digial inputs.
*
*
* @param source An object that fully descibes the input that the sensor is connected to.
* @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
*/
@@ -77,4 +62,3 @@ GearTooth::~GearTooth()
std::string GearTooth::GetSmartDashboardType() {
return "GearTooth";
}

48
wpilibc/wpilibC++/lib/Gyro.cpp
View File

@@ -32,7 +32,7 @@ void Gyro::InitGyro()
if (!m_analog->IsAccumulatorChannel())
{
wpi_setWPIErrorWithContext(ParameterOutOfRange,
"moduleNumber and/or channel (must be accumulator channel)");
" channel (must be accumulator channel)");
if (m_channelAllocated)
{
delete m_analog;
@@ -44,7 +44,7 @@ void Gyro::InitGyro()
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog->SetAverageBits(kAverageBits);
m_analog->SetOversampleBits(kOversampleBits);
float sampleRate = kSamplesPerSecond *
float sampleRate = kSamplesPerSecond *
(1 << (kAverageBits + kOversampleBits));
m_analog->GetModule()->SetSampleRate(sampleRate);
Wait(1.0);
@@ -63,31 +63,16 @@ void Gyro::InitGyro()
m_analog->SetAccumulatorCenter(m_center);
m_analog->SetAccumulatorDeadband(0); ///< TODO: compute / parameterize this
m_analog->ResetAccumulator();
SetPIDSourceParameter(kAngle);
HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel(), m_analog->GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddSensor("Gyro", m_analog->GetModuleNumber(), m_analog->GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
LiveWindow::GetInstance()->AddSensor("Gyro", m_analog->GetChannel(), this);
}
/**
* Gyro constructor given a slot and a channel.
*
* @param moduleNumber The analog module the gyro is connected to (1).
* @param channel The analog channel the gyro is connected to (1 or 2).
*/
Gyro::Gyro(uint8_t moduleNumber, uint32_t channel)
{
m_analog = new AnalogInput(moduleNumber, channel);
m_channelAllocated = true;
InitGyro();
}
/**
* Gyro constructor with only a channel.
*
* Use the default analog module slot.
*
* Gyro constructor with only a channel..
*
* @param channel The analog channel the gyro is connected to.
*/
Gyro::Gyro(uint32_t channel)
@@ -145,12 +130,12 @@ Gyro::~Gyro()
/**
* Return the actual angle in degrees that the robot is currently facing.
*
*
* The angle is based on the current accumulator value corrected by the oversampling rate, the
* gyro type and the A/D calibration values.
* The angle is continuous, that is can go beyond 360 degrees. This make algorithms that wouldn't
* want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around.
*
*
* @return the current heading of the robot in degrees. This heading is based on integration
* of the returned rate from the gyro.
*/
@@ -171,14 +156,14 @@ float Gyro::GetAngle( void )
/**
* Return the rate of rotation of the gyro
*
*
* The rate is based on the most recent reading of the gyro analog value
*
*
* @return the current rate in degrees per second
*/
double Gyro::GetRate( void )
{
return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 * m_analog->GetLSBWeight()
return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 * m_analog->GetLSBWeight()
/ ((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
}
@@ -187,7 +172,7 @@ double Gyro::GetRate( void )
* Set the gyro type based on the sensitivity.
* This takes the number of volts/degree/second sensitivity of the gyro and uses it in subsequent
* calculations to allow the code to work with multiple gyros.
*
*
* @param voltsPerDegreePerSecond The type of gyro specified as the voltage that represents one degree/second.
*/
void Gyro::SetSensitivity( float voltsPerDegreePerSecond )
@@ -204,7 +189,7 @@ void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource)
/**
* Get the angle in degrees for the PIDSource base object.
*
*
* @return The angle in degrees.
*/
double Gyro::PIDGet()
@@ -226,11 +211,11 @@ void Gyro::UpdateTable() {
}
void Gyro::StartLiveWindowMode() {
}
void Gyro::StopLiveWindowMode() {
}
std::string Gyro::GetSmartDashboardType() {
@@ -245,4 +230,3 @@ void Gyro::InitTable(ITable *subTable) {
ITable * Gyro::GetTable() {
return m_table;
}

66
wpilibc/wpilibC++/lib/HiTechnicColorSensor.cpp
View File

@@ -27,20 +27,18 @@ const uint8_t HiTechnicColorSensor::kRawBlueRegister;
/**
* Constructor.
*
* @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
*/
HiTechnicColorSensor::HiTechnicColorSensor(uint8_t moduleNumber)
HiTechnicColorSensor::HiTechnicColorSensor()
: m_i2c (NULL)
{
m_table = NULL;
DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
DigitalModule *module = DigitalModule::GetInstance(1);
m_mode = kActive;
if (module)
{
m_i2c = module->GetI2C(kAddress);
// Verify Sensor
const uint8_t kExpectedManufacturer[] = "HiTechnc";
const uint8_t kExpectedSensorType[] = "ColorPD ";
@@ -53,8 +51,8 @@ HiTechnicColorSensor::HiTechnicColorSensor(uint8_t moduleNumber)
{
wpi_setWPIError(CompassTypeError);
}
HALReport(HALUsageReporting::kResourceType_HiTechnicColorSensor, moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_HiTechnicColorSensor, 0);
}
}
@@ -79,7 +77,7 @@ HiTechnicColorSensor::~HiTechnicColorSensor()
uint8_t HiTechnicColorSensor::GetColor()
{
uint8_t color = 0;
if(m_mode != kActive)
{
SetMode(kActive);
@@ -95,7 +93,7 @@ uint8_t HiTechnicColorSensor::GetColor()
* Get the Red value.
*
* Gets the (0-255) red value from the sensor.
*
*
* The sensor must be in active mode to access the regular RGB data
* if the sensor is not in active mode, it will be placed into active
* mode by this method.
@@ -105,7 +103,7 @@ uint8_t HiTechnicColorSensor::GetColor()
uint8_t HiTechnicColorSensor::GetRed()
{
uint8_t red = 0;
if(m_mode != kActive)
{
SetMode(kActive);
@@ -121,17 +119,17 @@ uint8_t HiTechnicColorSensor::GetRed()
* Get the Green value.
*
* Gets the(0-255) green value from the sensor.
*
*
* The sensor must be in active mode to access the regular RGB data
* if the sensor is not in active mode, it will be placed into active
* mode by this method.
*
*
* @return The Green sensor value.
*/
uint8_t HiTechnicColorSensor::GetGreen()
{
uint8_t green = 0;
if(m_mode != kActive)
{
SetMode(kActive);
@@ -147,17 +145,17 @@ uint8_t HiTechnicColorSensor::GetGreen()
* Get the Blue value.
*
* Gets the raw (0-255) blue value from the sensor.
*
*
* The sensor must be in active mode to access the regular RGB data
* if the sensor is not in active mode, it will be placed into active
* mode by this method.
*
*
* @return The Blue sensor value.
*/
uint8_t HiTechnicColorSensor::GetBlue()
{
uint8_t blue = 0;
if(m_mode != kActive)
{
SetMode(kActive);
@@ -174,18 +172,18 @@ uint8_t HiTechnicColorSensor::GetBlue()
* Using this method ensures that all three values come from the
* same sensor reading, using the individual color methods provides
* no such guarantee.
*
*
* The sensor must be in active mode to access the regular RGB data.
* If the sensor is not in active mode, it will be placed into active
* mode by this method.
*
*
* @return RGB object with the three color values
*/
HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRGB()
{
uint8_t colors[3] = {0,0,0};
RGB result;
if(m_mode != kActive)
{
SetMode(kActive);
@@ -194,11 +192,11 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRGB()
{
m_i2c->Read(kRawRedRegister, sizeof(colors), (uint8_t*)&colors);
}
result.red = colors[0];
result.green = colors[1];
result.blue = colors[2];
return result;
}
@@ -206,7 +204,7 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRGB()
* Get the Raw Red value.
*
* Gets the (0-65536) raw red value from the sensor.
*
*
* The sensor must be in raw or passive mode to access the regular RGB data
* if the sensor is not in raw or passive mode, it will be placed into raw
* mode by this method.
@@ -216,7 +214,7 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRGB()
uint16_t HiTechnicColorSensor::GetRawRed()
{
uint16_t rawRed = 0;
if(m_mode == kActive)
{
SetMode(kRaw);
@@ -232,7 +230,7 @@ uint16_t HiTechnicColorSensor::GetRawRed()
* Get the Raw Green value.
*
* Gets the (0-65536) raw green value from the sensor.
*
*
* The sensor must be in raw or passive mode to access the regular RGB data
* if the sensor is not in raw or passive mode, it will be placed into raw
* mode by this method.
@@ -242,7 +240,7 @@ uint16_t HiTechnicColorSensor::GetRawRed()
uint16_t HiTechnicColorSensor::GetRawGreen()
{
uint16_t rawGreen = 0;
if(m_mode == kActive)
{
SetMode(kRaw);
@@ -258,7 +256,7 @@ uint16_t HiTechnicColorSensor::GetRawGreen()
* Get the Raw Blue value.
*
* Gets the (0-65536) raw blue value from the sensor.
*
*
* The sensor must be in raw or passive mode to access the regular RGB data
* if the sensor is not in raw or passive mode, it will be placed into raw
* mode by this method.
@@ -268,7 +266,7 @@ uint16_t HiTechnicColorSensor::GetRawGreen()
uint16_t HiTechnicColorSensor::GetRawBlue()
{
uint16_t rawBlue = 0;
if(m_mode == kActive)
{
SetMode(kRaw);
@@ -287,7 +285,7 @@ uint16_t HiTechnicColorSensor::GetRawBlue()
* no such guarantee.
*
* Gets the (0-65536) raw color values from the sensor.
*
*
* The sensor must be in raw or passive mode to access the regular RGB data
* if the sensor is not in raw or passive mode, it will be placed into raw
* mode by this method.
@@ -298,7 +296,7 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRawRGB()
{
uint8_t colors[6] = {0,0,0,0,0,0};
RGB result;
if(m_mode != kActive)
{
SetMode(kActive);
@@ -307,11 +305,11 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRawRGB()
{
m_i2c->Read(kRedRegister, sizeof(colors), (uint8_t*)&colors);
}
result.red = (colors[0]<<8) + colors[1];
result.green = (colors[2]<<8) + colors[3];
result.blue = (colors[4]<<8) + colors[5];
return result;
}
@@ -376,7 +374,7 @@ ITable* HiTechnicColorSensor::GetTable()
*/
void HiTechnicColorSensor::StartLiveWindowMode()
{
}
/**
@@ -384,5 +382,5 @@ void HiTechnicColorSensor::StartLiveWindowMode()
*/
void HiTechnicColorSensor::StopLiveWindowMode()
{
}

21
wpilibc/wpilibC++/lib/HiTechnicCompass.cpp
View File

@@ -20,18 +20,16 @@ const uint8_t HiTechnicCompass::kHeadingRegister;
/**
* Constructor.
*
* @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
*/
HiTechnicCompass::HiTechnicCompass(uint8_t moduleNumber)
HiTechnicCompass::HiTechnicCompass()
: m_i2c (NULL)
{
m_table = NULL;
DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
DigitalModule *module = DigitalModule::GetInstance(1);
if (module)
{
m_i2c = module->GetI2C(kAddress);
// Verify Sensor
const uint8_t kExpectedManufacturer[] = "HiTechnc";
const uint8_t kExpectedSensorType[] = "Compass ";
@@ -45,8 +43,8 @@ HiTechnicCompass::HiTechnicCompass(uint8_t moduleNumber)
wpi_setWPIError(CompassTypeError);
}
HALReport(HALUsageReporting::kResourceType_HiTechnicCompass, moduleNumber - 1);
LiveWindow::GetInstance()->AddSensor("HiTechnicCompass", moduleNumber, 0, this);
HALReport(HALUsageReporting::kResourceType_HiTechnicCompass, 0);
LiveWindow::GetInstance()->AddSensor("HiTechnicCompass", 1, this);
}
}
@@ -61,9 +59,9 @@ HiTechnicCompass::~HiTechnicCompass()
/**
* Get the compass angle in degrees.
*
*
* The resolution of this reading is 1 degree.
*
*
* @return Angle of the compass in degrees.
*/
float HiTechnicCompass::GetAngle()
@@ -86,11 +84,11 @@ void HiTechnicCompass::UpdateTable() {
}
void HiTechnicCompass::StartLiveWindowMode() {
}
void HiTechnicCompass::StopLiveWindowMode() {
}
std::string HiTechnicCompass::GetSmartDashboardType() {
@@ -105,4 +103,3 @@ void HiTechnicCompass::InitTable(ITable *subTable) {
ITable * HiTechnicCompass::GetTable() {
return m_table;
}

33
wpilibc/wpilibC++/lib/Jaguar.cpp
View File

@@ -7,7 +7,6 @@
#include "Jaguar.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "DigitalModule.h"
#include "LiveWindow/LiveWindow.h"
/**
@@ -17,7 +16,7 @@ void Jaguar::InitJaguar()
{
/*
* Input profile defined by Luminary Micro.
*
*
* Full reverse ranges from 0.671325ms to 0.6972211ms
* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
* Neutral ranges from 1.4482078ms to 1.5517922ms
@@ -28,41 +27,28 @@ void Jaguar::InitJaguar()
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel(), GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddActuator("Jaguar", GetModuleNumber(), GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
}
/**
* Constructor that assumes the default digital module.
*
* @param channel The PWM channel on the digital module that the Jaguar is attached to.
* @param channel The PWM channel that the Jaguar is attached to.
*/
Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
{
InitJaguar();
}
/**
* Constructor that specifies the digital module.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The PWM channel on the digital module that the Jaguar is attached to.
*/
Jaguar::Jaguar(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
{
InitJaguar();
}
Jaguar::~Jaguar()
{
}
/**
* Set the PWM value.
*
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately
* scaling the value for the FPGA.
*
*
* @param speed The speed value between -1.0 and 1.0 to set.
* @param syncGroup Unused interface.
*/
@@ -73,7 +59,7 @@ void Jaguar::Set(float speed, uint8_t syncGroup)
/**
* Get the recently set value of the PWM.
*
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
float Jaguar::Get()
@@ -91,11 +77,10 @@ void Jaguar::Disable()
/**
* Write out the PID value as seen in the PIDOutput base object.
*
*
* @param output Write out the PWM value as was found in the PIDController
*/
void Jaguar::PIDWrite(float output)
{
Set(output);
}

23
wpilibc/wpilibC++/lib/LiveWindow/LiveWindow.cpp
View File

@@ -102,10 +102,10 @@ void LiveWindow::AddActuator(const char *subsystem, const char *name,
/**
* INTERNAL
*/
void LiveWindow::AddSensor(std::string type, int module, int channel, LiveWindowSendable *component)
void LiveWindow::AddSensor(std::string type, int channel, LiveWindowSendable *component)
{
std::ostringstream oss;
oss << type << "[" << module << "," << channel << "]";
oss << type << "[" << channel << "]";
std::string types(oss.str());
char* cc = new char[types.size() + 1];
types.copy(cc, types.size());
@@ -118,10 +118,10 @@ void LiveWindow::AddSensor(std::string type, int module, int channel, LiveWindow
/**
* INTERNAL
*/
void LiveWindow::AddActuator(std::string type, int module, int channel, LiveWindowSendable *component)
void LiveWindow::AddActuator(std::string type, int channel, LiveWindowSendable *component)
{
std::ostringstream oss;
oss << type << "[" << module << "," << channel << "]";
oss << type << "[" << channel << "]";
std::string types(oss.str());
char* cc = new char[types.size() + 1];
types.copy(cc, types.size());
@@ -129,6 +129,20 @@ void LiveWindow::AddActuator(std::string type, int module, int channel, LiveWind
AddActuator("Ungrouped", cc, component);
}
/**
* INTERNAL
*/
void LiveWindow::AddActuator(std::string type, int module, int channel, LiveWindowSendable *component)
{
std::ostringstream oss;
oss << type << "[" << module << "," << channel << "]";
std::string types(oss.str());
char* cc = new char[types.size() + 1];
types.copy(cc, types.size());
cc[types.size()]='\0';
AddActuator("Ungrouped", cc, component);
}
/**
* Tell all the sensors to update (send) their values
* Actuators are handled through callbacks on their value changing from the
@@ -184,4 +198,3 @@ void LiveWindow::InitializeLiveWindowComponents()
}
}
}

93
wpilibc/wpilibC++/lib/PWM.cpp
View File

@@ -19,23 +19,18 @@ const int32_t PWM::kPwmDisabled;
static Resource *allocated = NULL;
/**
* Initialize PWMs given an module and channel.
*
* Initialize PWMs given a channel.
*
* This method is private and is the common path for all the constructors for creating PWM
* instances. Checks module and channel value ranges and allocates the appropriate channel.
* instances. Checks channel value range and allocates the appropriate channel.
* The allocation is only done to help users ensure that they don't double assign channels.
*/
void PWM::InitPWM(uint8_t moduleNumber, uint32_t channel)
void PWM::InitPWM(uint32_t channel)
{
m_table = NULL;
char buf[64];
Resource::CreateResourceObject(&allocated, dio_kNumSystems * kPwmChannels);
if (!CheckPWMModule(moduleNumber))
{
snprintf(buf, 64, "Digital Module %d", moduleNumber);
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
Resource::CreateResourceObject(&allocated, kPwmChannels);
if (!CheckPWMChannel(channel))
{
snprintf(buf, 64, "PWM Channel %d", channel);
@@ -43,50 +38,34 @@ void PWM::InitPWM(uint8_t moduleNumber, uint32_t channel)
return;
}
snprintf(buf, 64, "PWM %d (Module: %d)", channel, moduleNumber);
if (allocated->Allocate((moduleNumber - 1) * kPwmChannels + channel, buf) == ~0ul)
snprintf(buf, 64, "PWM %d", channel);
if (allocated->Allocate(channel, buf) == ~0ul)
{
CloneError(allocated);
return;
}
m_channel = channel;
m_module = DigitalModule::GetInstance(moduleNumber);
m_module = DigitalModule::GetInstance(1);
m_module->SetPWM(m_channel, kPwmDisabled);
m_eliminateDeadband = false;
HALReport(HALUsageReporting::kResourceType_PWM, channel, moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_PWM, channel);
}
/**
* Allocate a PWM given a module and channel.
* Allocate a PWM using a module and channel number.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The PWM channel on the digital module (1..10).
*/
PWM::PWM(uint8_t moduleNumber, uint32_t channel)
: m_module(NULL)
{
InitPWM(moduleNumber, channel);
}
/**
* Allocate a PWM in the default module given a channel.
*
* Using a default module allocate a PWM given the channel number. The default module is the first
* slot numerically in the cRIO chassis.
*
* @param channel The PWM channel on the digital module.
* Allocate a PWM given a channel number.
*
* @param channel The PWM channel.
*/
PWM::PWM(uint32_t channel)
: m_module(NULL)
{
InitPWM(GetDefaultDigitalModule(), channel);
InitPWM(channel);
}
/**
* Free the PWM channel.
*
*
* Free the resource associated with the PWM channel and set the value to 0.
*/
PWM::~PWM()
@@ -94,7 +73,7 @@ PWM::~PWM()
if (m_module)
{
m_module->SetPWM(m_channel, kPwmDisabled);
allocated->Free((m_module->GetNumber() - 1) * kPwmChannels + m_channel);
allocated->Free(m_channel);
}
}
@@ -155,19 +134,14 @@ void PWM::SetBounds(double max, double deadbandMax, double center, double deadba
// printf("Calculated m_minPwm: %d min: %lf loopTime: %lf defaultStepsDown: %d\n", m_minPwm, min, loopTime, kDefaultPwmStepsDown);
}
uint32_t PWM::GetModuleNumber()
{
return m_module->GetNumber();
}
/**
* Set the PWM value based on a position.
*
*
* This is intended to be used by servos.
*
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinNegativePwm() called.
*
*
* @param pos The position to set the servo between 0.0 and 1.0.
*/
void PWM::SetPosition(float pos)
@@ -195,12 +169,12 @@ void PWM::SetPosition(float pos)
/**
* Get the PWM value in terms of a position.
*
*
* This is intended to be used by servos.
*
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinNegativePwm() called.
*
*
* @return The position the servo is set to between 0.0 and 1.0.
*/
float PWM::GetPosition()
@@ -223,15 +197,15 @@ float PWM::GetPosition()
/**
* Set the PWM value based on a speed.
*
*
* This is intended to be used by speed controllers.
*
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinPositivePwm() called.
* @pre SetCenterPwm() called.
* @pre SetMaxNegativePwm() called.
* @pre SetMinNegativePwm() called.
*
*
* @param speed The speed to set the speed controller between -1.0 and 1.0.
*/
void PWM::SetSpeed(float speed)
@@ -274,14 +248,14 @@ void PWM::SetSpeed(float speed)
/**
* Get the PWM value in terms of speed.
*
*
* This is intended to be used by speed controllers.
*
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinPositivePwm() called.
* @pre SetMaxNegativePwm() called.
* @pre SetMinNegativePwm() called.
*
*
* @return The most recently set speed between -1.0 and 1.0.
*/
float PWM::GetSpeed()
@@ -316,9 +290,9 @@ float PWM::GetSpeed()
/**
* Set the PWM value directly to the hardware.
*
*
* Write a raw value to a PWM channel.
*
*
* @param value Raw PWM value.
*/
void PWM::SetRaw(unsigned short value)
@@ -329,9 +303,9 @@ void PWM::SetRaw(unsigned short value)
/**
* Get the PWM value directly from the hardware.
*
*
* Read a raw value from a PWM channel.
*
*
* @return Raw PWM control value.
*/
unsigned short PWM::GetRaw()
@@ -342,7 +316,7 @@ unsigned short PWM::GetRaw()
/**
* Slow down the PWM signal for old devices.
*
*
* @param mult The period multiplier to apply to this channel
*/
void PWM::SetPeriodMultiplier(PeriodMultiplier mult)
@@ -401,4 +375,3 @@ void PWM::InitTable(ITable *subTable) {
ITable * PWM::GetTable() {
return m_table;
}

69
wpilibc/wpilibC++/lib/Relay.cpp
View File

@@ -19,21 +19,12 @@ static Resource *relayChannels = NULL;
* Common relay intitialization methode.
* This code is common to all Relay constructors and initializes the relay and reserves
* all resources that need to be locked. Initially the relay is set to both lines at 0v.
* @param slot The module slot number this relay is connected to.
*
* @param moduleNumber The digital module this relay is connected to (1 or 2).
*/
void Relay::InitRelay (uint8_t moduleNumber)
void Relay::InitRelay()
{
m_table = NULL;
char buf[64];
Resource::CreateResourceObject(&relayChannels, dio_kNumSystems * kRelayChannels * 2);
if (!SensorBase::CheckRelayModule(moduleNumber))
{
snprintf(buf, 64, "Digital Module %d", moduleNumber);
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
if (!SensorBase::CheckRelayChannel(m_channel))
{
snprintf(buf, 64, "Relay Channel %d", m_channel);
@@ -43,56 +34,42 @@ void Relay::InitRelay (uint8_t moduleNumber)
if (m_direction == kBothDirections || m_direction == kForwardOnly)
{
snprintf(buf, 64, "Forward Relay %d (Module: %d)", m_channel, moduleNumber);
if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel) * 2, buf) == ~0ul)
snprintf(buf, 64, "Forward Relay %d", m_channel);
if (relayChannels->Allocate(m_channel * 2, buf) == ~0ul)
{
CloneError(relayChannels);
return;
}
HALReport(HALUsageReporting::kResourceType_Relay, m_channel, moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_Relay, m_channel);
}
if (m_direction == kBothDirections || m_direction == kReverseOnly)
{
snprintf(buf, 64, "Reverse Relay %d (Module: %d)", m_channel, moduleNumber);
if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel) * 2 + 1, buf) == ~0ul)
snprintf(buf, 64, "Reverse Relay %d", m_channel);
if (relayChannels->Allocate(m_channel * 2 + 1, buf) == ~0ul)
{
CloneError(relayChannels);
return;
}
HALReport(HALUsageReporting::kResourceType_Relay, m_channel + 128, moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_Relay, m_channel + 128);
}
m_module = DigitalModule::GetInstance(moduleNumber);
m_module = DigitalModule::GetInstance(1);
m_module->SetRelayForward(m_channel, false);
m_module->SetRelayReverse(m_channel, false);
LiveWindow::GetInstance()->AddActuator("Relay", moduleNumber, m_channel, this);
LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
}
/**
* Relay constructor given the module and the channel.
*
* @param moduleNumber The digital module this relay is connected to (1 or 2).
* @param channel The channel number within the module for this relay.
* @param direction The direction that the Relay object will control.
*/
Relay::Relay(uint8_t moduleNumber, uint32_t channel, Relay::Direction direction)
: m_channel (channel)
, m_direction (direction)
{
InitRelay(moduleNumber);
}
/**
* Relay constructor given a channel only where the default digital module is used.
* @param channel The channel number within the default module for this relay.
* Relay constructor given a channel.
* @param channel The channel number.
* @param direction The direction that the Relay object will control.
*/
Relay::Relay(uint32_t channel, Relay::Direction direction)
: m_channel (channel)
, m_direction (direction)
{
InitRelay(GetDefaultDigitalModule());
InitRelay();
}
/**
@@ -106,26 +83,26 @@ Relay::~Relay()
if (m_direction == kBothDirections || m_direction == kForwardOnly)
{
relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel) * 2);
relayChannels->Free(m_channel * 2);
}
if (m_direction == kBothDirections || m_direction == kReverseOnly)
{
relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel) * 2 + 1);
relayChannels->Free(m_channel * 2 + 1);
}
}
/**
* Set the relay state.
*
*
* Valid values depend on which directions of the relay are controlled by the object.
*
*
* When set to kBothDirections, the relay can be any of the four states:
* 0v-0v, 0v-12v, 12v-0v, 12v-12v
*
*
* When set to kForwardOnly or kReverseOnly, you can specify the constant for the
* direction or you can simply specify kOff and kOn. Using only kOff and kOn is
* recommended.
*
*
* @param value The state to set the relay.
*/
void Relay::Set(Relay::Value value)
@@ -188,12 +165,12 @@ void Relay::Set(Relay::Value value)
/**
* Get the Relay State
*
*
* Gets the current state of the relay.
*
*
* When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
* kForward/kReverse (per the recommendation in Set)
*
*
* @return The current state of the relay as a Relay::Value
*/
Relay::Value Relay::Get() {
@@ -217,7 +194,7 @@ Relay::Value Relay::Get() {
} else {
return kOff;
}
}
}
}
void Relay::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
@@ -268,5 +245,3 @@ void Relay::InitTable(ITable *subTable) {
ITable * Relay::GetTable() {
return m_table;
}

20
wpilibc/wpilibC++/lib/RobotDrive.cpp
View File

@@ -47,8 +47,8 @@ void RobotDrive::InitRobotDrive() {
* Set up parameters for a two wheel drive system where the
* left and right motor pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors.
* @param leftMotorChannel The PWM channel number on the default digital module that drives the left motor.
* @param rightMotorChannel The PWM channel number on the default digital module that drives the right motor.
* @param leftMotorChannel The PWM channel number that drives the left motor.
* @param rightMotorChannel The PWM channel number that drives the right motor.
*/
RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
{
@@ -68,10 +68,10 @@ RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
* Set up parameters for a four wheel drive system where all four motor
* pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors.
* @param frontLeftMotor Front left motor channel number on the default digital module
* @param rearLeftMotor Rear Left motor channel number on the default digital module
* @param frontRightMotor Front right motor channel number on the default digital module
* @param rearRightMotor Rear Right motor channel number on the default digital module
* @param frontLeftMotor Front left motor channel number
* @param rearLeftMotor Rear Left motor channel number
* @param frontRightMotor Front right motor channel number
* @param rearRightMotor Rear Right motor channel number
*/
RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
uint32_t frontRightMotor, uint32_t rearRightMotor)
@@ -472,7 +472,7 @@ void RobotDrive::ArcadeDrive(float moveValue, float rotateValue, bool squaredInp
* A method for driving with Mecanum wheeled robots. There are 4 wheels
* on the robot, arranged so that the front and back wheels are toed in 45 degrees.
* When looking at the wheels from the top, the roller axles should form an X across the robot.
*
*
* This is designed to be directly driven by joystick axes.
*
* @param x The speed that the robot should drive in the X direction. [-1.0..1.0]
@@ -514,7 +514,7 @@ void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation, float
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, syncGroup);
CANJaguar::UpdateSyncGroup(syncGroup);
m_safetyHelper->Feed();
}
@@ -563,7 +563,7 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction, float rota
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, syncGroup);
CANJaguar::UpdateSyncGroup(syncGroup);
m_safetyHelper->Feed();
}
@@ -679,7 +679,7 @@ void RobotDrive::SetInvertedMotor(MotorType motor, bool isInverted)
/**
* Set the turning sensitivity.
*
*
* This only impacts the Drive() entry-point.
* @param sensitivity Effectively sets the turning sensitivity (or turn radius for a given value)
*/

17
wpilibc/wpilibC++/lib/SafePWM.cpp
View File

@@ -18,24 +18,14 @@ void SafePWM::InitSafePWM()
}
/**
* Constructor for a SafePWM object taking a channel number
* @param channel The channel number to be used for the underlying PWM object
* Constructor for a SafePWM object taking a channel number.
* @param channel The PWM channel number (0..19).
*/
SafePWM::SafePWM(uint32_t channel): PWM(channel)
{
InitSafePWM();
}
/**
* Constructor for a SafePWM object taking channel and slot numbers.
* @param moduleNumber The digital module (1 or 2).
* @param channel The PWM channel number on the module (1..10).
*/
SafePWM::SafePWM(uint8_t moduleNumber, uint32_t channel): PWM(moduleNumber, channel)
{
InitSafePWM();
}
SafePWM::~SafePWM()
{
delete m_safetyHelper;
@@ -100,7 +90,7 @@ bool SafePWM::IsSafetyEnabled()
void SafePWM::GetDescription(char *desc)
{
sprintf(desc, "PWM %d on module %d", GetChannel(), GetModuleNumber());
sprintf(desc, "PWM %d", GetChannel());
}
/**
@@ -114,4 +104,3 @@ void SafePWM::SetSpeed(float speed)
PWM::SetSpeed(speed);
m_safetyHelper->Feed();
}

46
wpilibc/wpilibC++/lib/SensorBase.cpp
View File

@@ -11,8 +11,6 @@
const uint32_t SensorBase::kDigitalChannels;
const uint32_t SensorBase::kAnalogInputs;
const uint32_t SensorBase::kAnalogModules;
const uint32_t SensorBase::kDigitalModules;
const uint32_t SensorBase::kSolenoidChannels;
const uint32_t SensorBase::kSolenoidModules;
const uint32_t SensorBase::kPwmChannels;
@@ -66,50 +64,6 @@ void SensorBase::DeleteSingletons()
m_singletonList = NULL;
}
/**
* Check that the analog module number is valid.
*
* @return Analog module is valid and present
*/
bool SensorBase::CheckAnalogModule(uint8_t moduleNumber)
{
if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Analog, moduleNumber - 1))
return true;
return false;
}
/**
* Check that the digital module number is valid.
*
* @return Digital module is valid and present
*/
bool SensorBase::CheckDigitalModule(uint8_t moduleNumber)
{
if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Digital, moduleNumber - 1))
return true;
return false;
}
/**
* Check that the digital module number is valid.
*
* @return Digital module is valid and present
*/
bool SensorBase::CheckPWMModule(uint8_t moduleNumber)
{
return CheckDigitalModule(moduleNumber);
}
/**
* Check that the digital module number is valid.
*
* @return Digital module is valid and present
*/
bool SensorBase::CheckRelayModule(uint8_t moduleNumber)
{
return CheckDigitalModule(moduleNumber);
}
/**
* Check that the solenoid module number is valid.
*

23
wpilibc/wpilibC++/lib/Servo.cpp
View File

@@ -27,14 +27,12 @@ void Servo::InitServo()
SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
SetPeriodMultiplier(kPeriodMultiplier_4X);
LiveWindow::GetInstance()->AddActuator("Servo", GetModuleNumber(), GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Servo, GetChannel(), GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddActuator("Servo", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Servo, GetChannel());
}
/**
* Constructor that assumes the default digital module.
*
* @param channel The PWM channel on the digital module to which the servo is attached.
* @param channel The PWM channel to which the servo is attached.
*/
Servo::Servo(uint32_t channel) : SafePWM(channel)
{
@@ -42,17 +40,6 @@ Servo::Servo(uint32_t channel) : SafePWM(channel)
// printf("Done initializing servo %d\n", channel);
}
/**
* Constructor that specifies the digital module.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The PWM channel on the digital module to which the servo is attached (1..10).
*/
Servo::Servo(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
{
InitServo();
}
Servo::~Servo()
{
}
@@ -71,7 +58,7 @@ void Servo::Set(float value)
/**
* Set the servo to offline.
*
*
* Set the servo raw value to 0 (undriven)
*/
void Servo::SetOffline() {
@@ -160,5 +147,3 @@ void Servo::InitTable(ITable *subTable) {
ITable * Servo::GetTable() {
return m_table;
}

9
wpilibc/wpilibC++/lib/Solenoid.cpp
View File

@@ -43,7 +43,7 @@ void Solenoid::InitSolenoid()
/**
* Constructor.
*
*
* @param channel The channel on the solenoid module to control (1..8).
*/
Solenoid::Solenoid(uint32_t channel)
@@ -55,7 +55,7 @@ Solenoid::Solenoid(uint32_t channel)
/**
* Constructor.
*
*
* @param moduleNumber The solenoid module (1 or 2).
* @param channel The channel on the solenoid module to control (1..8).
*/
@@ -79,7 +79,7 @@ Solenoid::~Solenoid()
/**
* Set the value of a solenoid.
*
*
* @param on Turn the solenoid output off or on.
*/
void Solenoid::Set(bool on)
@@ -93,7 +93,7 @@ void Solenoid::Set(bool on)
/**
* Read the current value of the solenoid.
*
*
* @return The current value of the solenoid.
*/
bool Solenoid::Get()
@@ -140,4 +140,3 @@ void Solenoid::InitTable(ITable *subTable) {
ITable * Solenoid::GetTable() {
return m_table;
}

35
wpilibc/wpilibC++/lib/Talon.cpp
View File

@@ -6,7 +6,6 @@
#include "Talon.h"
#include "DigitalModule.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"
@@ -17,7 +16,7 @@
* most controllers, but if users experience issues such as asymmetric behavior around
* the deadband or inability to saturate the controller in either direction, calibration is recommended.
* The calibration procedure can be found in the Talon User Manual available from CTRE.
*
*
* - 211 = full "forward"
* - 133 = the "high end" of the deadband range
* - 129 = center of the deadband range (off)
@@ -29,41 +28,28 @@ void Talon::InitTalon() {
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
HALReport(HALUsageReporting::kResourceType_Talon, GetChannel(), GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddActuator("Talon", GetModuleNumber(), GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
}
/**
* Constructor that assumes the default digital module.
*
* @param channel The PWM channel on the digital module that the Talon is attached to.
* @param channel The PWM channel that the Talon is attached to.
*/
Talon::Talon(uint32_t channel) : SafePWM(channel)
{
InitTalon();
}
/**
* Constructor that specifies the digital module.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The PWM channel on the digital module that the Talon is attached to (1..10).
*/
Talon::Talon(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
{
InitTalon();
}
Talon::~Talon()
{
}
/**
* Set the PWM value.
*
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately
* scaling the value for the FPGA.
*
*
* @param speed The speed value between -1.0 and 1.0 to set.
* @param syncGroup Unused interface.
*/
@@ -74,7 +60,7 @@ void Talon::Set(float speed, uint8_t syncGroup)
/**
* Get the recently set value of the PWM.
*
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
float Talon::Get()
@@ -92,11 +78,10 @@ void Talon::Disable()
/**
* Write out the PID value as seen in the PIDOutput base object.
*
*
* @param output Write out the PWM value as was found in the PIDController
*/
void Talon::PIDWrite(float output)
void Talon::PIDWrite(float output)
{
Set(output);
}

44
wpilibc/wpilibC++/lib/Ultrasonic.cpp
View File

@@ -27,7 +27,7 @@ SEMAPHORE_ID Ultrasonic::m_semaphore = 0;
/**
* Background task that goes through the list of ultrasonic sensors and pings each one in turn. The counter
* is configured to read the timing of the returned echo pulse.
*
*
* DANGER WILL ROBINSON, DANGER WILL ROBINSON:
* This code runs as a task and assumes that none of the ultrasonic sensors will change while it's
* running. If one does, then this will certainly break. Make sure to disable automatic mode before changing
@@ -78,13 +78,12 @@ void Ultrasonic::Initialize()
static int instances = 0;
instances++;
HALReport(HALUsageReporting::kResourceType_Ultrasonic, instances);
LiveWindow::GetInstance()->AddSensor("Ultrasonic", m_echoChannel->GetModuleForRouting(), m_echoChannel->GetChannel(), this);
LiveWindow::GetInstance()->AddSensor("Ultrasonic", m_echoChannel->GetChannel(), this);
}
/**
* Create an instance of the Ultrasonic Sensor using the default module.
* This is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors. This
* constructor assumes that both digital I/O channels are in the default digital module.
* Create an instance of the Ultrasonic Sensor
* This is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors.
* @param pingChannel The digital output channel that sends the pulse to initiate the sensor sending
* the ping.
* @param echoChannel The digital input channel that receives the echo. The length of time that the
@@ -137,28 +136,6 @@ Ultrasonic::Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel, Di
Initialize();
}
/**
* Create an instance of the Ultrasonic sensor using specified modules.
* This is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors. This
* constructors takes the channel and module slot for each of the required digital I/O channels.
* @param pingModuleNumber The digital module that the pingChannel is on.
* @param pingChannel The digital output channel that sends the pulse to initiate the sensor
* sending the ping.
* @param echoModuleNumber The digital module that the echoChannel is on.
* @param echoChannel The digital input channel that receives the echo. The length of time
* that the echo is high represents the round trip time of the ping, and the distance.
* @param units The units returned in either kInches or kMilliMeters
*/
Ultrasonic::Ultrasonic(uint8_t pingModuleNumber, uint32_t pingChannel,
uint8_t echoModuleNumber, uint32_t echoChannel, DistanceUnit units)
{
m_pingChannel = new DigitalOutput(pingModuleNumber, pingChannel);
m_echoChannel = new DigitalInput(echoModuleNumber, echoChannel);
m_allocatedChannels = true;
m_units = units;
Initialize();
}
/**
* Destructor for the ultrasonic sensor.
* Delete the instance of the ultrasonic sensor by freeing the allocated digital channels.
@@ -296,12 +273,12 @@ double Ultrasonic::GetRangeMM()
/**
* Get the range in the current DistanceUnit for the PIDSource base object.
*
*
* @return The range in DistanceUnit
*/
double Ultrasonic::PIDGet()
{
switch(m_units)
switch(m_units)
{
case Ultrasonic::kInches:
return GetRangeInches();
@@ -314,7 +291,7 @@ double Ultrasonic::PIDGet()
/**
* Set the current DistanceUnit that should be used for the PIDSource base object.
*
*
* @param units The DistanceUnit that should be used.
*/
void Ultrasonic::SetDistanceUnits(DistanceUnit units)
@@ -324,7 +301,7 @@ void Ultrasonic::SetDistanceUnits(DistanceUnit units)
/**
* Get the current DistanceUnit that is used for the PIDSource base object.
*
*
* @return The type of DistanceUnit that is being used.
*/
Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits()
@@ -339,11 +316,11 @@ void Ultrasonic::UpdateTable() {
}
void Ultrasonic::StartLiveWindowMode() {
}
void Ultrasonic::StopLiveWindowMode() {
}
std::string Ultrasonic::GetSmartDashboardType() {
@@ -358,4 +335,3 @@ void Ultrasonic::InitTable(ITable *subTable) {
ITable * Ultrasonic::GetTable() {
return m_table;
}

37
wpilibc/wpilibC++/lib/Victor.cpp
View File

@@ -6,7 +6,6 @@
#include "Victor.h"
#include "DigitalModule.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"
@@ -18,7 +17,7 @@
* Victor 884 controllers as well but if users experience issues such as asymmetric behavior around
* the deadband or inability to saturate the controller in either direction, calibration is recommended.
* The calibration procedure can be found in the Victor 884 User Manual available from IFI.
*
*
* - 206 = full "forward"
* - 131 = the "high end" of the deadband range
* - 128 = center of the deadband range (off)
@@ -27,45 +26,32 @@
*/
void Victor::InitVictor() {
SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
LiveWindow::GetInstance()->AddActuator("Victor", GetModuleNumber(), GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Victor, GetChannel(), GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
}
/**
* Constructor that assumes the default digital module.
*
* @param channel The PWM channel on the digital module that the Victor is attached to.
* @param channel The PWM channel that the Victor is attached to.
*/
Victor::Victor(uint32_t channel) : SafePWM(channel)
{
InitVictor();
}
/**
* Constructor that specifies the digital module.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The PWM channel on the digital module that the Victor is attached to (1..10).
*/
Victor::Victor(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
{
InitVictor();
}
Victor::~Victor()
{
}
/**
* Set the PWM value.
*
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately
* scaling the value for the FPGA.
*
*
* @param speed The speed value between -1.0 and 1.0 to set.
* @param syncGroup Unused interface.
*/
@@ -76,7 +62,7 @@ void Victor::Set(float speed, uint8_t syncGroup)
/**
* Get the recently set value of the PWM.
*
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
float Victor::Get()
@@ -94,11 +80,10 @@ void Victor::Disable()
/**
* Write out the PID value as seen in the PIDOutput base object.
*
*
* @param output Write out the PWM value as was found in the PIDController
*/
void Victor::PIDWrite(float output)
void Victor::PIDWrite(float output)
{
Set(output);
}

7
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
View File

@@ -74,11 +74,10 @@ public class ADXL345_I2C extends SensorBase {
/**
* Constructor.
*
* @param module The slot of the digital module that the sensor is plugged into.
* @param range The range (+ or -) that the accelerometer will measure.
*/
public ADXL345_I2C(int moduleNumber, DataFormat_Range range) {
DigitalModule module = DigitalModule.getInstance(moduleNumber);
public ADXL345_I2C(DataFormat_Range range) {
DigitalModule module = DigitalModule.getInstance(1);
m_i2c = module.getI2C(kAddress);
// Turn on the measurements
@@ -86,7 +85,7 @@ public class ADXL345_I2C extends SensorBase {
// Specify the data format to read
m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | range.value);
UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C, moduleNumber-1);
UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
}
/**

23
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java
View File

@@ -32,16 +32,15 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
* Common initialization
*/
private void initAccelerometer() {
UsageReporting.report(tResourceType.kResourceType_Accelerometer, m_analogChannel.getChannel(), m_analogChannel.getModuleNumber()-1);
LiveWindow.addSensor("Accelerometer", m_analogChannel.getModuleNumber(), m_analogChannel.getChannel(), this);
UsageReporting.report(tResourceType.kResourceType_Accelerometer, m_analogChannel.getChannel());
LiveWindow.addSensor("Accelerometer", m_analogChannel.getChannel(), this);
}
/**
* Create a new instance of an accelerometer.
*
* The accelerometer is assumed to be in the first analog module in the given analog channel. The
* constructor allocates desired analog channel.
* @param channel the port that the accelerometer is on on the default module
* The constructor allocates desired analog channel.
* @param channel the port that the accelerometer is on
*/
public Accelerometer(final int channel) {
m_allocatedChannel = true;
@@ -49,20 +48,6 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
initAccelerometer();
}
/**
* Create new instance of accelerometer.
*
* Make a new instance of the accelerometer given a module and channel. The constructor allocates
* the desired analog channel from the specified module
* @param slot the slot that the module is in
* @param channel the port that the Accelerometer is on on the module
*/
public Accelerometer(final int slot, final int channel) {
m_allocatedChannel = true;
m_analogChannel = new AnalogInput(slot, channel);
initAccelerometer();
}
/**
* Create a new instance of Accelerometer from an existing AnalogChannel.
* Make a new instance of accelerometer given an AnalogChannel. This is particularly

61
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
View File

@@ -43,53 +43,33 @@ public class AnalogInput extends SensorBase implements PIDSource,
LiveWindowSendable {
private static final int kAccumulatorSlot = 1;
private static Resource channels = new Resource(kAnalogModules
* kAnalogInputChannels);
private static Resource channels = new Resource(kAnalogInputChannels);
private ByteBuffer m_port;
private int m_moduleNumber, m_channel;
private int m_channel;
private static final int[] kAccumulatorChannels = { 0, 1 };
private long m_accumulatorOffset;
/**
* Construct an analog channel on the default module.
* Construct an analog channel.
*
* @param channel
* The channel number to represent.
*/
public AnalogInput(final int channel) {
this(getDefaultAnalogModule(), channel);
}
/**
* Construct an analog channel on a specified module.
*
* @param moduleNumber
* The digital module to use (1 or 2).
* @param channel
* The channel number to represent.
*/
public AnalogInput(final int moduleNumber, final int channel) {
m_channel = channel;
m_moduleNumber = moduleNumber;
if (AnalogJNI.checkAnalogModule((byte)moduleNumber) == 0) {
throw new AllocationException("Analog input channel " + m_channel
+ " on module " + m_moduleNumber
+ " cannot be allocated. Module is not present.");
}
if (AnalogJNI.checkAnalogInputChannel(channel) == 0) {
throw new AllocationException("Analog input channel " + m_channel
+ " on module " + m_moduleNumber
+ " cannot be allocated. Channel is not present.");
}
try {
channels.allocate((moduleNumber - 1) * kAnalogInputChannels + channel);
channels.allocate(channel);
} catch (CheckedAllocationException e) {
throw new AllocationException("Analog input channel " + m_channel
+ " on module " + m_moduleNumber + " is already allocated");
+ " is already allocated");
}
ByteBuffer port_pointer = AnalogJNI.getPortWithModule(
(byte) moduleNumber, (byte) channel);
ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) 1, (byte) channel);
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -97,28 +77,26 @@ public class AnalogInput extends SensorBase implements PIDSource,
m_port = AnalogJNI.initializeAnalogInputPort(port_pointer, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
LiveWindow.addSensor("AnalogInput", moduleNumber, channel, this);
UsageReporting.report(tResourceType.kResourceType_AnalogChannel,
channel, moduleNumber - 1);
LiveWindow.addSensor("AnalogInput", channel, this);
UsageReporting.report(tResourceType.kResourceType_AnalogChannel, channel);
}
/**
* Channel destructor.
*/
public void free() {
channels.free(((m_moduleNumber - 1) * kAnalogInputChannels + m_channel));
channels.free(m_channel);
m_channel = 0;
m_moduleNumber = 0;
m_accumulatorOffset = 0;
}
/**
* Get the analog module that this channel is on.
* Get the analog module.
*
* @return The AnalogModule that this channel is on.
* @return The AnalogModule.
*/
public AnalogModule getModule() {
return AnalogModule.getInstance(m_moduleNumber);
return AnalogModule.getInstance(1);
}
/**
@@ -239,15 +217,6 @@ public class AnalogInput extends SensorBase implements PIDSource,
return m_channel;
}
/**
* Gets the number of the analog module this channel is on.
*
* @return The module number of the analog module this channel is on.
*/
public int getModuleNumber() {
return m_moduleNumber;
}
/**
* Set the number of averaging bits. This sets the number of averaging bits.
* The actual number of averaged samples is 2**bits. The averaging is done
@@ -435,7 +404,6 @@ public class AnalogInput extends SensorBase implements PIDSource,
}
if (!isAccumulatorChannel()) {
throw new IllegalArgumentException("Channel " + m_channel
+ " on module " + m_moduleNumber
+ " is not an accumulator channel.");
}
ByteBuffer value = ByteBuffer.allocateDirect(8);
@@ -459,9 +427,6 @@ public class AnalogInput extends SensorBase implements PIDSource,
* @return The analog channel is attached to an accumulator.
*/
public boolean isAccumulatorChannel() {
if (m_moduleNumber != kAccumulatorSlot) {
return false;
}
for (int i = 0; i < kAccumulatorChannels.length; i++) {
if (m_channel == kAccumulatorChannels[i]) {
return true;

2
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
View File

@@ -59,7 +59,7 @@ public class AnalogOutput extends SensorBase implements LiveWindowSendable {
m_port = AnalogJNI.initializeAnalogOutputPort(port_pointer, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
LiveWindow.addSensor("AnalogOutput", 1, channel, this);
LiveWindow.addSensor("AnalogOutput", channel, this);
UsageReporting.report(tResourceType.kResourceType_AnalogChannel, channel, 1);
}

58
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
View File

@@ -12,40 +12,20 @@ import edu.wpi.first.wpilibj.tables.ITable;
* @author Alex Henning
*/
public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
private int m_module, m_channel;
private int m_channel;
private double m_scale, m_offset;
private AnalogInput m_analog_input;
/**
* Common initialization code called by all constructors.
*/
private void initPot(final int slot, final int channel, double scale, double offset) {
this.m_module = slot;
private void initPot(final int channel, double scale, double offset) {
this.m_channel = channel;
this.m_scale = scale;
this.m_offset = offset;
m_analog_input = new AnalogInput(slot, channel);
m_analog_input = new AnalogInput(channel);
}
/**
* AnalogPotentiometer constructor.
*
* Use the scaling and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The scale value is 270.0(degrees)/5.0(volts) and the
* offset is -135.0 since the halfway point after scaling is 135
* degrees.
*
* @param slot The analog module this potentiometer is plugged into.
* @param channel The analog channel this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
* @param offset The offset to add to the scaled value for controlling the zero value
*/
public AnalogPotentiometer(final int slot, final int channel, double scale, double offset) {
initPot(slot, channel, scale, offset);
}
/**
* AnalogPotentiometer constructor.
*
@@ -61,9 +41,9 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
* @param offset The offset to add to the scaled value for controlling the zero value
*/
public AnalogPotentiometer(final int channel, double scale, double offset) {
initPot(1, channel, scale, offset);
initPot(channel, scale, offset);
}
/**
* AnalogPotentiometer constructor.
*
@@ -78,18 +58,18 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
*/
public AnalogPotentiometer(final int channel, double scale) {
initPot(1, channel, scale, 0);
initPot(channel, scale, 0);
}
/**
* AnalogPotentiometer constructor.
*
* @param channel The analog channel this potentiometer is plugged into.
*/
public AnalogPotentiometer(final int channel) {
initPot(1, channel, 1, 0);
initPot(channel, 1, 0);
}
/**
* Get the current reading of the potentiomere.
*
@@ -98,8 +78,8 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
public double get() {
return m_analog_input.getVoltage() * m_scale + m_offset;
}
/**
* Implement the PIDSource interface.
*
@@ -108,7 +88,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
public double pidGet() {
return get();
}
/*
* Live Window code, only does anything if live window is activated.
*/
@@ -116,7 +96,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
return "Analog Input";
}
private ITable m_table;
/**
* {@inheritDoc}
*/
@@ -124,7 +104,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
m_table = subtable;
updateTable();
}
/**
* {@inheritDoc}
*/
@@ -133,20 +113,20 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
m_table.putNumber("Value", get());
}
}
/**
* {@inheritDoc}
*/
public ITable getTable(){
return m_table;
}
/**
* Analog Channels don't have to do anything special when entering the LiveWindow.
* {@inheritDoc}
*/
public void startLiveWindowMode() {}
/**
* Analog Channels don't have to do anything special when exiting the LiveWindow.
* {@inheritDoc}

62
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
View File

@@ -21,7 +21,7 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
/**
* Class for creating and configuring Analog Triggers
*
*
* @author dtjones
*/
public class AnalogTrigger implements IInputOutput {
@@ -33,7 +33,7 @@ public class AnalogTrigger implements IInputOutput {
/**
* Create a new exception with the given message
*
*
* @param message
* the message to pass with the exception
*/
@@ -50,18 +50,13 @@ public class AnalogTrigger implements IInputOutput {
protected int m_index;
/**
* Initialize an analog trigger from a module number and channel. This is
* the common code for the two constructors that use a module number and
* channel.
*
* @param moduleNumber
* The number of the analog module to create this trigger on.
* Initialize an analog trigger from a channel.
*
* @param channel
* the port to use for the analog trigger
*/
protected void initTrigger(final int moduleNumber, final int channel) {
ByteBuffer port_pointer = AnalogJNI.getPortWithModule(
(byte) moduleNumber, (byte) channel);
protected void initTrigger(final int channel) {
ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) 1, (byte) channel);
IntBuffer status = IntBuffer.allocate(1);
IntBuffer index = IntBuffer.allocate(1);
// XXX: Uncomment when analog has been fixed
@@ -70,44 +65,29 @@ public class AnalogTrigger implements IInputOutput {
//HALUtil.checkStatus(status);
//m_index = index.get(0);
UsageReporting.report(tResourceType.kResourceType_AnalogTrigger,
channel, moduleNumber-1);
UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel);
}
/**
* Constructor for an analog trigger given a channel number. The default
* module is used in this case.
*
* Constructor for an analog trigger given a channel number.
*
* @param channel
* the port to use for the analog trigger
*/
public AnalogTrigger(final int channel) {
initTrigger(AnalogModule.getDefaultAnalogModule(), channel);
}
/**
* Constructor for an analog trigger given both the module number and
* channel.
*
* @param moduleNumber
* The number of the analog module to create this trigger on.
* @param channel
* the port to use for the analog trigger
*/
public AnalogTrigger(final int moduleNumber, final int channel) {
initTrigger(moduleNumber, channel);
initTrigger(channel);
}
/**
* Construct an analog trigger given an analog channel. This should be used
* in the case of sharing an analog channel between the trigger and an
* analog input object.
*
*
* @param channel
* the AnalogChannel to use for the analog trigger
* the AnalogInput to use for the analog trigger
*/
public AnalogTrigger(AnalogInput channel) {
initTrigger(channel.getModuleNumber(), channel.getChannel());
initTrigger(channel.getChannel());
}
/**
@@ -124,7 +104,7 @@ public class AnalogTrigger implements IInputOutput {
* Set the upper and lower limits of the analog trigger. The limits are
* given in ADC codes. If oversampling is used, the units must be scaled
* appropriately.
*
*
* @param lower
* the lower raw limit
* @param upper
@@ -142,7 +122,7 @@ public class AnalogTrigger implements IInputOutput {
/**
* Set the upper and lower limits of the analog trigger. The limits are
* given as floating point voltage values.
*
*
* @param lower
* the lower voltage limit
* @param upper
@@ -165,7 +145,7 @@ public class AnalogTrigger implements IInputOutput {
* Configure the analog trigger to use the averaged vs. raw values. If the
* value is true, then the averaged value is selected for the analog
* trigger, otherwise the immediate value is used.
*
*
* @param useAveragedValue
* true to use an averaged value, false otherwise
*/
@@ -181,7 +161,7 @@ public class AnalogTrigger implements IInputOutput {
* will operate with a 3 point average rejection filter. This is designed to
* help with 360 degree pot applications for the period where the pot
* crosses through zero.
*
*
* @param useFilteredValue
* true to use a filterd value, false otherwise
*/
@@ -195,7 +175,7 @@ public class AnalogTrigger implements IInputOutput {
/**
* Return the index of the analog trigger. This is the FPGA index of this
* analog trigger instance.
*
*
* @return The index of the analog trigger.
*/
public int getIndex() {
@@ -205,7 +185,7 @@ public class AnalogTrigger implements IInputOutput {
/**
* Return the InWindow output of the analog trigger. True if the analog
* input is between the upper and lower limits.
*
*
* @return The InWindow output of the analog trigger.
*/
public boolean getInWindow() {
@@ -219,7 +199,7 @@ public class AnalogTrigger implements IInputOutput {
* Return the TriggerState output of the analog trigger. True if above upper
* limit. False if below lower limit. If in Hysteresis, maintain previous
* state.
*
*
* @return The TriggerState output of the analog trigger.
*/
public boolean getTriggerState() {
@@ -233,7 +213,7 @@ public class AnalogTrigger implements IInputOutput {
* Creates an AnalogTriggerOutput object. Gets an output object that can be
* used for routing. Caller is responsible for deleting the
* AnalogTriggerOutput object.
*
*
* @param type
* An enum of the type of output object to create.
* @return A pointer to a new AnalogTriggerOutput object.

48
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Compressor.java
View File

@@ -12,74 +12,74 @@ import edu.wpi.first.wpilibj.tables.ITable;
public class Compressor extends SensorBase implements IDevice, LiveWindowSendable {
private ByteBuffer m_pcm;
public Compressor(int module) {
initCompressor(module);
public Compressor(int pcmId) {
initCompressor(pcmId);
}
public Compressor() {
initCompressor(getDefaultSolenoidModule());
}
private void initCompressor(int module) {
m_table = null;
m_pcm = CompressorJNI.initializeCompressor((byte)module);
}
public void start() {
setClosedLoopControl(true);
}
public void stop() {
setClosedLoopControl(false);
}
public boolean enabled() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getCompressor(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
public boolean getPressureSwitchValue() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getPressureSwitch(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
public float getCompressorCurrent() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
float current = CompressorJNI.getCompressorCurrent(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return current;
}
public void setClosedLoopControl(boolean on) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
CompressorJNI.setClosedLoopControl(m_pcm, on, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
public boolean getClosedLoopControl() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getClosedLoopControl(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
@@ -90,7 +90,7 @@ public class Compressor extends SensorBase implements IDevice, LiveWindowSendabl
@Override
public void stopLiveWindowMode() {
}
@Override
public String getSmartDashboardType() {
return "Compressor";
@@ -103,7 +103,7 @@ public class Compressor extends SensorBase implements IDevice, LiveWindowSendabl
m_table = subtable;
updateTable();
}
@Override
public ITable getTable() {
return m_table;

100
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Counter.java
View File

@@ -106,7 +106,7 @@ public class Counter extends SensorBase implements CounterBase,
* Create an instance of a counter from a Digital Input. This is used if an
* existing digital input is to be shared by multiple other objects such as
* encoders.
*
*
* @param source
* the digital source to count
*/
@@ -119,8 +119,8 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Create an instance of a Counter object. Create an up-Counter instance
* given a channel. The default digital module is assumed.
*
* given a channel.
*
* @param channel
* the digital input channel to count
*/
@@ -129,25 +129,11 @@ public class Counter extends SensorBase implements CounterBase,
setUpSource(channel);
}
/**
* Create an instance of a Counter object. Create an instance of an
* up-Counter given a digital module and a channel.
*
* @param slot
* The cRIO chassis slot for the digital module used
* @param channel
* The channel in the digital module
*/
public Counter(int slot, int channel) {
initCounter(Mode.kTwoPulse);
setUpSource(slot, channel);
}
/**
* Create an instance of a Counter object. Create an instance of a simple
* up-Counter given an analog trigger. Use the trigger state output from the
* analog trigger.
*
*
* @param encodingType
* which edges to count
* @param upSource
@@ -188,7 +174,7 @@ public class Counter extends SensorBase implements CounterBase,
* Create an instance of a Counter object. Create an instance of a simple
* up-Counter given an analog trigger. Use the trigger state output from the
* analog trigger.
*
*
* @param trigger
* the analog trigger to count
*/
@@ -214,22 +200,8 @@ public class Counter extends SensorBase implements CounterBase,
}
/**
* Set the up source for the counter as digital input channel and slot.
*
* @param slot
* the location of the digital module to use
* @param channel
* the digital port to count
*/
public void setUpSource(int slot, int channel) {
setUpSource(new DigitalInput(slot, channel));
m_allocatedUpSource = true;
}
/**
* Set the upsource for the counter as a digital input channel. The slot
* will be the default digital module slot.
*
* Set the upsource for the counter as a digital input channel.
*
* @param channel
* the digital port to count
*/
@@ -241,7 +213,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Set the source object that causes the counter to count up. Set the up
* counting DigitalSource.
*
*
* @param source
* the digital source to count
*/
@@ -262,7 +234,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Set the up counting source to be an analog trigger.
*
*
* @param analogTrigger
* The analog trigger object that is used for the Up Source
* @param triggerType
@@ -276,7 +248,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Set the edge sensitivity on an up counting source. Set the up source to
* either detect rising edges or falling edges.
*
*
* @param risingEdge
* true to count rising edge
* @param fallingEdge
@@ -311,9 +283,8 @@ public class Counter extends SensorBase implements CounterBase,
}
/**
* Set the down counting source to be a digital input channel. The slot will
* be set to the default digital module slot.
*
* Set the down counting source to be a digital input channel.
*
* @param channel
* the digital port to count
*/
@@ -322,23 +293,10 @@ public class Counter extends SensorBase implements CounterBase,
m_allocatedDownSource = true;
}
/**
* Set the down counting source to be a digital input slot and channel.
*
* @param slot
* the location of the digital module to use
* @param channel
* the digital port to count
*/
public void setDownSource(int slot, int channel) {
setDownSource(new DigitalInput(slot, channel));
m_allocatedDownSource = true;
}
/**
* Set the source object that causes the counter to count down. Set the down
* counting DigitalSource.
*
*
* @param source
* the digital source to count
*/
@@ -363,7 +321,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Set the down counting source to be an analog trigger.
*
*
* @param analogTrigger
* The analog trigger object that is used for the Down Source
* @param triggerType
@@ -377,7 +335,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Set the edge sensitivity on a down counting source. Set the down source
* to either detect rising edges or falling edges.
*
*
* @param risingEdge
* true to count the rising edge
* @param fallingEdge
@@ -435,7 +393,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Set Semi-period mode on this counter. Counts up on both rising and
* falling edges.
*
*
* @param highSemiPeriod
* true to count up on both rising and falling
*/
@@ -451,7 +409,7 @@ public class Counter extends SensorBase implements CounterBase,
* Configure the counter to count in up or down based on the length of the
* input pulse. This mode is most useful for direction sensitive gear tooth
* sensors.
*
*
* @param threshold
* The pulse length beyond which the counter counts the opposite
* direction. Units are seconds.
@@ -492,7 +450,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Read the current scaled counter value. Read the value at this instant,
* scaled by the distance per pulse (defaults to 1).
*
*
* @return
*/
public double getDistance() {
@@ -527,7 +485,7 @@ public class Counter extends SensorBase implements CounterBase,
* Sets the maximum period where the device is considered moving. This value
* is used to determine the "stopped" state of the counter using the
* GetStopped method.
*
*
* @param maxPeriod
* The maximum period where the counted device is considered
* moving in seconds.
@@ -552,7 +510,7 @@ public class Counter extends SensorBase implements CounterBase,
* been no events since an FPGA reset) and you will likely not see the
* stopped bit become true (since it is updated at the end of an average and
* there are no samples to average).
*
*
* @param enabled
* true to continue updating
*/
@@ -569,7 +527,7 @@ public class Counter extends SensorBase implements CounterBase,
* stopped based on the MaxPeriod value set using the SetMaxPeriod method.
* If the clock exceeds the MaxPeriod, then the device (and counter) are
* assumed to be stopped and it returns true.
*
*
* @return Returns true if the most recent counter period exceeds the
* MaxPeriod value set by SetMaxPeriod.
*/
@@ -583,7 +541,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* The last direction the counter value changed.
*
*
* @return The last direction the counter value changed.
*/
public boolean getDirection() {
@@ -598,7 +556,7 @@ public class Counter extends SensorBase implements CounterBase,
* Set the Counter to return reversed sensing on the direction. This allows
* counters to change the direction they are counting in the case of 1X and
* 2X quadrature encoding only. Any other counter mode isn't supported.
*
*
* @param reverseDirection
* true if the value counted should be negated.
*/
@@ -614,7 +572,7 @@ public class Counter extends SensorBase implements CounterBase,
* Get the Period of the most recent count. Returns the time interval of the
* most recent count. This can be used for velocity calculations to
* determine shaft speed.
*
*
* @returns The period of the last two pulses in units of seconds.
*/
public double getPeriod() {
@@ -629,7 +587,7 @@ public class Counter extends SensorBase implements CounterBase,
* Get the current rate of the Counter. Read the current rate of the counter
* accounting for the distance per pulse value. The default value for
* distance per pulse (1) yields units of pulses per second.
*
*
* @return The rate in units/sec
*/
public double getRate() {
@@ -641,7 +599,7 @@ public class Counter extends SensorBase implements CounterBase,
* timer to average when calculating the period. Perform averaging to
* account for mechanical imperfections or as oversampling to increase
* resolution.
*
*
* @param samplesToAverage
* The number of samples to average from 1 to 127.
*/
@@ -662,7 +620,7 @@ public class Counter extends SensorBase implements CounterBase,
* timer to average when calculating the period. Perform averaging to
* account for mechanical imperfections or as oversampling to increase
* resolution.
*
*
* @return SamplesToAverage The number of samples being averaged (from 1 to
* 127)
*/
@@ -680,7 +638,7 @@ public class Counter extends SensorBase implements CounterBase,
* encoder. Set this value based on the Pulses per Revolution and factor in
* any gearing reductions. This distance can be in any units you like,
* linear or angular.
*
*
* @param distancePerPulse
* The scale factor that will be used to convert pulses to useful
* units.
@@ -692,7 +650,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Set which parameter of the encoder you are using as a process control
* variable. The counter class supports the rate and distance parameters.
*
*
* @param pidSource
* An enum to select the parameter.
*/

30
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
View File

@@ -34,35 +34,21 @@ public class DigitalInput extends DigitalSource implements IInputOutput,
/**
* Create an instance of a Digital Input class. Creates a digital input
* given a channel and uses the default module.
*
* given a channel.
*
* @param channel
* the port for the digital input
*/
public DigitalInput(int channel) {
this(getDefaultDigitalModule(), channel);
}
initDigitalPort(channel, true);
/**
* Create an instance of a Digital Input class. Creates a digital input
* given an channel and module.
*
* @param moduleNumber
* The number of the digital module to use for this input
* @param channel
* the port for the digital input
*/
public DigitalInput(int moduleNumber, int channel) {
initDigitalPort(moduleNumber, channel, true);
UsageReporting.report(tResourceType.kResourceType_DigitalInput,
channel, moduleNumber - 1);
UsageReporting.report(tResourceType.kResourceType_DigitalInput, channel);
}
/**
* Get the value from a digital input channel. Retrieve the value of a
* single digital input channel from the FPGA.
*
*
* @return the stats of the digital input
*/
public boolean get() {
@@ -76,7 +62,7 @@ public class DigitalInput extends DigitalSource implements IInputOutput,
/**
* Get the channel of the digital input
*
*
* @return The GPIO channel number that this object represents.
*/
public int getChannel() {
@@ -89,7 +75,7 @@ public class DigitalInput extends DigitalSource implements IInputOutput,
/**
* Request interrupts asynchronously on this digital input.
*
*
* @param handler
* The address of the interrupt handler function of type
* tInterruptHandler that will be called whenever there is an
@@ -150,7 +136,7 @@ public class DigitalInput extends DigitalSource implements IInputOutput,
/**
* Set which edge to trigger interrupts on
*
*
* @param risingEdge
* true to interrupt on rising edge
* @param fallingEdge

68
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
View File

@@ -36,29 +36,15 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
/**
* Create an instance of a digital output. Create an instance of a digital
* output given a module number and channel.
*
* @param moduleNumber
* The number of the digital module to use
* @param channel
* the port to use for the digital output
*/
public DigitalOutput(int moduleNumber, int channel) {
initDigitalPort(moduleNumber, channel, false);
UsageReporting.report(tResourceType.kResourceType_DigitalOutput,
channel, moduleNumber - 1);
}
/**
* Create an instance of a digital output. Create a digital output given a
* channel. The default module is used.
*
* output given a channel.
*
* @param channel
* the port to use for the digital output
*/
public DigitalOutput(int channel) {
this(getDefaultDigitalModule(), channel);
initDigitalPort(channel, false);
UsageReporting.report(tResourceType.kResourceType_DigitalOutput, channel);
}
/**
@@ -74,7 +60,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
/**
* Set the value of a digital output.
*
*
* @param value
* true is on, off is false
*/
@@ -96,7 +82,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
/**
* Generate a single pulse. Write a pulse to the specified digital output
* channel. There can only be a single pulse going at any time.
*
*
* @param channel
* The channel to pulse.
* @param pulseLength
@@ -114,7 +100,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
* @deprecated Generate a single pulse. Write a pulse to the specified
* digital output channel. There can only be a single pulse
* going at any time.
*
*
* @param channel
* The channel to pulse.
* @param pulseLength
@@ -134,7 +120,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
/**
* Determine if the pulse is still going. Determine if a previously started
* pulse is still going.
*
*
* @return true if pulsing
*/
public boolean isPulsing() {
@@ -148,12 +134,12 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
/**
* Change the PWM frequency of the PWM output on a Digital Output line.
*
*
* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is
* logarithmic.
*
*
* There is only one PWM frequency per digital module.
*
*
* @param rate
* The frequency to output all digital output PWM signals on this
* module.
@@ -162,22 +148,22 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
PWMJNI.setPWMRateWithModule((byte) m_moduleNumber, rate,
PWMJNI.setPWMRateWithModule((byte) 1, rate,
status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
* Enable a PWM Output on this line.
*
*
* Allocate one of the 4 DO PWM generator resources from this module.
*
*
* Supply the initial duty-cycle to output so as to avoid a glitch when
* first starting.
*
*
* The resolution of the duty cycle is 8-bit for low frequencies (1kHz or
* less) but is reduced the higher the frequency of the PWM signal is.
*
*
* @param initialDutyCycle
* The duty-cycle to start generating. [0..1]
*/
@@ -187,19 +173,17 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
m_pwmGenerator = PWMJNI.allocatePWMWithModule(
(byte) m_moduleNumber, status.asIntBuffer());
m_pwmGenerator = PWMJNI.allocatePWMWithModule((byte) 1, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
PWMJNI.setPWMDutyCycle(m_pwmGenerator, initialDutyCycle,
status.asIntBuffer());
status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
PWMJNI.setPWMOutputChannelWithModule((byte) m_moduleNumber,
m_pwmGenerator, m_channel, status.asIntBuffer());
PWMJNI.setPWMOutputChannelWithModule((byte) 1, m_pwmGenerator, m_channel, status.asIntBuffer());
}
/**
* Change this line from a PWM output back to a static Digital Output line.
*
*
* Free up one of the 4 DO PWM generator resources that were in use.
*/
public void disablePWM() {
@@ -209,17 +193,16 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
status.order(ByteOrder.LITTLE_ENDIAN);
PWMJNI.setPWMOutputChannel(m_pwmGenerator, kDigitalChannels, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
PWMJNI.freePWMWithModule((byte) m_moduleNumber, m_pwmGenerator,
status.asIntBuffer());
PWMJNI.freePWMWithModule((byte) 1, m_pwmGenerator, status.asIntBuffer());
m_pwmGenerator = null;
}
/**
* Change the duty-cycle that is being generated on the line.
*
*
* The resolution of the duty cycle is 8-bit for low frequencies (1kHz or
* less) but is reduced the higher the frequency of the PWM signal is.
*
*
* @param dutyCycle
* The duty-cycle to change to. [0..1]
*/
@@ -227,8 +210,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
PWMJNI.setPWMDutyCycleWithModule((byte) m_moduleNumber,
m_pwmGenerator, dutyCycle, status.asIntBuffer());
PWMJNI.setPWMDutyCycleWithModule((byte) 1, m_pwmGenerator, dutyCycle, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}

35
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java
View File

@@ -25,34 +25,26 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
*/
public abstract class DigitalSource extends InterruptableSensorBase {
protected static Resource channels = new Resource(kDigitalChannels
* kDigitalModules);
protected static Resource channels = new Resource(kDigitalChannels);
protected ByteBuffer m_port;
protected int m_moduleNumber, m_channel;
protected int m_channel;
protected void initDigitalPort(int moduleNumber, int channel, boolean input) {
protected void initDigitalPort(int channel, boolean input) {
m_channel = channel;
m_moduleNumber = moduleNumber;
if (DIOJNI.checkDigitalModule((byte) m_moduleNumber) != 1) {
throw new AllocationException("Digital input " + m_channel
+ " on module " + m_moduleNumber
+ " cannot be allocated. Module is not present.");
}
checkDigitalChannel(m_channel); // XXX: Replace with
// HALLibrary.checkDigitalChannel when
// implemented
try {
channels.allocate((m_moduleNumber - 1) * kDigitalChannels
+ m_channel);
channels.allocate(m_channel);
} catch (CheckedAllocationException ex) {
throw new AllocationException("Digital input " + m_channel
+ " on module " + m_moduleNumber + " is already allocated");
+ " is already allocated");
}
ByteBuffer port_pointer = DIOJNI.getPortWithModule(
(byte) moduleNumber, (byte) channel);
ByteBuffer port_pointer = DIOJNI.getPortWithModule((byte) 1, (byte) channel);
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -63,19 +55,18 @@ public abstract class DigitalSource extends InterruptableSensorBase {
}
public void free() {
channels.free(((m_moduleNumber - 1) * kDigitalChannels + m_channel));
channels.free(m_channel);
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
DIOJNI.freeDIO(m_port, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
m_channel = 0;
m_moduleNumber = 0;
}
/**
* Get the channel routing number
*
*
* @return channel routing number
*/
public int getChannelForRouting() {
@@ -84,16 +75,16 @@ public abstract class DigitalSource extends InterruptableSensorBase {
/**
* Get the module routing number
*
* @return module routing number
*
* @return 0
*/
public int getModuleForRouting() {
return m_moduleNumber - 1;
return 0;
}
/**
* Is this an analog trigger
*
*
* @return true if this is an analog trigger
*/
public boolean getAnalogTriggerForRouting() {

159
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -103,152 +103,11 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
UsageReporting.report(tResourceType.kResourceType_Encoder,
m_index, m_encodingType.value);
LiveWindow.addSensor("Encoder", m_aSource.getModuleForRouting(),
m_aSource.getChannelForRouting(), this);
LiveWindow.addSensor("Encoder", m_aSource.getChannelForRouting(), this);
}
/**
* Encoder constructor. Construct a Encoder given a and b modules and
* channels fully specified.
*
* @param aSlot
* The a channel digital input module.
* @param aChannel
* The a channel digital input channel.
* @param bSlot
* The b channel digital input module.
* @param bChannel
* The b channel digital input channel.
* @param reverseDirection
* represents the orientation of the encoder and inverts the
* output values if necessary so forward represents positive
* values.
*/
public Encoder(final int aSlot, final int aChannel, final int bSlot,
final int bChannel, boolean reverseDirection) {
m_allocatedA = true;
m_allocatedB = true;
m_allocatedI = false;
m_aSource = new DigitalInput(aSlot, aChannel);
m_bSource = new DigitalInput(bSlot, bChannel);
initEncoder(reverseDirection);
}
/**
* Encoder constructor. Construct a Encoder given a and b modules and
* channels fully specified.
*
* @param aSlot
* The a channel digital input module.
* @param aChannel
* The a channel digital input channel.
* @param bSlot
* The b channel digital input module.
* @param bChannel
* The b channel digital input channel.
*/
public Encoder(final int aSlot, final int aChannel, final int bSlot,
final int bChannel) {
this(aSlot, aChannel, bSlot, bChannel, false);
}
/**
* Encoder constructor. Construct a Encoder given a and b modules and
* channels fully specified.
*
* @param aSlot
* The a channel digital input module.
* @param aChannel
* The a channel digital input channel.
* @param bSlot
* The b channel digital input module.
* @param bChannel
* The b channel digital input channel.
* @param reverseDirection
* represents the orientation of the encoder and inverts the
* output values if necessary so forward represents positive
* values.
* @param encodingType
* either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If
* 4X is selected, then an encoder FPGA object is used and the
* returned counts will be 4x the encoder spec'd value since all
* rising and falling edges are counted. If 1X or 2X are selected
* then a counter object will be used and the returned value will
* either exactly match the spec'd count or be double (2x) the
* spec'd count.
*/
public Encoder(final int aSlot, final int aChannel, final int bSlot,
final int bChannel, boolean reverseDirection,
final EncodingType encodingType) {
m_allocatedA = true;
m_allocatedB = true;
m_allocatedI = false;
m_aSource = new DigitalInput(aSlot, aChannel);
m_bSource = new DigitalInput(bSlot, bChannel);
if (encodingType == null)
throw new NullPointerException("Given encoding type was null");
m_encodingType = encodingType;
initEncoder(reverseDirection);
}
/**
* Encoder constructor. Construct a Encoder given a and b modules and
* channels fully specified. Using the index pulse forces 4x encoding.
*
* @param aSlot
* The a channel digital input module.
* @param aChannel
* The a channel digital input channel.
* @param bSlot
* The b channel digital input module.
* @param bChannel
* The b channel digital input channel.
* @param indexSlot
* The index channel digital input module.
* @param indexChannel
* The index channel digital input channel.
* @param reverseDirection
* represents the orientation of the encoder and inverts the
* output values if necessary so forward represents positive
* values.
*/
public Encoder(final int aSlot, final int aChannel, final int bSlot,
final int bChannel, final int indexSlot, final int indexChannel,
boolean reverseDirection) {
m_allocatedA = true;
m_allocatedB = true;
m_allocatedI = true;
m_aSource = new DigitalInput(aSlot, aChannel);
m_bSource = new DigitalInput(bSlot, bChannel);
m_indexSource = new DigitalInput(indexSlot, indexChannel);
initEncoder(reverseDirection);
}
/**
* Encoder constructor. Construct a Encoder given a and b modules and
* channels fully specified. Using the index pulse forces 4x encoding.
*
* @param aSlot
* The a channel digital input module.
* @param aChannel
* The a channel digital input channel.
* @param bSlot
* The b channel digital input module.
* @param bChannel
* The b channel digital input channel.
* @param indexSlot
* The index channel digital input module.
* @param indexChannel
* The index channel digital input channel.
*/
public Encoder(final int aSlot, final int aChannel, final int bSlot,
final int bChannel, final int indexSlot, final int indexChannel) {
this(aSlot, aChannel, bSlot, bChannel, indexSlot, indexChannel, false);
}
/**
* Encoder constructor. Construct a Encoder given a and b channels assuming
* the default module.
* Encoder constructor. Construct a Encoder given a and b channels.
*
* @param aChannel
* The a channel digital input channel.
@@ -270,8 +129,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
}
/**
* Encoder constructor. Construct a Encoder given a and b channels assuming
* the default module.
* Encoder constructor. Construct a Encoder given a and b channels.
*
* @param aChannel
* The a channel digital input channel.
@@ -283,8 +141,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
}
/**
* Encoder constructor. Construct a Encoder given a and b channels assuming
* the default module.
* Encoder constructor. Construct a Encoder given a and b channels.
*
* @param aChannel
* The a channel digital input channel.
@@ -317,8 +174,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
}
/**
* Encoder constructor. Construct a Encoder given a and b channels assuming
* the default module. Using an index pulse forces 4x encoding
* Encoder constructor. Construct a Encoder given a and b channels.
* Using an index pulse forces 4x encoding
*
* @param aChannel
* The a channel digital input channel.
@@ -343,8 +200,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
}
/**
* Encoder constructor. Construct a Encoder given a and b channels assuming
* the default module. Using an index pulse forces 4x encoding
* Encoder constructor. Construct a Encoder given a and b channels.
* Using an index pulse forces 4x encoding
*
* @param aChannel
* The a channel digital input channel.

56
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
View File

@@ -34,9 +34,18 @@ public class GearTooth extends Counter implements ISensor {
/**
* Construct a GearTooth sensor given a channel.
*
* The default module is assumed.
* No direction sensing is assumed.
*
* @param channel The GPIO channel on the digital module that the sensor is connected to.
* @param channel The GPIO channel that the sensor is connected to.
*/
public GearTooth(final int channel) {
this(channel,false);
}
/**
* Construct a GearTooth sensor given a channel.
*
* @param channel The GPIO channel that the sensor is connected to.
* @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
*/
public GearTooth(final int channel, boolean directionSensitive) {
@@ -47,48 +56,7 @@ public class GearTooth extends Counter implements ISensor {
} else {
UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, DigitalModule.getDefaultDigitalModule()-1);
}
}
/**
* Construct a GearTooth sensor given a channel.
*
* The default module is assumed.
* No direction sensing is assumed.
*
* @param channel The GPIO channel on the digital module that the sensor is connected to.
*/
public GearTooth(final int channel) {
this(channel,false);
}
/**
* Construct a GearTooth sensor given a channel and module.
*
* @param slot The slot in the chassis that the digital module is plugged in to.
* @param channel The GPIO channel on the digital module that the sensor is connected to.
* @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
*/
public GearTooth(final int slot, final int channel, boolean directionSensitive) {
super(slot, channel);
enableDirectionSensing(directionSensitive);
if(directionSensitive) {
UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, DigitalModule.getDefaultDigitalModule()-1, "D");
} else {
UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, DigitalModule.getDefaultDigitalModule()-1);
}
LiveWindow.addSensor("GearTooth", slot, channel, this);
}
/**
* Construct a GearTooth sensor given a channel and module.
*
* No direction sensing is assumed.
*
* @param slot The slot in the chassis that the digital module is plugged in to.
* @param channel The GPIO channel on the digital module that the sensor is connected to.
*/
public GearTooth(final int slot, final int channel) {
this(slot, channel,false);
LiveWindow.addSensor("GearTooth", channel, this);
}
/**

40
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java
View File

@@ -79,31 +79,13 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
setPIDSourceParameter(PIDSourceParameter.kAngle);
UsageReporting.report(tResourceType.kResourceType_Gyro,
m_analog.getChannel(), m_analog.getModuleNumber() - 1);
LiveWindow.addSensor("Gyro", m_analog.getModuleNumber(),
m_analog.getChannel(), this);
}
/**
* Gyro constructor given a slot and a channel. .
*
* @param slot
* The cRIO slot for the analog module the gyro is connected to.
* @param channel
* The analog channel the gyro is connected to.
*/
public Gyro(int slot, int channel) {
m_analog = new AnalogInput(slot, channel);
m_channelAllocated = true;
initGyro();
UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
LiveWindow.addSensor("Gyro", m_analog.getChannel(), this);
}
/**
* Gyro constructor with only a channel.
*
* Use the default analog module slot.
*
*
* @param channel
* The analog channel the gyro is connected to.
*/
@@ -117,7 +99,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
* Gyro constructor with a precreated analog channel object. Use this
* constructor when the analog channel needs to be shared. There is no
* reference counting when an AnalogChannel is passed to the gyro.
*
*
* @param channel
* The AnalogChannel object that the gyro is connected to.
*/
@@ -156,13 +138,13 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
/**
* Return the actual angle in degrees that the robot is currently facing.
*
*
* The angle is based on the current accumulator value corrected by the
* oversampling rate, the gyro type and the A/D calibration values. The
* angle is continuous, that is can go beyond 360 degrees. This make
* algorithms that wouldn't want to see a discontinuity in the gyro output
* as it sweeps past 0 on the second time around.
*
*
* @return the current heading of the robot in degrees. This heading is
* based on integration of the returned rate from the gyro.
*/
@@ -186,9 +168,9 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
/**
* Return the rate of rotation of the gyro
*
*
* The rate is based on the most recent reading of the gyro analog value
*
*
* @return the current rate in degrees per second
*/
public double getRate() {
@@ -206,7 +188,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
* Set the gyro type based on the sensitivity. This takes the number of
* volts/degree/second sensitivity of the gyro and uses it in subsequent
* calculations to allow the code to work with multiple gyros.
*
*
* @param voltsPerDegreePerSecond
* The type of gyro specified as the voltage that represents one
* degree/second.
@@ -218,7 +200,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
/**
* Set which parameter of the encoder you are using as a process control
* variable. The Gyro class supports the rate and angle parameters
*
*
* @param pidSource
* An enum to select the parameter.
*/
@@ -229,7 +211,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
/**
* Get the angle of the gyro for use with PIDControllers
*
*
* @return the current angle according to the gyro
*/
public double pidGet() {

2
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicColorSensor.java
View File

@@ -109,7 +109,7 @@ public class HiTechnicColorSensor extends SensorBase implements ISensor, LiveWin
throw new ColorSensorException("Invalid Sensor type");
}
LiveWindow.addSensor("HiTechnicColorSensor", slot, 0, this);
LiveWindow.addSensor("HiTechnicColorSensor", slot, this);
UsageReporting.report(tResourceType.kResourceType_HiTechnicColorSensor, module.getModuleNumber()-1);
}

10
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicCompass.java
View File

@@ -53,11 +53,9 @@ public class HiTechnicCompass extends SensorBase implements ISensor, LiveWindowS
/**
* Constructor.
*
* @param slot The slot of the digital module that the sensor is plugged into.
*/
public HiTechnicCompass(int slot) {
DigitalModule module = DigitalModule.getInstance(slot);
public HiTechnicCompass() {
DigitalModule module = DigitalModule.getInstance(1);
m_i2c = module.getI2C(kAddress);
// Verify Sensor
@@ -70,8 +68,8 @@ public class HiTechnicCompass extends SensorBase implements ISensor, LiveWindowS
throw new CompassException("Invalid Sensor type");
}
UsageReporting.report(tResourceType.kResourceType_HiTechnicCompass, module.getModuleNumber()-1);
LiveWindow.addSensor("HiTechnicCompass", slot, 0, this);
UsageReporting.report(tResourceType.kResourceType_HiTechnicCompass, 1);
LiveWindow.addSensor("HiTechnicCompass", 1, this);
}
/**

71
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/I2C.java
View File

@@ -18,10 +18,10 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
/**
* I2C bus interface class.
*
*
* This class is intended to be used by sensor (and other I2C device) drivers.
* It probably should not be used directly.
*
*
* It is constructed by calling DigitalModule::GetI2C() on a DigitalModule
* object.
*/
@@ -31,25 +31,24 @@ public class I2C extends SensorBase {
private int m_deviceAddress;
private boolean m_compatibilityMode;
/**
* Constructor.
*
* @param module
* The Digital Module to which the device is connected.
* @param deviceAddress
* The address of the device on the I2C bus.
*/
public I2C(DigitalModule module, int deviceAddress) {
if (module == null) {
throw new NullPointerException("Digital Module given was null");
}
m_module = module;
m_deviceAddress = deviceAddress;
m_compatibilityMode = true;
/**
* Constructor.
*
* @param module
* The Digital Module to which the device is connected.
* @param deviceAddress
* The address of the device on the I2C bus.
*/
public I2C(DigitalModule module, int deviceAddress) {
if (module == null) {
throw new NullPointerException("Digital Module given was null");
}
m_module = module;
m_deviceAddress = deviceAddress;
m_compatibilityMode = true;
UsageReporting.report(tResourceType.kResourceType_I2C, deviceAddress,
module.getModuleNumber()-1);
}
UsageReporting.report(tResourceType.kResourceType_I2C, deviceAddress);
}
/**
* Destructor.
@@ -59,10 +58,10 @@ public class I2C extends SensorBase {
/**
* Generic transaction.
*
*
* This is a lower-level interface to the I2C hardware giving you more
* control over each transaction.
*
*
* @param dataToSend
* Buffer of data to send as part of the transaction.
* @param sendSize
@@ -105,10 +104,10 @@ public class I2C extends SensorBase {
/**
* Attempt to address a device on the I2C bus.
*
*
* This allows you to figure out if there is a device on the I2C bus that
* responds to the address specified in the constructor.
*
*
* @return Transfer Aborted... false for success, true for aborted.
*/
public boolean addressOnly() {
@@ -117,10 +116,10 @@ public class I2C extends SensorBase {
/**
* Execute a write transaction with the device.
*
*
* Write a single byte to a register on a device and wait until the
* transaction is complete.
*
*
* @param registerAddress
* The address of the register on the device to be written.
* @param data
@@ -135,11 +134,11 @@ public class I2C extends SensorBase {
/**
* Execute a read transaction with the device.
*
*
* Read 1 to 7 bytes from a device. Most I2C devices will auto-increment the
* register pointer internally allowing you to read up to 7 consecutive
* registers on a device in a single transaction.
*
*
* @param registerAddress
* The register to read first in the transaction.
* @param count
@@ -163,9 +162,9 @@ public class I2C extends SensorBase {
/**
* Send a broadcast write to all devices on the I2C bus.
*
*
* This is not currently implemented!
*
*
* @param registerAddress
* The register to write on all devices on the bus.
* @param data
@@ -176,30 +175,30 @@ public class I2C extends SensorBase {
/**
* SetCompatabilityMode
*
*
* Enables bitwise clock skewing detection. This will reduce the I2C
* interface speed, but will allow you to communicate with devices that skew
* the clock at abnormal times. Compatability mode is enabled by default.
*
*
* @param enable
* Enable compatability mode for this sensor or not.
*/
public void setCompatabilityMode(boolean enable) {
m_compatibilityMode = enable;
UsageReporting.report(tResourceType.kResourceType_I2C,
m_deviceAddress, m_module.getModuleNumber() - 1, "C");
m_deviceAddress, 1, "C");
}
/**
* Verify that a device's registers contain expected values.
*
*
* Most devices will have a set of registers that contain a known value that
* can be used to identify them. This allows an I2C device driver to easily
* verify that the device contains the expected value.
*
*
* @pre The device must support and be configured to use register
* auto-increment.
*
*
* @param registerAddress
* The base register to start reading from the device.
* @param count

19
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
View File

@@ -34,31 +34,20 @@ public class Jaguar extends SafePWM implements SpeedController, IDeviceControlle
setPeriodMultiplier(PeriodMultiplier.k1X);
setRaw(m_centerPwm);
UsageReporting.report(tResourceType.kResourceType_Jaguar, getChannel(), getModuleNumber()-1);
LiveWindow.addActuator("Jaguar", getModuleNumber(), getChannel(), this);
UsageReporting.report(tResourceType.kResourceType_Jaguar, getChannel());
LiveWindow.addActuator("Jaguar", getChannel(), this);
}
/**
* Constructor that assumes the default digital module.
* Constructor.
*
* @param channel The PWM channel on the digital module that the Jaguar is attached to.
* @param channel The PWM channel that the Jaguar is attached to.
*/
public Jaguar(final int channel) {
super(channel);
initJaguar();
}
/**
* Constructor that specifies the digital module.
*
* @param slot The slot in the chassis that the digital module is plugged into.
* @param channel The PWM channel on the digital module that the Jaguar is attached to.
*/
public Jaguar(final int slot, final int channel) {
super(slot, channel);
initJaguar();
}
/**
* Set the PWM value.
*

45
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PWM.java
View File

@@ -38,7 +38,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
* resource tracking into the HAL. This will wait until we get the unit
* tests running for the first time.
*/
private static Resource allocated = new Resource( kPwmChannels);
/**
@@ -106,49 +106,35 @@ public class PWM extends SensorBase implements LiveWindowSendable {
int m_minPwm;
/**
* Initialize PWMs given an module and channel.
* Initialize PWMs given a channel.
*
* This method is private and is the common path for all the constructors for creating PWM
* instances. Checks module and channel value ranges and allocates the appropriate channel.
* The allocation is only done to help users ensure that they don't double assign channels.
*/
private void initPWM(final int moduleNumber, final int channel) {
checkPWMModule(moduleNumber);
private void initPWM(final int channel) {
checkPWMChannel(channel);
try {
allocated.allocate((moduleNumber - 1) * kPwmChannels + channel);
allocated.allocate(channel);
} catch (CheckedAllocationException e) {
throw new AllocationException(
"PWM channel " + channel + " on module " + moduleNumber + " is already allocated");
"PWM channel " + channel + " is already allocated");
}
m_channel = channel;
m_module = DigitalModule.getInstance(moduleNumber);
m_module = DigitalModule.getInstance(1);
m_module.setPWM(m_channel, kPwmDisabled);
m_eliminateDeadband = false;
UsageReporting.report(tResourceType.kResourceType_PWM, channel, moduleNumber-1);
UsageReporting.report(tResourceType.kResourceType_PWM, channel);
}
/**
* Allocate a PWM given a module and channel.
* Allocate a PWM using a module and channel number.
* Allocate a PWM given a channel.
*
* @param moduleNumber The module number of the digital module to use.
* @param channel The PWM channel on the digital module.
*/
public PWM(final int moduleNumber, final int channel) {
initPWM(moduleNumber, channel);
}
/**
* Allocate a PWM in the default module given a channel.
*
* Using a default module allocate a PWM given the channel number.
*
* @param channel The PWM channel on the digital module.
* @param channel The PWM channel.
*/
public PWM(final int channel) {
initPWM(getDefaultDigitalModule(), channel);
initPWM(channel);
}
/**
@@ -159,7 +145,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
public void free() {
m_module.setPWM(m_channel, kPwmDisabled);
m_module.freeDIO(m_channel);
allocated.free((m_module.getModuleNumber() - 1) * kPwmChannels + m_channel);
allocated.free(m_channel);
}
/**
@@ -211,15 +197,6 @@ public class PWM extends SensorBase implements LiveWindowSendable {
m_minPwm = (int)((min-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);
}
/**
* Gets the module number associated with the PWM Object.
*
* @return The module's number.
*/
public int getModuleNumber() {
return m_module.getModuleNumber();
}
/**
* Gets the channel number associated with the PWM Object.
*

107
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Relay.java
View File

@@ -30,13 +30,6 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
*/
public class Relay extends SensorBase implements IDeviceController,
LiveWindowSendable {
/*
* XXX: Refactor to no longer depend on the DigitalModule, and move all
* resource tracking into the HAL. This will wait until we get the unit
* tests running for the first time.
*/
/**
* This class represents errors in trying to set relay values contradictory
* to the direction to which the relay is set.
@@ -45,7 +38,7 @@ public class Relay extends SensorBase implements IDeviceController,
/**
* Create a new exception with the given message
*
*
* @param message
* the message to pass with the exception
*/
@@ -128,62 +121,34 @@ public class Relay extends SensorBase implements IDeviceController,
* Common relay initialization method. This code is common to all Relay
* constructors and initializes the relay and reserves all resources that
* need to be locked. Initially the relay is set to both lines at 0v.
*
* @param moduleNumber
* The number of the digital module to use.
*/
private void initRelay(final int moduleNumber) {
SensorBase.checkRelayModule(moduleNumber);
private void initRelay() {
SensorBase.checkRelayChannel(m_channel);
try {
if (m_direction == Direction.kBoth
|| m_direction == Direction.kForward) {
relayChannels.allocate(((moduleNumber - 1) * kRelayChannels
+ m_channel) * 2);
UsageReporting.report(tResourceType.kResourceType_Relay,
m_channel, moduleNumber - 1);
relayChannels.allocate(m_channel * 2);
UsageReporting.report(tResourceType.kResourceType_Relay, m_channel);
}
if (m_direction == Direction.kBoth
|| m_direction == Direction.kReverse) {
relayChannels.allocate(((moduleNumber - 1) * kRelayChannels
+ m_channel) * 2 + 1);
UsageReporting.report(tResourceType.kResourceType_Relay,
m_channel + 128, moduleNumber - 1);
relayChannels.allocate(m_channel * 2 + 1);
UsageReporting.report(tResourceType.kResourceType_Relay, m_channel + 128);
}
} catch (CheckedAllocationException e) {
throw new AllocationException("Relay channel " + m_channel
+ " on module " + moduleNumber + " is already allocated");
throw new AllocationException("Relay channel " + m_channel + " is already allocated");
}
m_module = DigitalModule.getInstance(moduleNumber);
m_module = DigitalModule.getInstance(1);
m_module.setRelayForward(m_channel, false);
m_module.setRelayReverse(m_channel, false);
LiveWindow.addActuator("Relay", moduleNumber, m_channel, this);
LiveWindow.addActuator("Relay", m_channel, this);
}
/**
* Relay constructor given the module and the channel.
*
* @param moduleNumber
* The number of the digital module to use.
* Relay constructor given a channel.
*
* @param channel
* The channel number within the module for this relay.
* @param direction
* The direction that the Relay object will control.
*/
public Relay(final int moduleNumber, final int channel, Direction direction) {
if (direction == null)
throw new NullPointerException("Null Direction was given");
m_channel = channel;
m_direction = direction;
initRelay(moduleNumber);
}
/**
* Relay constructor given a channel only where the default digital module
* is used.
*
* @param channel
* The channel number within the default module for this relay.
* The channel number for this relay.
* @param direction
* The direction that the Relay object will control.
*/
@@ -192,35 +157,19 @@ public class Relay extends SensorBase implements IDeviceController,
throw new NullPointerException("Null Direction was given");
m_channel = channel;
m_direction = direction;
initRelay(getDefaultDigitalModule());
initRelay();
}
/**
* Relay constructor given the module and the channel, allowing both
* directions.
*
* @param moduleNumber
* The number of the digital module to use.
* Relay constructor given a channel, allowing both directions.
*
* @param channel
* The channel number within the module for this relay.
*/
public Relay(final int moduleNumber, final int channel) {
m_channel = channel;
m_direction = Direction.kBoth;
initRelay(moduleNumber);
}
/**
* Relay constructor given a channel only where the default digital module
* is used, allowing both directions.
*
* @param channel
* The channel number within the default module for this relay.
* The channel number for this relay.
*/
public Relay(final int channel) {
m_channel = channel;
m_direction = Direction.kBoth;
initRelay(getDefaultDigitalModule());
initRelay();
}
public void free() {
@@ -243,17 +192,17 @@ public class Relay extends SensorBase implements IDeviceController,
/**
* Set the relay state.
*
*
* Valid values depend on which directions of the relay are controlled by
* the object.
*
*
* When set to kBothDirections, the relay can be set to any of the four
* states: 0v-0v, 12v-0v, 0v-12v, 12v-12v
*
*
* When set to kForwardOnly or kReverseOnly, you can specify the constant
* for the direction or you can simply specify kOff_val and kOn_val. Using
* only kOff_val and kOn_val is recommended.
*
*
* @param value
* The state to set the relay.
*/
@@ -310,12 +259,12 @@ public class Relay extends SensorBase implements IDeviceController,
/**
* Get the Relay State
*
*
* Gets the current state of the relay.
*
*
* When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff
* not kForward/kReverse (per the recommendation in Set)
*
*
* @return The current state of the relay as a Relay::Value
*/
public Value get() {
@@ -344,12 +293,12 @@ public class Relay extends SensorBase implements IDeviceController,
/**
* Set the Relay Direction
*
*
* Changes which values the relay can be set to depending on which direction
* is used
*
*
* Valid inputs are kBothDirections, kForwardOnly, and kReverseOnly
*
*
* @param direction
* The direction for the relay to operate in
*/
@@ -364,7 +313,7 @@ public class Relay extends SensorBase implements IDeviceController,
m_direction = direction;
initRelay(m_module.getModuleNumber());
initRelay();
}
/*

12
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
View File

@@ -82,8 +82,8 @@ public class RobotDrive implements MotorSafety, IUtility {
* Set up parameters for a two wheel drive system where the
* left and right motor pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors.
* @param leftMotorChannel The PWM channel number on the default digital module that drives the left motor.
* @param rightMotorChannel The PWM channel number on the default digital module that drives the right motor.
* @param leftMotorChannel The PWM channel number that drives the left motor.
* @param rightMotorChannel The PWM channel number that drives the right motor.
*/
public RobotDrive(final int leftMotorChannel, final int rightMotorChannel) {
m_sensitivity = kDefaultSensitivity;
@@ -105,10 +105,10 @@ public class RobotDrive implements MotorSafety, IUtility {
* Set up parameters for a four wheel drive system where all four motor
* pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors.
* @param frontLeftMotor Front left motor channel number on the default digital module
* @param rearLeftMotor Rear Left motor channel number on the default digital module
* @param frontRightMotor Front right motor channel number on the default digital module
* @param rearRightMotor Rear Right motor channel number on the default digital module
* @param frontLeftMotor Front left motor channel number
* @param rearLeftMotor Rear Left motor channel number
* @param frontRightMotor Front right motor channel number
* @param rearRightMotor Rear Right motor channel number
*/
public RobotDrive(final int frontLeftMotor, final int rearLeftMotor,
final int frontRightMotor, final int rearRightMotor) {

12
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SafePWM.java
View File

@@ -34,16 +34,6 @@ public class SafePWM extends PWM implements MotorSafety {
initSafePWM();
}
/**
* Constructor for a SafePWM object taking channel and slot numbers.
* @param slot The slot number of the digital module for this PWM object
* @param channel The channel number in the module for this PWM object
*/
public SafePWM(final int slot, final int channel) {
super(slot, channel);
initSafePWM();
}
/*
* Set the expiration time for the PWM object
* @param timeout The timeout (in seconds) for this motor object
@@ -100,7 +90,7 @@ public class SafePWM extends PWM implements MotorSafety {
}
public String getDescription() {
return "PWM "+getChannel()+" on module "+getModuleNumber();
return "PWM "+getChannel();
}
public void disable() {

28
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Servo.java
View File

@@ -24,7 +24,7 @@ public class Servo extends PWM implements IDevice {
private static final double kMaxServoAngle = 180.0;
private static final double kMinServoAngle = 0.0;
private static final double kDefaultMaxServoPWM = 2.4;
private static final double kDefaultMinServoPWM = .6;
@@ -33,43 +33,29 @@ public class Servo extends PWM implements IDevice {
*
* InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
* well as the minimum and maximum PWM values supported by the servo.
*
*
*/
private void initServo() {
setBounds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
setPeriodMultiplier(PeriodMultiplier.k4X);
LiveWindow.addActuator("Servo", getModuleNumber(), getChannel(), this);
UsageReporting.report(tResourceType.kResourceType_Servo, getChannel(), getModuleNumber()-1);
LiveWindow.addActuator("Servo", getChannel(), this);
UsageReporting.report(tResourceType.kResourceType_Servo, getChannel());
}
/**
* Constructor that assumes the default digital module.<br>
*
* Constructor.<br>
*
* By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
* By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
*
* @param channel The PWM channel on the digital module to which the servo is attached.
* @param channel The PWM channel to which the servo is attached.
*/
public Servo(final int channel) {
super(channel);
initServo();
}
/**
* Constructor that specifies the digital module.<br>
*
* By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
* By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
*
* @param slot The slot in the chassis that the digital module is plugged into.
* @param channel The PWM channel on the digital module to which the servo is attached.
*/
public Servo(final int slot, final int channel) {
super(slot, channel);
initServo();
}
/**
* Set the servo position.

19
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Talon.java
View File

@@ -36,31 +36,20 @@ public class Talon extends SafePWM implements SpeedController, IDeviceController
setPeriodMultiplier(PeriodMultiplier.k2X);
setRaw(m_centerPwm);
LiveWindow.addActuator("Talon", getModuleNumber(), getChannel(), this);
UsageReporting.report(tResourceType.kResourceType_Talon, getChannel(), getModuleNumber()-1);
LiveWindow.addActuator("Talon", getChannel(), this);
UsageReporting.report(tResourceType.kResourceType_Talon, getChannel());
}
/**
* Constructor that assumes the default digital module.
* Constructor.
*
* @param channel The PWM channel on the digital module that the Victor is attached to.
* @param channel The PWM channel that the Victor is attached to.
*/
public Talon(final int channel) {
super(channel);
initTalon();
}
/**
* Constructor that specifies the digital module.
*
* @param slot The slot in the chassis that the digital module is plugged into.
* @param channel The PWM channel on the digital module that the Victor is attached to.
*/
public Talon(final int slot, final int channel) {
super(slot, channel);
initTalon();
}
/**
* Set the PWM value.
*

90
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
View File

@@ -78,7 +78,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
* Background task that goes through the list of ultrasonic sensors and
* pings each one in turn. The counter is configured to read the timing of
* the returned echo pulse.
*
*
* DANGER WILL ROBINSON, DANGER WILL ROBINSON: This code runs as a task and
* assumes that none of the ultrasonic sensors will change while it's
* running. If one does, then this will certainly break. Make sure to
@@ -133,16 +133,14 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
m_instances++;
UsageReporting.report(tResourceType.kResourceType_Ultrasonic,
m_instances);
LiveWindow.addSensor("Ultrasonic", m_echoChannel.getModuleForRouting(),
m_echoChannel.getChannel(), this);
LiveWindow.addSensor("Ultrasonic", m_echoChannel.getChannel(), this);
}
/**
* Create an instance of the Ultrasonic Sensor using the default module.
* Create an instance of the Ultrasonic Sensor.
* This is designed to supchannel the Daventech SRF04 and Vex ultrasonic
* sensors. This constructor assumes that both digital I/O channels are in
* the default digital module.
*
* sensors.
*
* @param pingChannel
* The digital output channel that sends the pulse to initiate
* the sensor sending the ping.
@@ -162,11 +160,11 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
}
/**
* Create an instance of the Ultrasonic Sensor using the default module.
* Create an instance of the Ultrasonic Sensor.
* This is designed to supchannel the Daventech SRF04 and Vex ultrasonic
* sensors. This constructor assumes that both digital I/O channels are in
* the default digital module. Default unit is inches.
*
*
* @param pingChannel
* The digital output channel that sends the pulse to initiate
* the sensor sending the ping.
@@ -182,7 +180,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
/**
* Create an instance of an Ultrasonic Sensor from a DigitalInput for the
* echo channel and a DigitalOutput for the ping channel.
*
*
* @param pingChannel
* The digital output object that starts the sensor doing a ping.
* Requires a 10uS pulse to start.
@@ -208,7 +206,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
* Create an instance of an Ultrasonic Sensor from a DigitalInput for the
* echo channel and a DigitalOutput for the ping channel. Default unit is
* inches.
*
*
* @param pingChannel
* The digital output object that starts the sensor doing a ping.
* Requires a 10uS pulse to start.
@@ -220,58 +218,6 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
this(pingChannel, echoChannel, Unit.kInches);
}
/**
* Create an instance of the Ultrasonic sensor using specified modules. This
* is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors.
* This constructors takes the channel and module slot for each of the
* required digital I/O channels.
*
* @param pingSlot
* The digital module that the pingChannel is in.
* @param pingChannel
* The digital output channel that sends the pulse to initiate
* the sensor sending the ping.
* @param echoSlot
* The digital module that the echoChannel is in.
* @param echoChannel
* The digital input channel that receives the echo. The length
* of time that the echo is high represents the round trip time
* of the ping, and the distance.
* @param units
* The units returned in either kInches or kMilliMeters
*/
public Ultrasonic(final int pingSlot, final int pingChannel,
final int echoSlot, final int echoChannel, Unit units) {
m_pingChannel = new DigitalOutput(pingSlot, pingChannel);
m_echoChannel = new DigitalInput(echoSlot, echoChannel);
m_allocatedChannels = true;
m_units = units;
initialize();
}
/**
* Create an instance of the Ultrasonic sensor using specified modules. This
* is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors.
* This constructors takes the channel and module slot for each of the
* required digital I/O channels. Defualt unit is inches.
*
* @param pingSlot
* The digital module that the pingChannel is in.
* @param pingChannel
* The digital output channel that sends the pulse to initiate
* the sensor sending the ping.
* @param echoSlot
* The digital module that the echoChannel is in.
* @param echoChannel
* The digital input channel that receives the echo. The length
* of time that the echo is high represents the round trip time
* of the ping, and the distance.
*/
public Ultrasonic(final int pingSlot, final int pingChannel,
final int echoSlot, final int echoChannel) {
this(pingSlot, pingChannel, echoSlot, echoChannel, Unit.kInches);
}
/**
* Destructor for the ultrasonic sensor. Delete the instance of the
* ultrasonic sensor by freeing the allocated digital channels. If the
@@ -320,7 +266,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
/**
* Turn Automatic mode on/off. When in Automatic mode, all sensors will fire
* in round robin, waiting a set time between each sensor.
*
*
* @param enabling
* Set to true if round robin scheduling should start for all the
* ultrasonic sensors. This scheduling method assures that the
@@ -385,7 +331,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
* in a counter that will increment on each edge of the echo (return)
* signal. If the count is not at least 2, then the range has not yet been
* measured, and is invalid.
*
*
* @return true if the range is valid
*/
public boolean isRangeValid() {
@@ -394,7 +340,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
/**
* Get the range in inches from the ultrasonic sensor.
*
*
* @return double Range in inches of the target returned from the ultrasonic
* sensor. If there is no valid value yet, i.e. at least one
* measurement hasn't completed, then return 0.
@@ -409,7 +355,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
/**
* Get the range in millimeters from the ultrasonic sensor.
*
*
* @return double Range in millimeters of the target returned by the
* ultrasonic sensor. If there is no valid value yet, i.e. at least
* one measurement hasn't complted, then return 0.
@@ -420,7 +366,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
/**
* Get the range in the current DistanceUnit for the PIDSource base object.
*
*
* @return The range in DistanceUnit
*/
public double pidGet() {
@@ -437,7 +383,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
/**
* Set the current DistanceUnit that should be used for the PIDSource base
* object.
*
*
* @param units
* The DistanceUnit that should be used.
*/
@@ -447,7 +393,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
/**
* Get the current DistanceUnit that is used for the PIDSource base object.
*
*
* @return The type of DistanceUnit that is being used.
*/
public Unit getDistanceUnits() {
@@ -456,7 +402,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
/**
* Is the ultrasonic enabled
*
*
* @return true if the ultrasonic is enabled
*/
public boolean isEnabled() {
@@ -465,7 +411,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
/**
* Set if the ultrasonic is enabled
*
*
* @param enable
* set to true to enable the ultrasonic
*/

19
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Victor.java
View File

@@ -38,31 +38,20 @@ public class Victor extends SafePWM implements SpeedController, IDeviceControlle
setPeriodMultiplier(PeriodMultiplier.k2X);
setRaw(m_centerPwm);
LiveWindow.addActuator("Victor", getModuleNumber(), getChannel(), this);
UsageReporting.report(tResourceType.kResourceType_Victor, getChannel(), getModuleNumber()-1);
LiveWindow.addActuator("Victor", getChannel(), this);
UsageReporting.report(tResourceType.kResourceType_Victor, getChannel());
}
/**
* Constructor that assumes the default digital module.
* Constructor.
*
* @param channel The PWM channel on the digital module that the Victor is attached to.
* @param channel The PWM channel that the Victor is attached to.
*/
public Victor(final int channel) {
super(channel);
initVictor();
}
/**
* Constructor that specifies the digital module.
*
* @param slot The slot in the chassis that the digital module is plugged into.
* @param channel The PWM channel on the digital module that the Victor is attached to.
*/
public Victor(final int slot, final int channel) {
super(slot, channel);
initVictor();
}
/**
* Set the PWM value.
*

26
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
View File

@@ -169,24 +169,38 @@ public class LiveWindow {
}
/**
* Add Sensor to LiveWindow. The components are shown with the module type,
* slot and channel like this: Gyro[1, 2] for a gyro object connected to the
* first analog module in channel 2
* Add Sensor to LiveWindow. The components are shown with the type and
* channel like this: Gyro[1] for a gyro object connected to the first
* analog channel.
*
* @param moduleType A string indicating the type of the module used in the
* naming (above)
* @param moduleNumber The number of the particular module type
* @param channel The channel number the device is connected to
* @param component A reference to the object being added
*/
public static void addSensor(String moduleType, int moduleNumber, int channel, LiveWindowSendable component) {
addSensor("Ungrouped", moduleType + "[" + moduleNumber + "," + channel + "]", component);
public static void addSensor(String moduleType, int channel, LiveWindowSendable component) {
addSensor("Ungrouped", moduleType + "[" + channel + "]", component);
if (sensors.contains(component)) {
sensors.removeElement(component);
}
sensors.addElement(component);
}
/**
* Add Actuator to LiveWindow. The components are shown with the module
* type, slot and channel like this: Servo[1,2] for a servo object connected
* to the first digital module and PWM port 2.
*
* @param moduleType A string that defines the module name in the label for
* the value
* @param channel The channel number the device is plugged into (usually
* PWM)
* @param component The reference to the object being added
*/
public static void addActuator(String moduleType, int channel, LiveWindowSendable component) {
addActuator("Ungrouped", moduleType + "[" + channel + "]", component);
}
/**
* Add Actuator to LiveWindow. The components are shown with the module
* type, slot and channel like this: Servo[1,2] for a servo object connected

42
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
View File

@@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj.test.TestBench;
* Designed to allow the user to easily setup and tear down the fixture to allow for reuse.
* This class should be explicitly instantiated in the TestBed class to allow any test to access this fixture.
* This allows tests to be mailable so that you can easily reconfigure the physical testbed without breaking the tests.
*
*
* @author Jonathan Leitschuh
*
*/
@@ -31,7 +31,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
private Counter counters[] = new Counter[2];
protected DigitalInput aSource; //Stored so it can be freed at tear down
protected DigitalInput bSource;
/**
* Default constructor for a MotorEncoderFixture
* @param motor The SpeedControler for this MotorEncoder pair
@@ -40,10 +40,10 @@ public abstract class MotorEncoderFixture implements ITestFixture {
*/
public MotorEncoderFixture(){
}
/**
* Where the implementer of this class should pass the speed controller
* Constructor should only be called from outside this class if the Speed controller
* Constructor should only be called from outside this class if the Speed controller
* is not also an implementation of PWM interface
* @return
*/
@@ -60,14 +60,14 @@ public abstract class MotorEncoderFixture implements ITestFixture {
* @return Input B to be used when this class is instantiated
*/
abstract protected DigitalInput giveDigitalInputB();
final private void initialize(){
if(!initialized){
aSource = giveDigitalInputA();
bSource = giveDigitalInputB();
motor = giveSpeedController();
encoder = new Encoder(aSource, bSource);
counters[0] = new Counter(aSource);
counters[1] = new Counter(bSource);
@@ -77,14 +77,14 @@ public abstract class MotorEncoderFixture implements ITestFixture {
initialized = true;
}
}
@Override
public boolean setup() {
initialize();
encoder.start();
return true;
}
/**
* Gets the motor for this Object
* @return the motor this object refers too
@@ -93,7 +93,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
initialize();
return motor;
}
/**
* Gets the encoder for this object
* @return the encoder that this object refers too
@@ -102,12 +102,12 @@ public abstract class MotorEncoderFixture implements ITestFixture {
initialize();
return encoder;
}
public Counter[] getCounters(){
initialize();
return counters;
}
/**
* Retrieves the name of the motor that this object refers to
* @return The simple name of the motor {@link Class#getSimpleName()}
@@ -116,42 +116,42 @@ public abstract class MotorEncoderFixture implements ITestFixture {
initialize();
return motor.getClass().getSimpleName();
}
/**
* Checks to see if the speed of the motor is within some range of a given value.
* This is used instead of equals() because doubles can have inaccuracies.
* @param value The value to compare against
* @param acuracy The accuracy range to check against to see if the
* @return true if the range of values between motors speed ± accuracy contains the 'value'<br>
* @return true if the range of values between motors speed accuracy contains the 'value'<br>
* {@code Math.abs((Math.abs(motor.get()) - Math.abs(value))) < Math.abs(accuracy)}
*/
public boolean isMotorSpeedWithinRange(double value, double accuracy){
initialize();
return Math.abs((Math.abs(motor.get()) - Math.abs(value))) < Math.abs(accuracy);
}
@Override
public boolean reset(){
initialize();
boolean wasReset = true;
motor.set(0);
Timer.delay(TestBench.MOTOR_STOP_TIME); //DEFINED IN THE TestBench
encoder.reset();
for(Counter c : counters){
c.reset();
}
wasReset = wasReset && motor.get() == 0;
wasReset = wasReset && encoder.get() == 0;
for(Counter c : counters){
wasReset = wasReset && c.get() == 0;
}
return wasReset;
}
@Override
public boolean teardown() {
@@ -168,7 +168,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
counters[0] = null;
counters[1].free();
counters[1] = null;
aSource.free();
aSource = null;
bSource.free();
@@ -177,7 +177,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
} else {
throw new RuntimeException(type + " Motor Encoder torn down multiple times");
}
return true;
}

15
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
View File

@@ -53,7 +53,7 @@ public class FakeCounterSource
}
}
}
/**
* Create a fake encoder on a given port
* @param output the port to output the given signal to
@@ -76,18 +76,6 @@ public class FakeCounterSource
initEncoder();
}
/**
* Create a new fake encoder on the indicated slot and port
* @param slot Slot to create on
* @param port THe port that the encoder is supposably on
*/
public FakeCounterSource(int slot, int port)
{
m_output = new DigitalOutput(slot, port);
m_allocated = true;
initEncoder();
}
/**
* Destroy Object with minimum memory leak
*/
@@ -162,4 +150,3 @@ public class FakeCounterSource
m_mSec = mSec;
}
}

8
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
View File

@@ -74,14 +74,6 @@ public class FakeEncoderSource
}
}
public FakeEncoderSource(int slotA, int portA, int slotB, int portB)
{
m_outputA = new DigitalOutput(slotA, portA);
m_outputB = new DigitalOutput(slotB, portB);
allocatedOutputs = true;
initQuadEncoder();
}
public FakeEncoderSource(int portA, int portB)
{
m_outputA = new DigitalOutput(portA);

16
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java
View File

@@ -22,17 +22,17 @@ public class AnalogChannel extends SensorBase implements PIDSource,
/**
* Construct an analog channel on the default module.
*
*
* @param channel
* The channel number to represent.
*/
public AnalogChannel(final int channel) {
this(getDefaultAnalogModule(), channel);
this(1, channel);
}
/**
* Construct an analog channel on a specified module.
*
*
* @param moduleNumber
* The digital module to use (1 or 2).
* @param channel
@@ -58,7 +58,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
* Get a scaled sample straight from this channel on the module. 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 on the module.
*/
public double getVoltage() {
@@ -72,7 +72,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
* oversampling will cause this value to be higher resolution, but it will
* update more slowly. 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.
*/
@@ -82,7 +82,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
/**
* Get the channel number.
*
*
* @return The channel number.
*/
public int getChannel() {
@@ -91,7 +91,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
/**
* Gets the number of the analog module this channel is on.
*
*
* @return The module number of the analog module this channel is on.
*/
public int getModuleNumber() {
@@ -100,7 +100,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
/*
* Get the average value for use with PIDController
*
*
* @return the average value
*/
public double pidGet() {

106
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SensorBase.java
View File

@@ -11,13 +11,13 @@ package edu.wpi.first.wpilibj;
* Base class for all sensors.
* Stores most recent status information as well as containing utility functions for checking
* channels and error processing.
*
*
* XXX: Wait, there's no exception thrown if we try to allocate a non-existent module? It that behavior correct?
*/
public abstract class SensorBase { // TODO: Refactor
// TODO: Move this to the HAL
/**
* Ticks per microsecond
*/
@@ -26,25 +26,16 @@ public abstract class SensorBase { // TODO: Refactor
* Number of digital channels per digital sidecar
*/
public static final int kDigitalChannels = 14;
/**
* Number of digital modules
* XXX: This number is incorrect. We need to find the correct number.
*/
public static final int kDigitalModules = 2;
/**
* Number of analog channels per module
*/
public static final int kAnalogChannels = 8;
/**
* Number of analog modules
*/
public static final int kAnalogModules = 2;
/**
* Number of solenoid channels per module
*/
public static final int kSolenoidChannels = 8;
/**
* Number of analog modules
* Number of solenoid modules
*/
public static final int kSolenoidModules = 2;
/**
@@ -56,8 +47,6 @@ public abstract class SensorBase { // TODO: Refactor
*/
public static final int kRelayChannels = 8;
private static int m_defaultAnalogModule = 1;
private static int m_defaultDigitalModule = 1;
private static int m_defaultSolenoidModule = 1;
/**
@@ -66,32 +55,6 @@ public abstract class SensorBase { // TODO: Refactor
public SensorBase() {
}
/**
* Sets the default Digital Module.
* This sets the default digital module to use for objects that are created without
* specifying the digital module in the constructor. The default module is initialized
* to the first module in the chassis.
*
* @param moduleNumber The number of the digital module to use.
*/
public static void setDefaultDigitalModule(final int moduleNumber) {
checkDigitalModule(moduleNumber);
SensorBase.m_defaultDigitalModule = moduleNumber;
}
/**
* Sets the default Analog module.
* This sets the default analog module to use for objects that are created without
* specifying the analog module in the constructor. The default module is initialized
* to the first module in the chassis.
*
* @param moduleNumber The number of the analog module to use.
*/
public static void setDefaultAnalogModule(final int moduleNumber) {
checkAnalogModule(moduleNumber);
SensorBase.m_defaultAnalogModule = moduleNumber;
}
/**
* Set the default location for the Solenoid (9472) module.
*
@@ -102,51 +65,6 @@ public abstract class SensorBase { // TODO: Refactor
SensorBase.m_defaultSolenoidModule = moduleNumber;
}
/**
* Check that the digital module number is valid.
* Module numbers are 1 or 2 (they are no longer real cRIO slots).
*
* @param moduleNumber The digital module module number to check.
*/
protected static void checkDigitalModule(final int moduleNumber) {
// TODO: fix
if(moduleNumber == 1 || moduleNumber == 2)
System.err.println("Digital module " + moduleNumber + " is not present.");
}
/**
* Check that the digital module number is valid.
* Module numbers are 1 or 2 (they are no longer real cRIO slots).
*
* @param moduleNumber The digital module module number to check.
*/
protected static void checkRelayModule(final int moduleNumber) {
checkDigitalModule(moduleNumber);
}
/**
* Check that the digital module number is valid.
* Module numbers are 1 or 2 (they are no longer real cRIO slots).
*
* @param moduleNumber The digital module module number to check.
*/
protected static void checkPWMModule(final int moduleNumber) {
checkDigitalModule(moduleNumber);
}
/**
* Check that the analog module number is valid.
* Module numbers are 1 or 2 (they are no longer real cRIO slots).
*
* @param moduleNumber The analog module module number to check.
*/
protected static void checkAnalogModule(final int moduleNumber) {
// TODO: fix
if(moduleNumber == 1 || moduleNumber == 2) {
System.err.println("Analog module " + moduleNumber + " is not present.");
}
}
/**
* Verify that the solenoid module is correct.
* Module numbers are 1 or 2 (they are no longer real cRIO slots).
@@ -226,24 +144,6 @@ public abstract class SensorBase { // TODO: Refactor
}
}
/**
* Get the number of the default analog module.
*
* @return The number of the default analog module.
*/
public static int getDefaultAnalogModule() {
return SensorBase.m_defaultAnalogModule;
}
/**
* Get the number of the default analog module.
*
* @return The number of the default analog module.
*/
public static int getDefaultDigitalModule() {
return SensorBase.m_defaultDigitalModule;
}
/**
* Get the number of the default analog module.
*