WPILib Reorganization

This is a major restructuring of the WPILib repository to simply build
procedures and remove the remnants of Maven from everything except the
eclipse plugins. Gradle files have been largely simplified or rewritten,
taking advantage of splitting up parts of the build into separate build
files for ease of reading.

The eclipse plugins are now in a separate project, as is ntcore. All
dependencies are resolved via Maven dependencies, with the
Jenkins-maintained WPILib repo. Project structures have also been
simplified: we no longer have separate subprojects inside wpilibc and
wpilibj. Where possible, these changes hav been done with git renames,
to make sure we still have full history for all repositories. Other
unrelated subprojects have also been broken out: OutlineViewer is now a
separate project.

Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878

wpilibcIntegrationTests/src/TiltPanCameraTest.cpp

@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <ADXL345_SPI.h>
+#include <AnalogGyro.h>
+#include <Servo.h>
+#include <Timer.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+static constexpr double kServoResetTime = 2.0;
+
+static constexpr double kTestAngle = 90.0;
+
+static constexpr double kTiltSetpoint0 = 0.22;
+static constexpr double kTiltSetpoint45 = 0.45;
+static constexpr double kTiltSetpoint90 = 0.68;
+static constexpr double kTiltTime = 1.0;
+static constexpr double kAccelerometerTolerance = 0.2;
+
+/**
+ * A fixture for the camera with two servos and a gyro
+ * @author Thomas Clark
+ */
+class TiltPanCameraTest : public testing::Test {
+ protected:
+  static AnalogGyro *m_gyro;
+  Servo *m_tilt, *m_pan;
+  Accelerometer *m_spiAccel;
+
+  static void SetUpTestCase() {
+    // The gyro object blocks for 5 seconds in the constructor, so only
+    // construct it once for the whole test case
+    m_gyro = new AnalogGyro(TestBench::kCameraGyroChannel);
+    m_gyro->SetSensitivity(0.013);
+  }
+
+  static void TearDownTestCase() { delete m_gyro; }
+
+  virtual void SetUp() override {
+    m_tilt = new Servo(TestBench::kCameraTiltChannel);
+    m_pan = new Servo(TestBench::kCameraPanChannel);
+    m_spiAccel = new ADXL345_SPI(SPI::kOnboardCS0);
+
+    m_tilt->Set(kTiltSetpoint45);
+    m_pan->SetAngle(0.0f);
+
+    Wait(kServoResetTime);
+
+    m_gyro->Reset();
+  }
+
+  virtual void TearDown() override {
+    delete m_tilt;
+    delete m_pan;
+    delete m_spiAccel;
+  }
+};
+
+AnalogGyro *TiltPanCameraTest::m_gyro = nullptr;
+
+/**
+ * Test if the gyro angle defaults to 0 immediately after being reset.
+ */
+TEST_F(TiltPanCameraTest, DefaultGyroAngle) {
+  EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 1.0f);
+}
+
+/**
+ * Test if the servo turns 90 degrees and the gyroscope measures this angle
+ * Note servo on TestBench is not the same type of servo that servo class
+ * was designed for so setAngle is significantly off. This has been calibrated
+ * for the servo on the rig.
+ */
+TEST_F(TiltPanCameraTest, GyroAngle) {
+  // Make sure that the gyro doesn't get jerked when the servo goes to zero.
+  m_pan->SetAngle(0.0);
+  Wait(0.25);
+  m_gyro->Reset();
+
+  for (int i = 0; i < 600; i++) {
+    m_pan->Set(i / 1000.0);
+    Wait(0.001);
+  }
+
+  double gyroAngle = m_gyro->GetAngle();
+
+  EXPECT_NEAR(gyroAngle, kTestAngle, 10.0)
+      << "Gyro measured " << gyroAngle << " degrees, servo should have turned "
+      << kTestAngle << " degrees";
+}
+
+/**
+ * Test if the accelerometer measures gravity along the correct axes when the
+ * camera rotates
+ */
+TEST_F(TiltPanCameraTest, SPIAccelerometer) {
+  m_tilt->Set(kTiltSetpoint0);
+  Wait(kTiltTime);
+  EXPECT_NEAR(-1.0, m_spiAccel->GetX(), kAccelerometerTolerance);
+  EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
+  EXPECT_NEAR(0.0, m_spiAccel->GetZ(), kAccelerometerTolerance);
+
+  m_tilt->Set(kTiltSetpoint45);
+  Wait(kTiltTime);
+  EXPECT_NEAR(-std::sqrt(0.5), m_spiAccel->GetX(), kAccelerometerTolerance);
+  EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
+  EXPECT_NEAR(std::sqrt(0.5), m_spiAccel->GetZ(), kAccelerometerTolerance);
+
+  m_tilt->Set(kTiltSetpoint90);
+  Wait(kTiltTime);
+  EXPECT_NEAR(0.0, m_spiAccel->GetX(), kAccelerometerTolerance);
+  EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
+  EXPECT_NEAR(1.0, m_spiAccel->GetZ(), kAccelerometerTolerance);
+}