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

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java

@@ -0,0 +1,206 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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. */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import static org.hamcrest.CoreMatchers.is;
+import static org.hamcrest.CoreMatchers.not;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertThat;
+import static org.junit.Assert.assertTrue;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Collection;
+import java.util.logging.Logger;
+
+import org.junit.After;
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+import org.junit.runner.RunWith;
+import org.junit.runners.Parameterized;
+import org.junit.runners.Parameterized.Parameters;
+
+import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
+import edu.wpi.first.wpilibj.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+
+/**
+ * @author Kacper Puczydlowski
+ * @author Jonathan Leitschuh
+ *
+ */
+
+@RunWith(Parameterized.class)
+public class PIDTest extends AbstractComsSetup {
+  private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
+  private NetworkTable table;
+
+  private static final double absoluteTolerance = 50;
+  private static final double outputRange = 0.3;
+
+  private PIDController controller = null;
+  private static MotorEncoderFixture me = null;
+
+  private final Double k_p, k_i, k_d;
+
+  @Override
+  protected Logger getClassLogger() {
+    return logger;
+  }
+
+
+  public PIDTest(Double p, Double i, Double d, MotorEncoderFixture mef) {
+    logger.fine("Constructor with: " + mef.getType());
+    if (PIDTest.me != null && !PIDTest.me.equals(mef))
+      PIDTest.me.teardown();
+    PIDTest.me = mef;
+    this.k_p = p;
+    this.k_i = i;
+    this.k_d = d;
+  }
+
+
+  @Parameters
+  public static Collection<Object[]> generateData() {
+    // logger.fine("Loading the MotorList");
+    Collection<Object[]> data = new ArrayList<Object[]>();
+    double kp = 0.001;
+    double ki = 0.0005;
+    double kd = 0.0;
+    for (int i = 0; i < 1; i++) {
+      data.addAll(Arrays.asList(new Object[][] {
+          {kp, ki, kd, TestBench.getInstance().getTalonPair()},
+          {kp, ki, kd, TestBench.getInstance().getVictorPair()},
+          {kp, ki, kd, TestBench.getInstance().getJaguarPair()}}));
+    }
+    return data;
+  }
+
+  /**
+   * @throws java.lang.Exception
+   */
+  @BeforeClass
+  public static void setUpBeforeClass() throws Exception {}
+
+  /**
+   * @throws java.lang.Exception
+   */
+  @AfterClass
+  public static void tearDownAfterClass() throws Exception {
+    logger.fine("TearDownAfterClass: " + me.getType());
+    me.teardown();
+    me = null;
+  }
+
+  /**
+   * @throws java.lang.Exception
+   */
+  @Before
+  public void setUp() throws Exception {
+    logger.fine("Setup: " + me.getType());
+    me.setup();
+    table = NetworkTable.getTable("TEST_PID");
+    controller = new PIDController(k_p, k_i, k_d, me.getEncoder(), me.getMotor());
+    controller.initTable(table);
+  }
+
+  /**
+   * @throws java.lang.Exception
+   */
+  @After
+  public void tearDown() throws Exception {
+    logger.fine("Teardown: " + me.getType());
+    controller.disable();
+    controller.free();
+    controller = null;
+    me.reset();
+  }
+
+  private void setupAbsoluteTolerance() {
+    controller.setAbsoluteTolerance(absoluteTolerance);
+  }
+
+  private void setupOutputRange() {
+    controller.setOutputRange(-outputRange, outputRange);
+  }
+
+  @Test
+  public void testInitialSettings() {
+    setupAbsoluteTolerance();
+    setupOutputRange();
+    double setpoint = 2500.0;
+    controller.setSetpoint(setpoint);
+    assertFalse("PID did not begin disabled", controller.isEnable());
+    assertEquals("PID.getError() did not start at " + setpoint, setpoint, controller.getError(), 0);
+    assertEquals(k_p, table.getNumber("p"), 0);
+    assertEquals(k_i, table.getNumber("i"), 0);
+    assertEquals(k_d, table.getNumber("d"), 0);
+    assertEquals(setpoint, table.getNumber("setpoint"), 0);
+    assertFalse(table.getBoolean("enabled"));
+  }
+
+  @Test
+  public void testRestartAfterEnable() {
+    setupAbsoluteTolerance();
+    setupOutputRange();
+    double setpoint = 2500.0;
+    controller.setSetpoint(setpoint);
+    controller.enable();
+    Timer.delay(.5);
+    assertTrue(table.getBoolean("enabled"));
+    assertTrue(controller.isEnable());
+    assertThat(0.0, is(not(me.getMotor().get())));
+    controller.reset();
+    assertFalse(table.getBoolean("enabled"));
+    assertFalse(controller.isEnable());
+    assertEquals(0, me.getMotor().get(), 0);
+  }
+
+  @Test
+  public void testSetSetpoint() {
+    setupAbsoluteTolerance();
+    setupOutputRange();
+    Double setpoint = 2500.0;
+    controller.disable();
+    controller.setSetpoint(setpoint);
+    controller.enable();
+    assertEquals("Did not correctly set set-point", setpoint, new Double(controller.getSetpoint()));
+  }
+
+  @Test(timeout = 10000)
+  public void testRotateToTarget() {
+    setupAbsoluteTolerance();
+    setupOutputRange();
+    double setpoint = 2500.0;
+    assertEquals(pidData() + "did not start at 0", 0, controller.get(), 0);
+    controller.setSetpoint(setpoint);
+    assertEquals(pidData() + "did not have an error of " + setpoint, setpoint,
+        controller.getError(), 0);
+    controller.enable();
+    Timer.delay(5);
+    controller.disable();
+    assertTrue(pidData() + "Was not on Target. Controller Error: " + controller.getError(),
+        controller.onTarget());
+  }
+
+  private String pidData() {
+    return me.getType() + " PID {P:" + controller.getP() + " I:" + controller.getI() + " D:"
+        + controller.getD() + "} ";
+  }
+
+
+  @Test(expected = RuntimeException.class)
+  public void testOnTargetNoToleranceSet() {
+    setupOutputRange();
+    controller.onTarget();
+  }
+}