Added nicer Java interface for Talon SRX -- throttle mode works.

Change-Id: Ia6f4997b4836826f56a3dd4c8f7f29a0bf62d94c

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java

@@ -0,0 +1,126 @@
+/* ----------------------------------------------------------------------------
+ * This file was automatically generated by SWIG (http://www.swig.org).
+ * Version 2.0.11
+ *
+ * Do not make changes to this file unless you know what you are doing--modify
+ * the SWIG interface file instead.
+ * ----------------------------------------------------------------------------- */
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.hal.CanTalonSRX;
+
+public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
+	private MotorSafetyHelper m_safetyHelper;
+	public enum ControlMode {
+		PercentVbus(0), Follower(1), Voltage(2), Position(3), Speed(4), Current(5), Disabled(15);
+
+    public int value;
+
+    public static ControlMode valueOf(int value) {
+			for(ControlMode mode : values()) {
+				if(mode.value == value) {
+					return mode;
+				}
+			}
+
+			return null;
+    }
+
+    private ControlMode(int value) {
+      this.value = value;
+    }
+	}
+
+  private CanTalonSRX m_impl;
+
+  int m_deviceNumber;
+  boolean m_controlEnabled;
+
+  public CANTalon(int deviceNumber) {
+    m_deviceNumber = deviceNumber;
+    m_impl = new CanTalonSRX(deviceNumber);
+    m_safetyHelper = new MotorSafetyHelper(this);
+    m_controlEnabled = false;
+  }
+
+  @Override
+  public void pidWrite(double output) {
+    set(output);
+  }
+
+  public void set(double outputValue) {
+    m_impl.Set(outputValue);
+  }
+
+  @Override
+  public void set(double outputValue, byte thisValueDoesNotDoAnything) {
+    set(outputValue);
+  }
+
+  public double get() {
+    // TODO
+    return 0.0f;
+  }
+
+  // Only supports kPercentVbus mode for now.
+  public void enableControl() {
+    m_impl.SetModeSelect(ControlMode.PercentVbus.value);
+		m_controlEnabled = true;
+  }
+
+  public void disableControl() {
+    m_impl.SetModeSelect(ControlMode.Disabled.value);
+		m_controlEnabled = false;
+  }
+
+	/**
+	* Common interface for stopping a motor.
+	*
+	* @deprecated Use disableControl instead.
+	*/
+	@Override
+	@Deprecated
+	public void stopMotor() {
+		disableControl();
+	}
+
+  @Override
+  public void disable() {
+    disableControl();
+  }
+
+	public int getDeviceID() {
+		return m_deviceNumber;
+	}
+
+	@Override
+	public void setExpiration(double timeout) {
+		m_safetyHelper.setExpiration(timeout);
+	}
+
+	@Override
+	public double getExpiration() {
+		return m_safetyHelper.getExpiration();
+	}
+
+	@Override
+	public boolean isAlive() {
+		return m_safetyHelper.isAlive();
+	}
+
+	@Override
+	public boolean isSafetyEnabled() {
+		return m_safetyHelper.isSafetyEnabled();
+	}
+
+	@Override
+	public void setSafetyEnabled(boolean enabled) {
+		m_safetyHelper.setSafetyEnabled(enabled);
+	}
+
+	@Override
+	public String getDescription() {
+		return "CANJaguar ID "+m_deviceNumber;
+	}
+}