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Renamed Gyro to AnalogGyro to match athena API

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Removed references to HAL classes, enabling moving of these classes into
shared.

Change-Id: I8d9053e1046d6fc2a60e13fb29410fd2c95180d2
This commit is contained in:
Peter_Mitrano
2015-12-31 01:50:02 -05:00
committed by Peter Johnson
parent fe01096e7a
commit 6faa51ff48
4 changed files with 19 additions and 203 deletions
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0
wpilibj/src/athena/java/edu/wpi/first/wpilibj/GyroBase.java → wpilibj/src/shared/java/edu/wpi/first/wpilibj/GyroBase.java
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3
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java → wpilibj/src/shared/java/edu/wpi/first/wpilibj/SensorBase.java
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@@ -7,9 +7,6 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.DIOJNI;
import edu.wpi.first.wpilibj.hal.AnalogJNI;
/**
* Base class for all sensors. Stores most recent status information as well as
* containing utility functions for checking channels and error processing.

28
wpilibj/src/sim/java/edu/wpi/first/wpilibj/Gyro.java → wpilibj/src/sim/java/edu/wpi/first/wpilibj/AnalogGyro.java
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@@ -6,21 +6,23 @@
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.simulation.SimGyro;
import edu.wpi.first.wpilibj.GyroBase;
import edu.wpi.first.wpilibj.tables.ITable;
/**
* Use a rate gyro to return the robots heading relative to a starting position.
* The Gyro class tracks the robots heading based on the starting position. As
* The AnalogGyro class tracks the robots heading based on the starting position. As
* the robot 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.
*/
public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowSendable {
private PIDSourceType m_pidSource;
private SimGyro impl;
@@ -39,28 +41,36 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
reset();
setPIDSourceType(PIDSourceType.kDisplacement);
LiveWindow.addSensor("Gyro", channel, this);
LiveWindow.addSensor("AnalogGyro", channel, this);
}
/**
* Gyro constructor with only a channel.
* AnalogGyro constructor with only a channel.
*
* @param channel
* The analog channel the gyro is connected to.
*/
public Gyro(int channel) {
public AnalogGyro(int channel) {
initGyro(channel);
}
/**
* Gyro constructor with a precreated analog channel object. Use this
* {@inherit_doc}
*/
public void calibrate(){
reset();
}
/**
* AnalogGyro 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.
*/
// Not Supported: public Gyro(AnalogChannel channel) {
// Not Supported: public AnalogGyro(AnalogChannel channel) {
/**
* Reset the gyro. Resets the gyro to a heading of zero. This can be used if
@@ -107,7 +117,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
/**
* Set which parameter of the encoder you are using as a process control
* variable. The Gyro class supports the rate and angle parameters
* variable. The AnalogGyro class supports the rate and angle parameters
*
* @param pidSource
* An enum to select the parameter.
@@ -143,7 +153,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
* Live Window code, only does anything if live window is activated.
*/
public String getSmartDashboardType() {
return "Gyro";
return "AnalogGyro";
}
private ITable m_table;

191
wpilibj/src/sim/java/edu/wpi/first/wpilibj/SensorBase.java
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@@ -1,191 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2012. 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;
/**
* 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
*/
public static final int kSystemClockTicksPerMicrosecond = 40;
/**
* Number of digital channels per roboRIO
*/
public static final int kDigitalChannels = 26;
/**
* Number of analog input channels
*/
public static final int kAnalogInputChannels = 8;
/**
* Number of analog output channels
*/
public static final int kAnalogOutputChannels = 2;
/**
* Number of solenoid channels per module
*/
public static final int kSolenoidChannels = 8;
/**
* Number of solenoid modules
*/
public static final int kSolenoidModules = 2;
/**
* Number of PWM channels per roboRIO
*/
public static final int kPwmChannels = 20;
/**
* Number of relay channels per roboRIO
*/
public static final int kRelayChannels = 4;
/**
* Number of power distribution channels
*/
public static final int kPDPChannels = 16;
private static int m_defaultSolenoidModule = 1;
/**
* Creates an instance of the sensor base and gets an FPGA handle
*/
public SensorBase() {
}
/**
* Set the default location for the Solenoid module.
*
* @param moduleNumber The number of the solenoid module to use.
*/
public static void setDefaultSolenoidModule(final int moduleNumber) {
checkSolenoidModule(moduleNumber);
SensorBase.m_defaultSolenoidModule = moduleNumber;
}
/**
* Verify that the solenoid module is correct.
*
* @param moduleNumber The solenoid module module number to check.
*/
protected static void checkSolenoidModule(final int moduleNumber) {
// if(HALLibrary.checkSolenoidModule((byte) (moduleNumber - 1)) != 0) {
// System.err.println("Solenoid module " + moduleNumber + " is not present.");
// }
}
/**
* Check that the digital channel number is valid.
* Verify that the channel number is one of the legal channel numbers. Channel numbers are
* 1-based.
*
* @param channel The channel number to check.
*/
protected static void checkDigitalChannel(final int channel) {
if (channel <= 0 || channel > kDigitalChannels) {
System.err.println("Requested digital channel number is out of range.");
}
}
/**
* Check that the digital channel number is valid.
* Verify that the channel number is one of the legal channel numbers. Channel numbers are
* 1-based.
*
* @param channel The channel number to check.
*/
protected static void checkRelayChannel(final int channel) {
if (channel <= 0 || channel > kRelayChannels) {
System.err.println("Requested relay channel number is out of range.");
throw new IndexOutOfBoundsException("Requested relay channel number is out of range.");
}
}
/**
* Check that the digital channel number is valid.
* Verify that the channel number is one of the legal channel numbers. Channel numbers are
* 1-based.
*
* @param channel The channel number to check.
*/
protected static void checkPWMChannel(final int channel) {
if (channel <= 0 || channel > kPwmChannels) {
System.err.println("Requested PWM channel number is out of range.");
throw new IndexOutOfBoundsException("Requested PWM channel number is out of range.");
}
}
/**
* Check that the analog input number is value.
* Verify that the analog input number is one of the legal channel numbers. Channel numbers
* are 0-based.
*
* @param channel The channel number to check.
*/
protected static void checkAnalogInputChannel(final int channel) {
if (channel <= 0 || channel > kAnalogInputChannels) {
System.err.println("Requested analog channel number is out of range.");
}
}
/**
* Check that the analog input number is value.
* Verify that the analog input number is one of the legal channel numbers. Channel numbers
* are 0-based.
*
* @param channel The channel number to check.
*/
protected static void checkAnalogOutputChannel(final int channel) {
if (channel <= 0 || channel > kAnalogOutputChannels) {
System.err.println("Requested analog channel number is out of range.");
}
}
/**
* Verify that the solenoid channel number is within limits. Channel numbers
* are 1-based.
*
* @param channel The channel number to check.
*/
protected static void checkSolenoidChannel(final int channel) {
if (channel <= 0 || channel > kSolenoidChannels) {
System.err.println("Requested solenoid channel number is out of range.");
}
}
/**
* Verify that the power distribution channel number is within limits.
* Channel numbers are 1-based.
*
* @param channel The channel number to check.
*/
protected static void checkPDPChannel(final int channel) {
if (channel <= 0 || channel > kPDPChannels) {
System.err.println("Requested solenoid channel number is out of range.");
}
}
/**
* Get the number of the default solenoid module.
*
* @return The number of the default solenoid module.
*/
public static int getDefaultSolenoidModule() {
return SensorBase.m_defaultSolenoidModule;
}
/**
* Free the resources used by this object
*/
public void free() {}
}