From 9af070a4af1080f45acd0030fd461b664f3aa0dc Mon Sep 17 00:00:00 2001
From: James Kuszmaul <jabukuszmaul+collab@gmail.com>
Date: Wed, 22 Oct 2014 12:26:44 -0400
Subject: [PATCH] Added C++ sample for CAN monitoring of PDP.

Uses CAN to monitor PDP and displays values on the SmartDashboard.

Change-Id: Icb06fec0b65ce02b7c396e7d4e379cee0d959095
---
 .../templates/examples/CANPDP/src/Robot.cpp   | 47 +++++++++++++++++++
 .../resources/templates/examples/examples.xml | 16 +++++++
 2 files changed, 63 insertions(+)
 create mode 100644 eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/CANPDP/src/Robot.cpp

diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/CANPDP/src/Robot.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/CANPDP/src/Robot.cpp
new file mode 100644
index 0000000000..2e66765e67
--- /dev/null
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/CANPDP/src/Robot.cpp
@@ -0,0 +1,47 @@
+#include "WPILib.h"
+
+/**
+ * This is a sample program showing how to retrieve information from
+ *   the Power Distribution Panel via CAN.
+ * The information will be displayed under variables through the SmartDashboard.
+ */
+class Robot: public SampleRobot
+{
+
+	// Object for dealing with the Power Distribution Panel (PDP).
+	PowerDistributionPanel m_pdp;
+
+	// Update every 5milliseconds/0.005 seconds.
+	const double kUpdatePeriod = 0.005;
+
+public:
+	Robot() {
+	}
+
+	/**
+	 * Retrieve information from the PDP over CAN and
+	 *   displays it on the SmartDashboard interface.
+	 * SmartDashboard::PutNumber takes a string (for a label) and a double;
+	 * GetCurrent takes a channel number and returns a double for current,
+	 *   in Amperes. Channel numbers are printed on the PDP and range from 0-15.
+	 */
+	void OperatorControl()
+	{
+		while (IsOperatorControl())
+		{
+			// Get the current going through channel 7, in Amperes.
+			// The PDP returns the current in increments of 0.125A.
+			// At low currents the current readings tend to be less accurate. 
+			SmartDashboard::PutNumber("Current Channel 7", m_pdp.GetCurrent(7));
+			// Get the voltage going into the PDP, in Volts.
+			// The PDP returns the voltage in increments of 0.05 Volts.
+			SmartDashboard::PutNumber("Voltage", m_pdp.GetVoltage());
+			// Retrieves the temperature of the PDP, in degrees Celsius.
+			SmartDashboard::PutNumber("Temperature", m_pdp.GetTemperature());
+			Wait(kUpdatePeriod);
+		}
+	}
+
+};
+
+START_ROBOT_CLASS(Robot);
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml
index de77ba9069..16f15984bd 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml
@@ -120,6 +120,22 @@
   </files>
 </example>
 
+<example>
+  <name>PDP CAN Monitoring</name>
+  <description>Demonstrate using CAN to monitor the voltage, current, and temperature in the Power Distribution Panel.</description>
+  <tags>
+    <tag>Complete List</tag>
+    <tag>CAN</tag>
+    <tag>Sensors</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/CANPDP/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
 <example>
   <name>Solenoids</name>
   <description>Demonstrate controlling a single and double solenoid from Joystick buttons.</description>