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JNI implementation for Java

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charris
2014-01-06 09:27:51 -05:00
parent 4297b2bc9d
commit b62b606110
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wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
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/*----------------------------------------------------------------------------*/
/* 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;
import edu.wpi.first.wpilibj.communication.FRC_NetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.parsing.IDevice;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
/**
* Standard hobby style servo.
*
* The range parameters default to the appropriate values for the Hitec HS-322HD servo provided
* in the FIRST Kit of Parts in 2008.
*/
public class Servo extends PWM implements IDevice {
private static final double kMaxServoAngle = 170.0;
private static final double kMinServoAngle = 0.0;
/**
* Common initialization code called by all constructors.
*
* InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
* well as the minimum and maximum PWM values supported by the servo.
*/
private void initServo() {
setBounds(2.27, 0, 0, 0, .743);
setPeriodMultiplier(PeriodMultiplier.k4X);
LiveWindow.addActuator("Servo", getModuleNumber(), getChannel(), this);
UsageReporting.report(tResourceType.kResourceType_Servo, getChannel(), getModuleNumber()-1);
}
/**
* Constructor that assumes the default digital module.
*
* @param channel The PWM channel on the digital module to which the servo is attached.
*/
public Servo(final int channel) {
super(channel);
initServo();
}
/**
* Constructor that specifies the digital module.
*
* @param slot The slot in the chassis that the digital module is plugged into.
* @param channel The PWM channel on the digital module to which the servo is attached.
*/
public Servo(final int slot, final int channel) {
super(slot, channel);
initServo();
}
/**
* Set the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
*
* @param value Position from 0.0 to 1.0.
*/
public void set(double value) {
setPosition(value);
}
/**
* Get the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
*
* @return Position from 0.0 to 1.0.
*/
public double get() {
return getPosition();
}
/**
* Set the servo angle.
*
* Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
*
* Servo angles that are out of the supported range of the servo simply "saturate" in that direction
* In other words, if the servo has a range of (X degrees to Y degrees) than angles of less than X
* result in an angle of X being set and angles of more than Y degrees result in an angle of Y being set.
*
* @param degrees The angle in degrees to set the servo.
*/
public void setAngle(double degrees) {
if (degrees < kMinServoAngle) {
degrees = kMinServoAngle;
} else if (degrees > kMaxServoAngle) {
degrees = kMaxServoAngle;
}
setPosition(((degrees - kMinServoAngle)) / getServoAngleRange());
}
/**
* Get the servo angle.
*
* Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
* @return The angle in degrees to which the servo is set.
*/
public double getAngle() {
return getPosition() * getServoAngleRange() + kMinServoAngle;
}
private double getServoAngleRange() {
return kMaxServoAngle - kMinServoAngle;
}
/*
* Live Window code, only does anything if live window is activated.
*/
public String getSmartDashboardType() {
return "Servo";
}
private ITable m_table;
private ITableListener m_table_listener;
/**
* {@inheritDoc}
*/
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
/**
* {@inheritDoc}
*/
public void updateTable() {
if (m_table != null) {
m_table.putNumber("Value", get());
}
}
/**
* {@inheritDoc}
*/
public void startLiveWindowMode() {
m_table_listener = new ITableListener() {
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
set(((Double) value).doubleValue());
}
};
m_table.addTableListener("Value", m_table_listener, true);
}
/**
* {@inheritDoc}
*/
public void stopLiveWindowMode() {
// TODO: Broken, should only remove the listener from "Value" only.
m_table.removeTableListener(m_table_listener);
}
}