From ba5111b99443ff921e3ca1fe7c55ad5d3d9d7675 Mon Sep 17 00:00:00 2001
From: Brad Miller <brad@bradhouse.com>
Date: Thu, 2 Oct 2014 13:56:15 -0400
Subject: [PATCH] Add a Motor Controller example java program

Change-Id: I7b0a7622fbf4cbe2ef541088bbe521d4cac9aa22
---
 .../org/usfirst/frc/team190/robot/Robot.java  | 45 +++++++++++++++++++
 .../resources/templates/examples/examples.xml | 20 +++++++++
 2 files changed, 65 insertions(+)
 create mode 100755 eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/MotorControl/src/org/usfirst/frc/team190/robot/Robot.java

diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/MotorControl/src/org/usfirst/frc/team190/robot/Robot.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/MotorControl/src/org/usfirst/frc/team190/robot/Robot.java
new file mode 100755
index 0000000000..8050216637
--- /dev/null
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/MotorControl/src/org/usfirst/frc/team190/robot/Robot.java
@@ -0,0 +1,45 @@
+
+package org.usfirst.frc.team190.robot;
+
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This sample program shows how to control a motor using a joystick. In the operator
+ * control part of the program, the joystick is read and the value is written to the motor.
+ *
+ * Joystick analog values range from -1 to 1 and speed controller inputs also range from -1
+ * to 1 making it easy to work together. The program also delays a short time in the loop
+ * to allow other threads to run. This is generally a good idea, especially since the joystick
+ * values are only transmitted from the Driver Station once every 20ms.
+ */
+public class Robot extends SampleRobot {
+	
+    private SpeedController motor;	// the motor to directly control with a joystick
+    private Joystick stick;
+
+	private final double k_updatePeriod = 0.005; // update every 0.005 seconds/5 milliseconds (200Hz)
+
+    public Robot() {
+        motor = new Talon(0);		// initialize the motor as a Talon on channel 0
+        stick = new Joystick(0);	// initialize the joystick on port 0
+    }
+
+    /**
+     * Runs the motor from a joystick.
+     */
+    public void operatorControl() {
+        while (isOperatorControl()) {
+        	// Set the motor's output.
+        	// This takes a number from -1 (100% speed in reverse) to +1 (100% speed going forward)
+        	motor.set(stick.getY());
+        	
+            Timer.delay(k_updatePeriod);	// wait 5ms to the next update
+        }
+        
+    }
+}
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml
index e6ff145b3a..18f4a83979 100755
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml
@@ -116,6 +116,26 @@
   </files>
   </example>
 
+
+ <example>
+  <name>Motor Controller</name>
+  <description>Demonstrate controlling a single motor with a joystick</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+    <tag>Joystick</tag>
+    <tag>Robot and Motor</tag>
+  </tags>
+  <packages>
+    <package>src/$package-dir</package>
+  </packages>
+  <files>
+    <file source="examples/MotorControl/src/org/usfirst/frc/team190/robot/Robot.java"
+      destination="src/$package-dir/Robot.java"></file>
+  </files>
+  </example>
+
+
   <tagDescription>
     <name>CommandBased Robot</name>
     <description>Examples for CommandBased robot programs.</description>