Added and implemented GetInverted method.

Change-Id: I53bd51e41311e3ffcd3fa3ffbc4e72cfab530109

wpilibc/wpilibC++Devices/include/CANJaguar.h

@@ -125,6 +125,7 @@ public:
 
   //SpeedController overrides
   virtual void SetInverted(bool isInverted) override;
+	virtual bool GetInverted() const override;
 protected:
 	// Control mode helpers
 	void SetSpeedReference(uint8_t reference);

wpilibc/wpilibC++Devices/include/CANTalon.h

@@ -163,7 +163,9 @@ public:
 	void InitTable(ITable *subTable) override;
 	ITable * GetTable() const override;
 
+	//SpeedController overrides
   virtual void SetInverted(bool isInverted) override;
+	virtual bool GetInverted() const override;
 private:
   // Values for various modes as is sent in the CAN packets for the Talon.
   enum TalonControlMode {

wpilibc/wpilibC++Devices/include/Jaguar.h

@@ -23,6 +23,7 @@ public:
 
 	virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
+	virtual bool GetInverted() const override;
 private:
 	void InitJaguar();
 	bool m_isInverted;

wpilibc/wpilibC++Devices/include/SpeedController.h

@@ -22,19 +22,28 @@ public:
 	 * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup().  If 0, update immediately.
 	 */
 	virtual void Set(float speed, uint8_t syncGroup = 0) = 0;
+
 	/**
 	 * Common interface for getting the current set speed of a speed controller.
 	 *
 	 * @return The current set speed.  Value is between -1.0 and 1.0.
 	 */
 	virtual float Get() const = 0;
+
 	/**
-	* common interface for inverting direction of a speed controller
-	* @param isInverted The state of inversion true is inverted
+	* Common interface for inverting direction of a speed controller.
+	* @param isInverted The state of inversion, true is inverted.
 	*/
 	virtual void SetInverted(bool isInverted) = 0;
 	/**
+
 	 * Common interface for disabling a motor.
 	 */
 	virtual void Disable() = 0;
+
+	/**
+	 * Common interface for returning the inversion state of a speed controller.
+	 * @return isInverted The state of inversion, true is inverted.
+	 */
+	 virtual bool GetInverted() const = 0;
 };

wpilibc/wpilibC++Devices/include/Talon.h

@@ -23,6 +23,7 @@ public:
 
 	virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
+  virtual bool GetInverted() const override;
 private:
 	void InitTalon();
 	bool m_isInverted;

wpilibc/wpilibC++Devices/include/TalonSRX.h

@@ -24,7 +24,7 @@ public:
 
 	virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
-
+	virtual bool GetInverted() const override;
 private:
 	void InitTalonSRX();
 	bool m_isInverted;

wpilibc/wpilibC++Devices/include/Victor.h

@@ -26,7 +26,8 @@ public:
 
 	virtual void PIDWrite(float output) override;
 
-    virtual void SetInverted(bool isInverted);
+	virtual void SetInverted(bool isInverted) override;
+	virtual bool GetInverted() const override;
 private:
 	void InitVictor();
 	bool m_isInverted;

wpilibc/wpilibC++Devices/include/VictorSP.h

@@ -23,7 +23,8 @@ public:
 
 	virtual void PIDWrite(float output) override;
 
-    virtual void SetInverted(bool isInverted);
+  virtual void SetInverted(bool isInverted) override;
+  virtual bool GetInverted() const override;
 private:
 	void InitVictorSP();
 	bool m_isInverted;

wpilibc/wpilibC++Devices/src/CANJaguar.cpp

@@ -2119,14 +2119,24 @@ void CANJaguar::StopLiveWindowMode()
 }
 
 /**
-* common interface for inverting direction of a speed controller
-* Only works in PercentVbus, speed, and Voltage modes
-* @param isInverted The state of inversion true is inverted
+* Common interface for inverting direction of a speed controller.
+* Only works in PercentVbus, speed, and Voltage modes.
+* @param isInverted The state of inversion, true is inverted
 */
 void CANJaguar::SetInverted(bool isInverted){
 m_isInverted = isInverted;
 }
 
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool CANJaguar::GetInverted() const {
+	return m_isInverted;
+}
+
 std::string CANJaguar::GetSmartDashboardType() const
 {
 	return "Speed Controller";

wpilibc/wpilibC++Devices/src/CANTalon.cpp

@@ -1292,14 +1292,26 @@ void CANTalon::GetDescription(char *desc) const
 {
 	sprintf(desc, "CANTalon ID %d", m_deviceNumber);
 }
+
 /**
-* common interface for inverting direction of a speed controller
-* Only works in PercentVbus, speed, and Voltage modes
-* @param isInverted The state of inversion true is inverted
+* Common interface for inverting direction of a speed controller.
+* Only works in PercentVbus, speed, and Voltage modes.
+* @param isInverted The state of inversion, true is inverted.
 */
 void CANTalon::SetInverted(bool isInverted){
 m_isInverted = isInverted;
 }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool CANTalon::GetInverted() const {
+  return m_isInverted;
+}
+
 /**
  * Common interface for stopping the motor
  * Part of the MotorSafety interface

wpilibc/wpilibC++Devices/src/Jaguar.cpp

@@ -77,13 +77,25 @@ void Jaguar::Disable()
 {
 	SetRaw(kPwmDisabled);
 }
+
 /**
-* common interface for inverting direction of a speed controller
-* @param isInverted The state of inversion true is inverted
+* Common interface for inverting direction of a speed controller.
+* @param isInverted The state of inversion, true is inverted.
 */
 void Jaguar::SetInverted(bool isInverted){
 m_isInverted = isInverted;
 }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool Jaguar::GetInverted() const {
+	return m_isInverted;
+}
+
 /**
  * Write out the PID value as seen in the PIDOutput base object.
  *

wpilibc/wpilibC++Devices/src/Talon.cpp

@@ -78,6 +78,7 @@ void Talon::Disable()
 {
 	SetRaw(kPwmDisabled);
 }
+
 /**
 * common interface for inverting direction of a speed controller
 * @param isInverted The state of inversion true is inverted
@@ -85,6 +86,17 @@ void Talon::Disable()
 void Talon::SetInverted(bool isInverted){
 m_isInverted = isInverted;
 }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool Talon::GetInverted() const {
+	return m_isInverted;
+}
+
 /**
  * Write out the PID value as seen in the PIDOutput base object.
  *

wpilibc/wpilibC++Devices/src/TalonSRX.cpp

@@ -77,13 +77,25 @@ void TalonSRX::Disable()
 {
 	SetRaw(kPwmDisabled);
 }
+
 /**
-* common interface for inverting direction of a speed controller
-* @param isInverted The state of inversion true is inverted
+* Common interface for inverting direction of a speed controller.
+* @param isInverted The state of inversion, true is inverted.
 */
 void TalonSRX::SetInverted(bool isInverted){
 m_isInverted = isInverted;
 }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool TalonSRX::GetInverted() const {
+	return m_isInverted;
+}
+
 /**
  * Write out the PID value as seen in the PIDOutput base object.
  *

wpilibc/wpilibC++Devices/src/Victor.cpp

@@ -81,12 +81,23 @@ void Victor::Disable()
 	SetRaw(kPwmDisabled);
 }
 /**
-* common interface for inverting direction of a speed controller
-* @param isInverted The state of inversion true is inverted
+* Common interface for inverting direction of a speed controller.
+* @param isInverted The state of inversion, true is inverted.
 */
 void Victor::SetInverted(bool isInverted){
 m_isInverted = isInverted;
 }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool Victor::GetInverted() const {
+	return m_isInverted;
+}
+
 /**
  * Write out the PID value as seen in the PIDOutput base object.
  *

wpilibc/wpilibC++Devices/src/VictorSP.cpp

@@ -35,7 +35,7 @@ void VictorSP::InitVictorSP() {
 }
 
 /**
- * Constructor for a VictorSP 
+ * Constructor for a VictorSP
  * @param channel The PWM channel that the VictorSP is attached to. 0-9 are on-board, 10-19 are on the MXP port
  */
 VictorSP::VictorSP(uint32_t channel) : SafePWM(channel)
@@ -70,13 +70,25 @@ float VictorSP::Get() const
 {
 	return GetSpeed();
 }
+
 /**
-* common interface for inverting direction of a speed controller
-* @param isInverted The state of inversion true is inverted
-*/
+ * Common interface for inverting direction of a speed controller.
+ * @param isInverted The state of inversion, true is inverted.
+ */
 void VictorSP::SetInverted(bool isInverted){
 m_isInverted = isInverted;
 }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool VictorSP::GetInverted() const {
+	return m_isInverted;
+}
+
 /**
  * Common interface for disabling a motor.
  */

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

@@ -432,6 +432,17 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
         this.isInverted = isInverted;
     }
 
+    /**
+     * Common interface for the inverting direction of a speed controller.
+     *
+     * @return isInverted The state of inversion, true is inverted.
+     *
+     */
+    @Override
+    public boolean getInverted() {
+        return this.isInverted;
+    }
+    
     /**
 	* Check all unverified params and make sure they're equal to their local
 	* cached versions. If a value isn't available, it gets requested.  If a value

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

@@ -169,15 +169,26 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
   }
 
     /**
-     * Inverts the direction of the motor's rotation
-     * Only works in PercentVbus mode
+     * Inverts the direction of the motor's rotation.
+     * Only works in PercentVbus mode.
      *
-     * @param isInverted The state of inversion true is inverted
+     * @param isInverted The state of inversion, true is inverted.
      */
     @Override
     public void setInverted(boolean isInverted) {
         this.isInverted = isInverted;
     }
+     
+    /**
+     * Common interface for the inverting direction of a speed controller.
+     *
+     * @return isInverted The state of inversion, true is inverted.
+     *
+     */
+    @Override
+    public boolean getInverted() {
+        return this.isInverted;
+    }
 
     /**
    * Sets the output of the Talon.

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

@@ -82,15 +82,26 @@ private boolean isInverted = false;
     }
 
     /**
-     * Common interface for inverting direction of a speed controller
+     * Common interface for inverting direction of a speed controller.
      *
-     * @param isInverted The state of inversion true is inverted
+     * @param isInverted The state of inversion, true is inverted.
      */
     @Override
     public void setInverted(boolean isInverted) {
         this.isInverted = isInverted;
     }
 
+    /**
+     * Common interface for the inverting direction of a speed controller.
+     *
+     * @return isInverted The state of inversion, true is inverted.
+     *
+     */
+    @Override
+    public boolean getInverted() {
+        return this.isInverted;
+    }
+
     /**
      * Get the recently set value of the PWM.
      *

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

@@ -35,11 +35,23 @@ public interface SpeedController extends PIDOutput {
     void set(double speed);
 
     /**
-     * Common interface for inverting direction of a speed controller
+     * Common interface for inverting direction of a speed controller.
      *
-     * @param isInverted The state of inversion true is inverted
+     * @param isInverted The state of inversion true is inverted.
      */
     void setInverted(boolean isInverted);
+
+    /**
+    *  Common interface for returning if a speed controller 
+    *  is in the inverted state or not.
+    * 
+    *  @return isInverted The state of the inversion true is inverted.
+    *
+    */
+    boolean getInverted();
+
+
+
     /**
      * Disable the speed controller
      */

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

@@ -89,6 +89,17 @@ private boolean isInverted = false;
         this.isInverted = isInverted;
     }
 
+    /**
+     * Common interface for the inverting direction of a speed controller.
+     *
+     * @return isInverted The state of inversion, true is inverted.
+     *
+     */
+    @Override
+    public boolean getInverted() {
+        return this.isInverted;
+    }
+    
     /**
      * Get the recently set value of the PWM.
      *

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

@@ -81,15 +81,26 @@ public class TalonSRX extends SafePWM implements SpeedController {
     }
 
     /**
-     * Common interface for inverting direction of a speed controller
+     * Common interface for inverting direction of a speed controller.
      *
-     * @param isInverted The state of inversion true is inverted
+     * @param isInverted The state of inversion, true is inverted.
      */
     @Override
     public void setInverted(boolean isInverted) {
         this.isInverted = isInverted;
     }
 
+    /**
+    * Common interface for the inverting direction of a speed controller.
+    *
+    * @return isInverted The state of inversion, true is inverted.
+    *
+    */
+    @Override
+    public boolean getInverted() {
+        return this.isInverted;
+    }
+
     /**
      * Get the recently set value of the PWM.
      *

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

@@ -94,6 +94,17 @@ private boolean isInverted = false;
     this.isInverted = isInverted;
     }
 
+    /**
+     * Common interface for the inverting direction of a speed controller.
+     *
+     * @return isInverted The state of inversion, true is inverted.
+     *
+     */
+    @Override
+    public boolean getInverted() {
+        return this.isInverted;
+    }
+
     /**
      * Get the recently set value of the PWM.
      *

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

@@ -89,6 +89,17 @@ private boolean isInverted = false;
         this.isInverted = isInverted;
     }
 
+    /**
+     * Common interface for the inverting direction of a speed controller.
+     *
+     * @return isInverted The state of inversion, true is inverted.
+     *
+     */
+    @Override
+    public boolean getInverted() {
+        return this.isInverted;
+    }
+
     /**
      * Get the recently set value of the PWM.
      *

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java

@@ -33,6 +33,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
          fixture = afixture;
          fixture.setup();
     }
+    
     @Parameterized.Parameters(name= "{index}: {0}")
     public static Collection<MotorEncoderFixture<?>[]> generateData(){
         //logger.fine("Loading the MotorList");
@@ -42,11 +43,14 @@ public class MotorInvertingTest extends AbstractComsSetup {
                 {TestBench.getInstance().getJaguarPair()}
         });
     }
+
     private static final Logger logger = Logger.getLogger(MotorInvertingTest.class.getName());
+    
     @Override
     protected Logger getClassLogger(){
         return logger;
     }
+
     @Before
     public void setUp() {
         // Reset the fixture elements before every test
@@ -59,8 +63,9 @@ public class MotorInvertingTest extends AbstractComsSetup {
         // Clean up the fixture after the test
         fixture.teardown();
     }
+
     @Test
-         public void testInvertingPositive(){
+    public void testInvertingPositive(){
         fixture.getMotor().setInverted(false);
         fixture.getMotor().set(motorspeed);
         Timer.delay(delaytime);
@@ -71,6 +76,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
         assertFalse("Inverting with Positive value does not change direction",fixture.getEncoder().getDirection()==initDirection);
         fixture.getMotor().set(0);
     }
+
     @Test
     public void testInvertingNegative(){
         fixture.getMotor().setInverted(false);
@@ -83,6 +89,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
         assertFalse("Inverting with Negative value does not change direction",fixture.getEncoder().getDirection()==initDirection);
         fixture.getMotor().set(0);
     }
+
     @Test
          public void testInvertingSwitchingPosToNeg(){
         fixture.getMotor().setInverted(false);
@@ -95,6 +102,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
         assertTrue("Inverting with Switching value does change direction", fixture.getEncoder().getDirection() == initDirection);
         fixture.getMotor().set(0);
     }
+
     @Test
     public void testInvertingSwitchingNegToPos(){
         fixture.getMotor().setInverted(false);

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java

@@ -28,7 +28,7 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
 				EncoderTest.class,
 				GyroTest.class,
 				MotorEncoderTest.class,
-                MotorInvertingTest.class,
+				MotorInvertingTest.class,
 				PCMTest.class,
 				PDPTest.class,
 				PIDTest.class,