Switches Java to use HAL Constants (#145)

hal/include/HAL/Constants.h

@@ -0,0 +1,14 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+extern "C" {
+int32_t HAL_getSystemClockTicksPerMicrosecond(void);
+}

hal/include/HAL/HAL.h

@@ -16,6 +16,7 @@
 #include "AnalogOutput.h"
 #include "AnalogTrigger.h"
 #include "Compressor.h"
+#include "Constants.h"
 #include "Counter.h"
 #include "DIO.h"
 #include "Errors.h"
@@ -104,8 +105,6 @@ struct HALJoystickDescriptor {
 };
 
 extern "C" {
-extern const uint32_t kSystemClockTicksPerMicrosecond;
-
 HalPortHandle getPort(uint8_t pin);
 HalPortHandle getPortWithModule(uint8_t module, uint8_t pin);
 const char* getHALErrorMessage(int32_t code);

hal/include/HAL/Ports.h

@@ -27,5 +27,6 @@ int32_t HAL_getNumRelayHeaders(void);
 int32_t HAL_getNumPCMModules(void);
 int32_t HAL_getNumSolenoidPins(void);
 int32_t HAL_getNumPDPModules(void);
+int32_t HAL_getNumPDPChannels(void);
 int32_t HAL_getNumCanTalons(void);
 }

hal/lib/athena/Constants.cpp

@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Constants.h"
+
+#include "ConstantsInternal.h"
+
+using namespace hal;
+
+extern "C" {
+int32_t HAL_getSystemClockTicksPerMicrosecond(void) {
+  return kSystemClockTicksPerMicrosecond;
+}
+}

hal/lib/athena/ConstantsInternal.h

@@ -0,0 +1,14 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+namespace hal {
+constexpr int32_t kSystemClockTicksPerMicrosecond = 40;
+}

hal/lib/athena/Counter.cpp

@@ -7,6 +7,7 @@
 
 #include "HAL/Counter.h"
 
+#include "ConstantsInternal.h"
 #include "DigitalInternal.h"
 #include "HAL/HAL.h"
 #include "PortsInternal.h"

hal/lib/athena/DigitalInternal.cpp

@@ -11,6 +11,7 @@
 #include <thread>
 
 #include "ChipObject.h"
+#include "ConstantsInternal.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
 #include "HAL/AnalogTrigger.h"
 #include "HAL/HAL.h"

hal/lib/athena/Ports.cpp

@@ -29,5 +29,6 @@ int32_t HAL_getNumRelayHeaders(void) { return kNumRelayHeaders; }
 int32_t HAL_getNumPCMModules(void) { return kNumPCMModules; }
 int32_t HAL_getNumSolenoidPins(void) { return kNumSolenoidPins; }
 int32_t HAL_getNumPDPModules(void) { return kNumPDPModules; }
+int32_t HAL_getNumPDPChannels(void) { return kNumPDPChannels; }
 int32_t HAL_getNumCanTalons(void) { return kNumCanTalons; }
 }

hal/lib/athena/PortsInternal.h

@@ -30,5 +30,6 @@ constexpr int32_t kNumRelayHeaders = kNumRelayPins / 2;
 constexpr int32_t kNumPCMModules = 63;
 constexpr int32_t kNumSolenoidPins = 8;
 constexpr int32_t kNumPDPModules = 63;
+constexpr int32_t kNumPDPChannels = 16;
 constexpr int32_t kNumCanTalons = 63;
 }

wpilibc/athena/src/DigitalGlitchFilter.cpp

@@ -159,7 +159,7 @@ void DigitalGlitchFilter::SetPeriodCycles(uint32_t fpga_cycles) {
 void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) {
   int32_t status = 0;
   uint32_t fpga_cycles =
-      nanoseconds * kSystemClockTicksPerMicrosecond / 4 / 1000;
+      nanoseconds * HAL_getSystemClockTicksPerMicrosecond() / 4 / 1000;
   setFilterPeriod(m_channelIndex, fpga_cycles, &status);
 
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -191,5 +191,5 @@ uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() {
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
 
   return static_cast<uint64_t>(fpga_cycles) * 1000L /
-         static_cast<uint64_t>(kSystemClockTicksPerMicrosecond / 4);
+         static_cast<uint64_t>(HAL_getSystemClockTicksPerMicrosecond() / 4);
 }

wpilibc/athena/src/PWM.cpp

@@ -126,7 +126,7 @@ void PWM::SetBounds(double max, double deadbandMax, double center,
   // calculate the loop time in milliseconds
   int32_t status = 0;
   double loopTime =
-      getLoopTiming(&status) / (kSystemClockTicksPerMicrosecond * 1e3);
+      getLoopTiming(&status) / (HAL_getSystemClockTicksPerMicrosecond() * 1e3);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
 
   if (StatusIsFatal()) return;

wpilibj/athena.gradle

@@ -160,6 +160,7 @@ task jniHeaders {
             args 'edu.wpi.first.wpilibj.hal.AnalogJNI'
             args 'edu.wpi.first.wpilibj.hal.AnalogGyroJNI'
             args 'edu.wpi.first.wpilibj.hal.CanTalonJNI'
+            args 'edu.wpi.first.wpilibj.hal.ConstantsJNI'
             args 'edu.wpi.first.wpilibj.hal.CounterJNI'
             args 'edu.wpi.first.wpilibj.hal.DigitalGlitchFilterJNI'
             args 'edu.wpi.first.wpilibj.hal.DIOJNI'
@@ -167,6 +168,7 @@ task jniHeaders {
             args 'edu.wpi.first.wpilibj.hal.I2CJNI'
             args 'edu.wpi.first.wpilibj.hal.InterruptJNI'
             args 'edu.wpi.first.wpilibj.hal.NotifierJNI'
+            args 'edu.wpi.first.wpilibj.hal.PortsJNI'
             args 'edu.wpi.first.wpilibj.hal.PWMJNI'
             args 'edu.wpi.first.wpilibj.hal.RelayJNI'
             args 'edu.wpi.first.wpilibj.hal.SPIJNI'

wpilibj/src/athena/cpp/lib/ConstantsJNI.cpp

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_ConstantsJNI.h"
+
+#include "HAL/Constants.h"
+#include "HALUtil.h"
+
+// set the logging level
+TLogLevel constantsJNILogLevel = logWARNING;
+
+#define CONSTANTSJNI_LOG(level)     \
+  if (level > constantsJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_ConstantsJNI
+ * Method:    getSystemClockTicksPerMicrosecond
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_ConstantsJNI_getSystemClockTicksPerMicrosecond(
+    JNIEnv *env, jclass) {
+  CONSTANTSJNI_LOG(logDEBUG) << "Calling ConstantsJNI getSystemClockTicksPerMicrosecond";
+  jint value = HAL_getSystemClockTicksPerMicrosecond();
+  CONSTANTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+}

wpilibj/src/athena/cpp/lib/PortsJNI.cpp

@@ -0,0 +1,310 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_PortsJNI.h"
+
+#include "HAL/Ports.h"
+#include "HALUtil.h"
+
+// set the logging level
+TLogLevel portsJNILogLevel = logWARNING;
+
+#define PORTSJNI_LOG(level)     \
+  if (level > portsJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumAccumulators
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAccumulators(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAccumulators";
+  jint value = HAL_getNumAccumulators();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumAnalogTriggers
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogTriggers(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogTriggers";
+  jint value = HAL_getNumAnalogTriggers();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumAnalogInputs
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogInputs(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogInputs";
+  jint value = HAL_getNumAnalogInputs();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumAnalogOutputs
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogOutputs(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogOutputs";
+  jint value = HAL_getNumAnalogOutputs();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumCounters
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumCounters(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumCounters";
+  jint value = HAL_getNumCounters();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumDigitalHeaders
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalHeaders(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalHeaders";
+  jint value = HAL_getNumDigitalHeaders();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPWMHeaders
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMHeaders(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMHeaders";
+  jint value = HAL_getNumPWMHeaders();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumDigitalPins
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalPins(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalPins";
+  jint value = HAL_getNumDigitalPins();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPWMPins
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMPins(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMPins";
+  jint value = HAL_getNumPWMPins();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumDigitalPWMOutputs
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalPWMOutputs(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalPWMOutputs";
+  jint value = HAL_getNumDigitalPWMOutputs();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumEncoders
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumEncoders(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumEncoders";
+  jint value = HAL_getNumEncoders();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumInterrupts
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumInterrupts(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumInterrupts";
+  jint value = HAL_getNumInterrupts();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumRelayPins
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayPins(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayPins";
+  jint value = HAL_getNumRelayPins();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumRelayHeaders
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayHeaders(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayHeaders";
+  jint value = HAL_getNumRelayHeaders();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPCMModules
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPCMModules(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPCMModules";
+  jint value = HAL_getNumPCMModules();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumSolenoidPins
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumSolenoidPins(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumSolenoidPins";
+  jint value = HAL_getNumSolenoidPins();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPDPModules
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPModules(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPModules";
+  jint value = HAL_getNumPDPModules();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPDPChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPChannels(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPChannels";
+  jint value = HAL_getNumPDPChannels();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumCanTalons
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumCanTalons(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumCanTalons";
+  jint value = HAL_getNumCanTalons();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+}

wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java

@@ -0,0 +1,195 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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.hal.ConstantsJNI;
+import edu.wpi.first.wpilibj.hal.PortsJNI;
+
+/**
+ * Base class for all sensors. Stores most recent status information as well as containing utility
+ * functions for checking channels and error processing.
+ */
+public abstract class SensorBase { // TODO: Refactor
+  /**
+   * Ticks per microsecond.
+   */
+  public static final int kSystemClockTicksPerMicrosecond = 
+      ConstantsJNI.getSystemClockTicksPerMicrosecond();
+  /**
+   * Number of digital channels per roboRIO.
+   */
+  public static final int kDigitalChannels = PortsJNI.getNumDigitalPins();
+  /**
+   * Number of analog input channels.
+   */
+  public static final int kAnalogInputChannels = PortsJNI.getNumAnalogInputs();
+  /**
+   * Number of analog output channels.
+   */
+  public static final int kAnalogOutputChannels = PortsJNI.getNumAnalogOutputs();
+  /**
+   * Number of solenoid channels per module.
+   */
+  public static final int kSolenoidChannels = PortsJNI.getNumSolenoidPins();
+  /**
+   * Number of PWM channels per roboRIO.
+   */
+  public static final int kPwmChannels = PortsJNI.getNumPWMPins();
+  /**
+   * Number of relay channels per roboRIO.
+   */
+  public static final int kRelayChannels = PortsJNI.getNumRelayPins();
+  /**
+   * Number of power distribution channels.
+   */
+  public static final int kPDPChannels = PortsJNI.getNumPDPChannels();
+  /**
+   * Number of power distribution modules.
+   */
+  public static final int kPDPModules = PortsJNI.getNumPDPModules();
+  /**
+   * Number of PCM Modules.
+   */
+  public static final int kPCMModules = PortsJNI.getNumPCMModules();
+
+  private static int m_defaultSolenoidModule = 0;
+
+  /**
+   * 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) {
+  }
+
+  /**
+   * 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) {
+      throw new IndexOutOfBoundsException("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) {
+      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) {
+      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) {
+      throw new IndexOutOfBoundsException("Requested analog input 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) {
+      throw new IndexOutOfBoundsException(
+          "Requested analog output 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) {
+      throw new IndexOutOfBoundsException("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) {
+      throw new IndexOutOfBoundsException("Requested PDP channel number is out of range.");
+    }
+  }
+
+  /**
+   * Verify that the PDP module number is within limits. module numbers are 0-based.
+   *
+   * @param module The module number to check.
+   */
+  protected static void checkPDPModule(final int module) {
+    if (module < 0 || module > kPDPModules) {
+      throw new IndexOutOfBoundsException("Requested PDP module 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() {
+  }
+}

wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ConstantsJNI.java

@@ -0,0 +1,12 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. 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.hal;
+
+public class ConstantsJNI extends JNIWrapper {
+  public static native int getSystemClockTicksPerMicrosecond();
+}

wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PortsJNI.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. 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.hal;
+
+public class PortsJNI extends JNIWrapper {
+  public static native int getNumAccumulators();
+  
+  public static native int getNumAnalogTriggers();
+  
+  public static native int getNumAnalogInputs();
+  
+  public static native int getNumAnalogOutputs();
+  
+  public static native int getNumCounters();
+  
+  public static native int getNumDigitalHeaders();
+  
+  public static native int getNumPWMHeaders();
+  
+  public static native int getNumDigitalPins();
+  
+  public static native int getNumPWMPins();
+  
+  public static native int getNumDigitalPWMOutputs();
+  
+  public static native int getNumEncoders();
+  
+  public static native int getNumInterrupts();
+  
+  public static native int getNumRelayPins();
+  
+  public static native int getNumRelayHeaders();
+  
+  public static native int getNumPCMModules();
+  
+  public static native int getNumSolenoidPins();
+  
+  public static native int getNumPDPModules();
+  
+  public static native int getNumPDPChannels();
+  
+  public static native int getNumCanTalons();
+}

wpilibj/src/sim/java/edu/wpi/first/wpilibj/GyroBase.java

@@ -0,0 +1,90 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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.interfaces.Gyro;
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+import edu.wpi.first.wpilibj.tables.ITable;
+
+/**
+ * GyroBase is the common base class for Gyro implementations such as AnalogGyro.
+ */
+public abstract class GyroBase extends SensorBase implements Gyro, PIDSource, LiveWindowSendable {
+  private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+  /**
+   * Set which parameter of the gyro you are using as a process control variable. The Gyro class
+   * supports the rate and displacement parameters
+   *
+   * @param pidSource An enum to select the parameter.
+   */
+  @Override
+  public void setPIDSourceType(PIDSourceType pidSource) {
+    m_pidSource = pidSource;
+  }
+
+  @Override
+  public PIDSourceType getPIDSourceType() {
+    return m_pidSource;
+  }
+
+  /**
+   * Get the output of the gyro for use with PIDControllers. May be the angle or rate depending on
+   * the set PIDSourceType
+   *
+   * @return the output according to the gyro
+   */
+  @Override
+  public double pidGet() {
+    switch (m_pidSource) {
+      case kRate:
+        return getRate();
+      case kDisplacement:
+        return getAngle();
+      default:
+        return 0.0;
+    }
+  }
+
+  /*
+   * Live Window code, only does anything if live window is activated.
+   */
+  @Override
+  public String getSmartDashboardType() {
+    return "Gyro";
+  }
+
+  private ITable m_table;
+
+
+  @Override
+  public void initTable(ITable subtable) {
+    m_table = subtable;
+    updateTable();
+  }
+
+  @Override
+  public ITable getTable() {
+    return m_table;
+  }
+
+  @Override
+  public void updateTable() {
+    if (m_table != null) {
+      m_table.putNumber("Value", getAngle());
+    }
+  }
+
+  @Override
+  public void startLiveWindowMode() {
+  }
+
+  @Override
+  public void stopLiveWindowMode() {
+  }
+}

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/ConstantsPortsTest.java

@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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 org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+import java.util.logging.Logger;
+
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+
+import static org.junit.Assert.assertEquals;
+
+/**
+ * Tests for checking our constant and port values.
+ */
+public class ConstantsPortsTest extends AbstractComsSetup {
+  private static final Logger logger = Logger.getLogger(ConstantsPortsTest.class.getName());
+
+  protected Logger getClassLogger() {
+    return logger;
+  }
+
+  /**
+   * kDigitalChannels.
+   */
+  @Test
+  public void testDigitalChannels() {
+    assertEquals(26, SensorBase.kDigitalChannels);
+  }
+  
+  /**
+   * kAnalogInputChannels.
+   */
+  @Test
+  public void testAnalogInputChannels() {
+    assertEquals(8, SensorBase.kAnalogInputChannels);
+  }
+  
+  /**
+   * kAnalogOutputChannels.
+   */
+  @Test
+  public void testAnalogOutputChannels() {
+    assertEquals(2, SensorBase.kAnalogOutputChannels);
+  }
+  
+  /**
+   * kSolenoidChannels.
+   */
+  @Test
+  public void testSolenoidChannels() {
+    assertEquals(8, SensorBase.kSolenoidChannels);
+  }
+  
+  /**
+   * kPwmChannels.
+   */
+  @Test
+  public void testPwmChannels() {
+    assertEquals(20, SensorBase.kPwmChannels);
+  }
+  
+  /**
+   * kRelayChannels.
+   */
+  @Test
+  public void testRelayChannels() {
+    assertEquals(8, SensorBase.kRelayChannels);
+  }
+  
+  /**
+   * kPDPChannels.
+   */
+  @Test
+  public void testPDPChannels() {
+    assertEquals(16, SensorBase.kPDPChannels);
+  }
+  
+  /**
+   * kPDPModules.
+   */
+  @Test
+  public void testPDPModules() {
+    assertEquals(63, SensorBase.kPDPModules);
+  }
+  
+  /**
+   * kPCMModules.
+   */
+  @Test
+  public void testPCMModules() {
+    assertEquals(63, SensorBase.kPCMModules);
+  }
+}

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

@@ -20,9 +20,9 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
 @RunWith(Suite.class)
 @SuiteClasses({AnalogCrossConnectTest.class, AnalogPotentiometerTest.class,
     BuiltInAccelerometerTest.class, CANTalonTest.class,
-    CircularBufferTest.class, CounterTest.class, DigitalGlitchFilterTest.class,
-    DIOCrossConnectTest.class, EncoderTest.class, FilterNoiseTest.class,
-    FilterOutputTest.class, GyroTest.class, MotorEncoderTest.class,
+    CircularBufferTest.class, ConstantsPortsTest.class, CounterTest.class, 
+    DigitalGlitchFilterTest.class, DIOCrossConnectTest.class, EncoderTest.class, 
+    FilterNoiseTest.class, FilterOutputTest.class, GyroTest.class, MotorEncoderTest.class,
     MotorInvertingTest.class, PCMTest.class, PDPTest.class, PIDTest.class,
     PIDToleranceTest.class, PreferencesTest.class, RelayCrossConnectTest.class,
     SampleTest.class, TimerTest.class})