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Reflowed comments and removed commented out code (#735)

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This commit is contained in:
Tyler Veness
2017-11-16 00:33:51 -08:00
committed by Peter Johnson
parent 1e8d18b328
commit c663d7cd16
103 changed files with 784 additions and 778 deletions
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48
wpilibc/src/main/native/include/ADXL345_I2C.h
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@@ -21,40 +21,19 @@ namespace frc {
* ADXL345 Accelerometer on I2C.
*
* This class allows access to a Analog Devices ADXL345 3-axis accelerometer on
* an I2C bus.
* This class assumes the default (not alternate) sensor address of 0x1D (7-bit
* address).
* an I2C bus. This class assumes the default (not alternate) sensor address of
* 0x1D (7-bit address).
*/
class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
protected:
static const int kAddress = 0x1D;
static const int kPowerCtlRegister = 0x2D;
static const int kDataFormatRegister = 0x31;
static const int kDataRegister = 0x32;
static constexpr double kGsPerLSB = 0.00390625;
enum PowerCtlFields {
kPowerCtl_Link = 0x20,
kPowerCtl_AutoSleep = 0x10,
kPowerCtl_Measure = 0x08,
kPowerCtl_Sleep = 0x04
};
enum DataFormatFields {
kDataFormat_SelfTest = 0x80,
kDataFormat_SPI = 0x40,
kDataFormat_IntInvert = 0x20,
kDataFormat_FullRes = 0x08,
kDataFormat_Justify = 0x04
};
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
double XAxis;
double YAxis;
double ZAxis;
};
public:
explicit ADXL345_I2C(I2C::Port port, Range range = kRange_2G,
int deviceAddress = kAddress);
virtual ~ADXL345_I2C() = default;
@@ -80,6 +59,27 @@ class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
protected:
I2C m_i2c;
static const int kAddress = 0x1D;
static const int kPowerCtlRegister = 0x2D;
static const int kDataFormatRegister = 0x31;
static const int kDataRegister = 0x32;
static constexpr double kGsPerLSB = 0.00390625;
enum PowerCtlFields {
kPowerCtl_Link = 0x20,
kPowerCtl_AutoSleep = 0x10,
kPowerCtl_Measure = 0x08,
kPowerCtl_Sleep = 0x04
};
enum DataFormatFields {
kDataFormat_SelfTest = 0x80,
kDataFormat_SPI = 0x40,
kDataFormat_IntInvert = 0x20,
kDataFormat_FullRes = 0x08,
kDataFormat_Justify = 0x04
};
private:
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;

46
wpilibc/src/main/native/include/ADXL345_SPI.h
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@@ -25,32 +25,12 @@ class DigitalOutput;
* ADXL345 Accelerometer on SPI.
*
* This class allows access to an Analog Devices ADXL345 3-axis accelerometer
* via SPI.
* This class assumes the sensor is wired in 4-wire SPI mode.
* via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
*/
class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
protected:
static const int kPowerCtlRegister = 0x2D;
static const int kDataFormatRegister = 0x31;
static const int kDataRegister = 0x32;
static constexpr double kGsPerLSB = 0.00390625;
enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
enum PowerCtlFields {
kPowerCtl_Link = 0x20,
kPowerCtl_AutoSleep = 0x10,
kPowerCtl_Measure = 0x08,
kPowerCtl_Sleep = 0x04
};
enum DataFormatFields {
kDataFormat_SelfTest = 0x80,
kDataFormat_SPI = 0x40,
kDataFormat_IntInvert = 0x20,
kDataFormat_FullRes = 0x08,
kDataFormat_Justify = 0x04
};
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
double XAxis;
double YAxis;
@@ -82,6 +62,28 @@ class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
protected:
SPI m_spi;
static const int kPowerCtlRegister = 0x2D;
static const int kDataFormatRegister = 0x31;
static const int kDataRegister = 0x32;
static constexpr double kGsPerLSB = 0.00390625;
enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
enum PowerCtlFields {
kPowerCtl_Link = 0x20,
kPowerCtl_AutoSleep = 0x10,
kPowerCtl_Measure = 0x08,
kPowerCtl_Sleep = 0x04
};
enum DataFormatFields {
kDataFormat_SelfTest = 0x80,
kDataFormat_SPI = 0x40,
kDataFormat_IntInvert = 0x20,
kDataFormat_FullRes = 0x08,
kDataFormat_Justify = 0x04
};
private:
nt::NetworkTableEntry m_xEntry;
nt::NetworkTableEntry m_yEntry;

1
wpilibc/src/main/native/include/ADXRS450_Gyro.h
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@@ -16,6 +16,7 @@ namespace frc {
/**
* Use a rate gyro to return the robots heading relative to a starting position.
*
* The Gyro class tracks the robots heading based on the starting position. As
* the robot rotates the new heading is computed by integrating the rate of
* rotation returned by the sensor. When the class is instantiated, it does a

1
wpilibc/src/main/native/include/AnalogAccelerometer.h
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@@ -20,6 +20,7 @@ namespace frc {
/**
* Handle operation of an analog accelerometer.
*
* The accelerometer reads acceleration directly through the sensor. Many
* sensors have multiple axis and can be treated as multiple devices. Each is
* calibrated by finding the center value over a period of time.

4
wpilibc/src/main/native/include/AnalogInput.h
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@@ -26,8 +26,8 @@ namespace frc {
*
* Connected to each analog channel is an averaging and oversampling engine.
* This engine accumulates the specified ( by SetAverageBits() and
* SetOversampleBits() ) number of samples before returning a new value. This
* is not a sliding window average. The only difference between the oversampled
* SetOversampleBits() ) number of samples before returning a new value. This is
* not a sliding window average. The only difference between the oversampled
* samples and the averaged samples is that the oversampled samples are simply
* accumulated effectively increasing the resolution, while the averaged samples
* are divided by the number of samples to retain the resolution, but get more

30
wpilibc/src/main/native/include/AnalogPotentiometer.h
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@@ -18,30 +18,30 @@
namespace frc {
/**
* Class for reading analog potentiometers. Analog potentiometers read
* in an analog voltage that corresponds to a position. The position is
* in whichever units you choose, by way of the scaling and offset
* constants passed to the constructor.
* Class for reading analog potentiometers. Analog potentiometers read in an
* analog voltage that corresponds to a position. The position is in whichever
* units you choose, by way of the scaling and offset constants passed to the
* constructor.
*/
class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
public:
/**
* AnalogPotentiometer constructor.
*
* Use the fullRange and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The fullRange value is 270.0(degrees) and the offset is
* -135.0 since the halfway point after scaling is 135 degrees.
* Use the fullRange and offset values so that the output produces meaningful
* values. I.E: you have a 270 degree potentiometer and you want the output to
* be degrees with the halfway point as 0 degrees. The fullRange value is
* 270.0 degrees and the offset is -135.0 since the halfway point after
* scaling is 135 degrees.
*
* This will calculate the result from the fullRange times the
* fraction of the supply voltage, plus the offset.
* This will calculate the result from the fullRange times the fraction of the
* supply voltage, plus the offset.
*
* @param channel The analog channel this potentiometer is plugged into.
* @param channel The analog channel this potentiometer is plugged into.
* @param fullRange The scaling to multiply the voltage by to get a meaningful
* unit.
* @param offset The offset to add to the scaled value for controlling the
* zero value
* unit.
* @param offset The offset to add to the scaled value for controlling the
* zero value.
*/
explicit AnalogPotentiometer(int channel, double fullRange = 1.0,
double offset = 0.0);

7
wpilibc/src/main/native/include/Buttons/Button.h
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@@ -15,14 +15,13 @@ namespace frc {
/**
* This class provides an easy way to link commands to OI inputs.
*
* It is very easy to link a button to a command. For instance, you could
* link the trigger button of a joystick to a "score" command.
* It is very easy to link a button to a command. For instance, you could link
* the trigger button of a joystick to a "score" command.
*
* This class represents a subclass of Trigger that is specifically aimed at
* buttons on an operator interface as a common use case of the more generalized
* Trigger objects. This is a simple wrapper around Trigger with the method
* names
* renamed to fit the Button object use.
* names renamed to fit the Button object use.
*/
class Button : public Trigger {
public:

10
wpilibc/src/main/native/include/Buttons/Trigger.h
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@@ -20,17 +20,15 @@ class Command;
/**
* This class provides an easy way to link commands to inputs.
*
* It is very easy to link a polled input to a command. For instance, you could
* It is very easy to link a polled input to a command. For instance, you could
* link the trigger button of a joystick to a "score" command or an encoder
* reaching
* a particular value.
* reaching a particular value.
*
* It is encouraged that teams write a subclass of Trigger if they want to have
* something unusual (for instance, if they want to react to the user holding
* a button while the robot is reading a certain sensor input). For this, they
* a button while the robot is reading a certain sensor input). For this, they
* only have to write the {@link Trigger#Get()} method to get the full
* functionality
* of the Trigger class.
* functionality of the Trigger class.
*/
class Trigger : public Sendable {
public:

33
wpilibc/src/main/native/include/CANSpeedController.h
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@@ -36,7 +36,7 @@ class CANSpeedController : public SpeedController {
kTemperatureFault = 2,
kBusVoltageFault = 4,
kGateDriverFault = 8,
/* SRX extensions */
// SRX extensions
kFwdLimitSwitch = 0x10,
kRevLimitSwitch = 0x20,
kFwdSoftLimit = 0x40,
@@ -46,22 +46,34 @@ class CANSpeedController : public SpeedController {
enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
enum NeutralMode {
/** Use the NeutralMode that is set by the jumper wire on the CAN device */
/**
* Use the NeutralMode that is set by the jumper wire on the CAN device
*/
kNeutralMode_Jumper = 0,
/** Stop the motor's rotation by applying a force. */
/**
* Stop the motor's rotation by applying a force.
*/
kNeutralMode_Brake = 1,
/** Do not attempt to stop the motor. Instead allow it to coast to a stop
without applying resistance. */
/**
* Do not attempt to stop the motor. Instead allow it to coast to a stop
* without applying resistance.
*/
kNeutralMode_Coast = 2
};
enum LimitMode {
/** Only use switches for limits */
/**
* Only use switches for limits
*/
kLimitMode_SwitchInputsOnly = 0,
/** Use both switches and soft limits */
/**
* Use both switches and soft limits
*/
kLimitMode_SoftPositionLimits = 1,
/* SRX extensions */
/** Disable switches and disable soft limits */
// SRX extensions
/**
* Disable switches and disable soft limits
*/
kLimitMode_SrxDisableSwitchInputs = 2,
};
@@ -98,9 +110,6 @@ class CANSpeedController : public SpeedController {
virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
virtual void ConfigMaxOutputVoltage(double voltage) = 0;
virtual void ConfigFaultTime(double faultTime) = 0;
// Hold off on interface until we figure out ControlMode enums.
// virtual void SetControlMode(ControlMode mode) = 0;
// virtual ControlMode GetControlMode() const = 0;
};
} // namespace frc

43
wpilibc/src/main/native/include/CameraServer.h
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@@ -27,6 +27,7 @@ namespace frc {
/**
* Singleton class for creating and keeping camera servers.
*
* Also publishes camera information to NetworkTables.
*/
class CameraServer : public ErrorBase {
@@ -42,26 +43,25 @@ class CameraServer : public ErrorBase {
static CameraServer* GetInstance();
#ifdef __linux__
// USBCamera does not work on anything except linux
// USBCamera does not work on anything except Linux.
/**
* Start automatically capturing images to send to the dashboard.
*
* <p>You should call this method to see a camera feed on the dashboard.
* If you also want to perform vision processing on the roboRIO, use
* getVideo() to get access to the camera images.
* You should call this method to see a camera feed on the dashboard. If you
* also want to perform vision processing on the roboRIO, use getVideo() to
* get access to the camera images.
*
* The first time this overload is called, it calls
* {@link #StartAutomaticCapture(int)} with device 0, creating a camera
* named "USB Camera 0". Subsequent calls increment the device number
* (e.g. 1, 2, etc).
* The first time this overload is called, it calls StartAutomaticCapture()
* with device 0, creating a camera named "USB Camera 0". Subsequent calls
* increment the device number (e.g. 1, 2, etc).
*/
cs::UsbCamera StartAutomaticCapture();
/**
* Start automatically capturing images to send to the dashboard.
*
* <p>This overload calls {@link #StartAutomaticCapture(String, int)} with
* a name of "USB Camera {dev}".
* This overload calls StartAutomaticCapture() with a name of "USB Camera
* {dev}".
*
* @param dev The device number of the camera interface
*/
@@ -71,7 +71,7 @@ class CameraServer : public ErrorBase {
* Start automatically capturing images to send to the dashboard.
*
* @param name The name to give the camera
* @param dev The device number of the camera interface
* @param dev The device number of the camera interface
*/
cs::UsbCamera StartAutomaticCapture(llvm::StringRef name, int dev);
@@ -96,8 +96,7 @@ class CameraServer : public ErrorBase {
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String)} with
* name "Axis Camera".
* This overload calls AddAxisCamera() with name "Axis Camera".
*
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
@@ -106,8 +105,7 @@ class CameraServer : public ErrorBase {
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String)} with
* name "Axis Camera".
* This overload calls AddAxisCamera() with name "Axis Camera".
*
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
@@ -116,8 +114,7 @@ class CameraServer : public ErrorBase {
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String)} with
* name "Axis Camera".
* This overload calls AddAxisCamera() with name "Axis Camera".
*
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
@@ -126,8 +123,7 @@ class CameraServer : public ErrorBase {
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String[])} with
* name "Axis Camera".
* This overload calls AddAxisCamera() with name "Axis Camera".
*
* @param hosts Array of Camera host IPs/DNS names
*/
@@ -136,8 +132,7 @@ class CameraServer : public ErrorBase {
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #AddAxisCamera(String, String[])} with
* name "Axis Camera".
* This overload calls AddAxisCamera() with name "Axis Camera".
*
* @param hosts Array of Camera host IPs/DNS names
*/
@@ -253,8 +248,8 @@ class CameraServer : public ErrorBase {
/**
* Get server for the primary camera feed.
*
* <p>This is only valid to call after a camera feed has been added
* with StartAutomaticCapture() or AddServer().
* This is only valid to call after a camera feed has been added with
* StartAutomaticCapture() or AddServer().
*/
cs::VideoSink GetServer();
@@ -285,7 +280,7 @@ class CameraServer : public ErrorBase {
* StartAutomaticCapture method.
*
* @deprecated Use SetResolution on the UsbCamera returned by
* StartAutomaticCapture() instead.
* StartAutomaticCapture() instead.
* @param size The size to use
*/
void SetSize(int size);

76
wpilibc/src/main/native/include/Commands/Command.h
View File

@@ -22,29 +22,24 @@ class Subsystem;
/**
* The Command class is at the very core of the entire command framework.
* Every command can be started with a call to {@link Command#Start() Start()}.
* Once a command is started it will call {@link Command#Initialize()
* Initialize()}, and then will repeatedly call
* {@link Command#Execute() Execute()} until the
* {@link Command#IsFinished() IsFinished()} returns true. Once it does,
* {@link Command#End() End()} will be called.
*
* <p>However, if at any point while it is running {@link Command#Cancel()
* Cancel()} is called, then the command will be stopped and
* {@link Command#Interrupted() Interrupted()} will be called.</p>
* Every command can be started with a call to Start(). Once a command is
* started it will call Initialize(), and then will repeatedly call Execute()
* until the IsFinished() returns true. Once it does,End() will be called.
*
* <p>If a command uses a {@link Subsystem}, then it should specify that it does
* so by calling the {@link Command#Requires(Subsystem) Requires(...)} method
* in its constructor. Note that a Command may have multiple requirements, and
* {@link Command#Requires(Subsystem) Requires(...)} should be called for each
* one.</p>
* However, if at any point while it is running Cancel() is called, then the
* command will be stopped and Interrupted() will be called.
*
* <p>If a command is running and a new command with shared requirements is
* started, then one of two things will happen. If the active command is
* interruptible, then {@link Command#Cancel() Cancel()} will be called and the
* command will be removed to make way for the new one. If the active command
* is not interruptible, the other one will not even be started, and the active
* one will continue functioning.</p>
* If a command uses a Subsystem, then it should specify that it does so by
* calling the Requires() method in its constructor. Note that a Command may
* have multiple requirements, and Requires() should be called for each one.
*
* If a command is running and a new command with shared requirements is
* started, then one of two things will happen. If the active command is
* interruptible, then Cancel() will be called and the command will be removed
* to make way for the new one. If the active command is not interruptible, the
* other one will not even be started, and the active one will continue
* functioning.
*
* @see CommandGroup
* @see Subsystem
@@ -88,19 +83,19 @@ class Command : public ErrorBase, public NamedSendable {
/**
* Returns whether this command is finished.
* If it is, then the command will be removed and {@link Command#end() end()}
* will be called.
*
* <p>It may be useful for a team to reference the {@link Command#isTimedOut()
* isTimedOut()} method for time-sensitive commands.</p>
* If it is, then the command will be removed and End() will be called.
*
* <p>Returning false will result in the command never ending automatically.
* It may be useful for a team to reference the IsTimedOut() method for
* time-sensitive commands.
*
* Returning false will result in the command never ending automatically.
* It may still be cancelled manually or interrupted by another command.
* Returning true will result in the command executing once and finishing
* immediately. We recommend using {@link InstantCommand} for this.</p>
* immediately. We recommend using InstantCommand for this.
*
* @return whether this command is finished.
* @see Command#isTimedOut() isTimedOut()
* @return Whether this command is finished.
* @see IsTimedOut()
*/
virtual bool IsFinished() = 0;
@@ -117,42 +112,41 @@ class Command : public ErrorBase, public NamedSendable {
private:
void LockChanges();
/*synchronized*/ void Removed();
void Removed();
void StartRunning();
void StartTiming();
/** The name of this command */
// The name of this command
std::string m_name;
/** The time since this command was initialized */
// The time since this command was initialized
double m_startTime = -1;
/** The time (in seconds) before this command "times out" (or -1 if no
* timeout) */
// The time (in seconds) before this command "times out" (-1 if no timeout)
double m_timeout;
/** Whether or not this command has been initialized */
// Whether or not this command has been initialized
bool m_initialized = false;
/** The requirements (or null if no requirements) */
// The requirements (or null if no requirements)
SubsystemSet m_requirements;
/** Whether or not it is running */
// Whether or not it is running
bool m_running = false;
/** Whether or not it is interruptible*/
// Whether or not it is interruptible
bool m_interruptible = true;
/** Whether or not it has been canceled */
// Whether or not it has been canceled
bool m_canceled = false;
/** Whether or not it has been locked */
// Whether or not it has been locked
bool m_locked = false;
/** Whether this command should run when the robot is disabled */
// Whether this command should run when the robot is disabled
bool m_runWhenDisabled = false;
/** The {@link CommandGroup} this is in */
// The CommandGroup this is in
CommandGroup* m_parent = nullptr;
int m_commandID = m_commandCounter++;

27
wpilibc/src/main/native/include/Commands/CommandGroup.h
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@@ -17,21 +17,18 @@
namespace frc {
/**
* A {@link CommandGroup} is a list of commands which are executed in sequence.
* A CommandGroup is a list of commands which are executed in sequence.
*
* <p>Commands in a {@link CommandGroup} are added using the {@link
* CommandGroup#AddSequential(Command) AddSequential(...)} method and are
* called sequentially. {@link CommandGroup CommandGroups} are themselves
* {@link Command Commands} and can be given to other
* {@link CommandGroup CommandGroups}.</p>
* Commands in a CommandGroup are added using the AddSequential() method and are
* called sequentially. CommandGroups are themselves Commands and can be given
* to other CommandGroups.
*
* <p>{@link CommandGroup CommandGroups} will carry all of the requirements of
* their {@link Command subcommands}. Additional requirements can be specified
* by calling {@link CommandGroup#Requires(Subsystem) Requires(...)} normally
* in the constructor.</P>
* CommandGroups will carry all of the requirements of their Command
* subcommands. Additional requirements can be specified by calling Requires()
* normally in the constructor.
*
* <p>CommandGroups can also execute commands in parallel, simply by adding them
* using {@link CommandGroup#AddParallel(Command) AddParallel(...)}.</p>
* CommandGroups can also execute commands in parallel, simply by adding them
* using AddParallel().
*
* @see Command
* @see Subsystem
@@ -63,13 +60,13 @@ class CommandGroup : public Command {
private:
void CancelConflicts(Command* command);
/** The commands in this group (stored in entries) */
// The commands in this group (stored in entries)
std::vector<CommandGroupEntry> m_commands;
/** The active children in this group (stored in entries) */
// The active children in this group (stored in entries)
std::list<CommandGroupEntry> m_children;
/** The current command, -1 signifies that none have been run */
// The current command, -1 signifies that none have been run
int m_currentCommandIndex = -1;
};

38
wpilibc/src/main/native/include/Commands/ConditionalCommand.h
View File

@@ -15,25 +15,17 @@
namespace frc {
/**
* A {@link ConditionalCommand} is a {@link Command} that starts one of two
* commands.
* A ConditionalCommand is a Command that starts one of two commands.
*
* <p>
* A {@link ConditionalCommand} uses m_condition to determine whether it should
* run m_onTrue or m_onFalse.
* </p>
* A ConditionalCommand uses m_condition to determine whether it should run
* m_onTrue or m_onFalse.
*
* <p>
* A {@link ConditionalCommand} adds the proper {@link Command} to the {@link
* Scheduler} during {@link ConditionalCommand#initialize()} and then {@link
* ConditionalCommand#isFinished()} will return true once that {@link Command}
* has finished executing.
* </p>
* A ConditionalCommand adds the proper Command to the Scheduler during
* Initialize() and then IsFinished() will return true once that Command has
* finished executing.
*
* <p>
* If no {@link Command} is specified for m_onFalse, the occurrence of that
* condition will be a no-op.
* </p>
* If no Command is specified for m_onFalse, the occurrence of that condition
* will be a no-op.
*
* @see Command
* @see Scheduler
@@ -59,21 +51,13 @@ class ConditionalCommand : public Command {
void Interrupted() override;
private:
/**
* The Command to execute if {@link ConditionalCommand#Condition()} returns
* true
*/
// The Command to execute if Condition() returns true
Command* m_onTrue;
/**
* The Command to execute if {@link ConditionalCommand#Condition()} returns
* false
*/
// The Command to execute if Condition() returns false
Command* m_onFalse;
/**
* Stores command chosen by condition
*/
// Stores command chosen by condition
Command* m_chosenCommand = nullptr;
};

3
wpilibc/src/main/native/include/Commands/InstantCommand.h
View File

@@ -16,8 +16,7 @@ namespace frc {
/**
* This command will execute once, then finish immediately afterward.
*
* <p>Subclassing {@link InstantCommand} is shorthand for returning true from
* {@link Command isFinished}.
* Subclassing InstantCommand is shorthand for returning true from IsFinished().
*/
class InstantCommand : public Command {
public:

2
wpilibc/src/main/native/include/Commands/PIDCommand.h
View File

@@ -50,7 +50,7 @@ class PIDCommand : public Command, public PIDOutput, public PIDSource {
virtual void UsePIDOutput(double output) = 0;
private:
/** The internal {@link PIDController} */
// The internal PIDController
std::shared_ptr<PIDController> m_controller;
public:

15
wpilibc/src/main/native/include/Commands/PIDSubsystem.h
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@@ -18,14 +18,13 @@
namespace frc {
/**
* This class is designed to handle the case where there is a {@link Subsystem}
* which uses a single {@link PIDController} almost constantly (for instance,
* an elevator which attempts to stay at a constant height).
*
* <p>It provides some convenience methods to run an internal {@link
* PIDController}. It also allows access to the internal {@link PIDController}
* in order to give total control to the programmer.</p>
* This class is designed to handle the case where there is a Subsystem which
* uses a single PIDController almost constantly (for instance, an elevator
* which attempts to stay at a constant height).
*
* It provides some convenience methods to run an internal PIDController. It
* also allows access to the internal PIDController in order to give total
* control to the programmer.
*/
class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
public:
@@ -65,7 +64,7 @@ class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
virtual void UsePIDOutput(double output) = 0;
private:
/** The internal {@link PIDController} */
// The internal PIDController
std::shared_ptr<PIDController> m_controller;
public:

5
wpilibc/src/main/native/include/Commands/TimedCommand.h
View File

@@ -14,8 +14,9 @@
namespace frc {
/**
* A {@link TimedCommand} will wait for a timeout before finishing.
* {@link TimedCommand} is used to execute a command for a given amount of time.
* A TimedCommand will wait for a timeout before finishing.
*
* TimedCommand is used to execute a command for a given amount of time.
*/
class TimedCommand : public Command {
public:

12
wpilibc/src/main/native/include/Compressor.h
View File

@@ -20,11 +20,13 @@ namespace frc {
/**
* Class for operating a compressor connected to a %PCM (Pneumatic Control
* Module). The %PCM will automatically run in closed loop mode by default
* whenever a Solenoid object is created. For most cases, a Compressor object
* does not need to be instantiated or used in a robot program. This class is
* only required in cases where the robot program needs a more detailed status
* of the compressor or to enable/disable closed loop control.
* Module).
*
* The PCM will automatically run in closed loop mode by default whenever a
* Solenoid object is created. For most cases, a Compressor object does not need
* to be instantiated or used in a robot program. This class is only required in
* cases where the robot program needs a more detailed status of the compressor
* or to enable/disable closed loop control.
*
* Note: you cannot operate the compressor directly from this class as doing so
* would circumvent the safety provided by using the pressure switch and closed

1
wpilibc/src/main/native/include/Controller.h
View File

@@ -11,6 +11,7 @@ namespace frc {
/**
* Interface for Controllers.
*
* Common interface for controllers. Controllers run control loops, the most
* common are PID controllers and their variants, but this includes anything
* that is controlling an actuator in a separate thread.

5
wpilibc/src/main/native/include/Counter.h
View File

@@ -43,6 +43,7 @@ class Counter : public SensorBase,
kPulseLength = 2,
kExternalDirection = 3
};
explicit Counter(Mode mode = kTwoPulse);
explicit Counter(int channel);
explicit Counter(DigitalSource* source);
@@ -104,13 +105,15 @@ class Counter : public SensorBase,
protected:
// Makes the counter count up.
std::shared_ptr<DigitalSource> m_upSource;
// Makes the counter count down.
std::shared_ptr<DigitalSource> m_downSource;
// The FPGA counter object
HAL_CounterHandle m_counter = HAL_kInvalidHandle;
private:
int m_index = 0; ///< The index of this counter.
int m_index = 0; // The index of this counter.
nt::NetworkTableEntry m_valueEntry;
friend class DigitalGlitchFilter;

1
wpilibc/src/main/native/include/CounterBase.h
View File

@@ -11,6 +11,7 @@ namespace frc {
/**
* Interface for counting the number of ticks on a digital input channel.
*
* Encoders, Gear tooth sensors, and counters should all subclass this so it can
* be used to build more advanced classes for control and driving.
*

3
wpilibc/src/main/native/include/DigitalGlitchFilter.h
View File

@@ -22,6 +22,7 @@ class Counter;
/**
* Class to enable glitch filtering on a set of digital inputs.
*
* This class will manage adding and removing digital inputs from a FPGA glitch
* filter. The filter lets the user configure the time that an input must remain
* high or low before it is classified as high or low.
@@ -46,7 +47,7 @@ class DigitalGlitchFilter : public SensorBase {
uint64_t GetPeriodNanoSeconds();
private:
// Sets the filter for the input to be the requested index. A value of 0
// Sets the filter for the input to be the requested index. A value of 0
// disables the filter, and the filter value must be between 1 and 3,
// inclusive.
void DoAdd(DigitalSource* input, int requested_index);

1
wpilibc/src/main/native/include/DigitalInput.h
View File

@@ -20,6 +20,7 @@ class DigitalGlitchFilter;
/**
* Class to read a digital input.
*
* This class will read digital inputs and return the current value on the
* channel. Other devices such as encoders, gear tooth sensors, etc. that are
* implemented elsewhere will automatically allocate digital inputs and outputs

1
wpilibc/src/main/native/include/DigitalOutput.h
View File

@@ -20,6 +20,7 @@ namespace frc {
/**
* Class to write to digital outputs.
*
* Write values to the digital output channels. Other devices implemented
* elsewhere will allocate channels automatically so for those devices it
* shouldn't be done here.

9
wpilibc/src/main/native/include/DigitalSource.h
View File

@@ -15,13 +15,12 @@ namespace frc {
/**
* DigitalSource Interface.
*
* The DigitalSource represents all the possible inputs for a counter or a
* quadrature encoder. The source may be
* either a digital input or an analog input. If the caller just provides a
* channel, then a digital input will be
* quadrature encoder. The source may be either a digital input or an analog
* input. If the caller just provides a channel, then a digital input will be
* constructed and freed when finished for the source. The source can either be
* a digital input or analog trigger
* but not both.
* a digital input or analog trigger but not both.
*/
class DigitalSource : public InterruptableSensorBase {
public:

8
wpilibc/src/main/native/include/DoubleSolenoid.h
View File

@@ -44,10 +44,10 @@ class DoubleSolenoid : public SolenoidBase, public LiveWindowSendable {
void InitTable(std::shared_ptr<nt::NetworkTable> subTable);
private:
int m_forwardChannel; ///< The forward channel on the module to control.
int m_reverseChannel; ///< The reverse channel on the module to control.
int m_forwardMask; ///< The mask for the forward channel.
int m_reverseMask; ///< The mask for the reverse channel.
int m_forwardChannel; // The forward channel on the module to control.
int m_reverseChannel; // The reverse channel on the module to control.
int m_forwardMask; // The mask for the forward channel.
int m_reverseMask; // The mask for the reverse channel.
HAL_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle;
HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle;

40
wpilibc/src/main/native/include/DriverStation.h
View File

@@ -83,24 +83,39 @@ class DriverStation : public SensorBase, public RobotStateInterface {
double GetMatchTime() const;
double GetBatteryVoltage() const;
/** Only to be used to tell the Driver Station what code you claim to be
* executing for diagnostic purposes only
/**
* Only to be used to tell the Driver Station what code you claim to be
* executing for diagnostic purposes only.
*
* @param entering If true, starting disabled code; if false, leaving disabled
* code */
* code.
*/
void InDisabled(bool entering) { m_userInDisabled = entering; }
/** Only to be used to tell the Driver Station what code you claim to be
* executing for diagnostic purposes only
/**
* Only to be used to tell the Driver Station what code you claim to be
* executing for diagnostic purposes only.
*
* @param entering If true, starting autonomous code; if false, leaving
* autonomous code */
* autonomous code.
*/
void InAutonomous(bool entering) { m_userInAutonomous = entering; }
/** Only to be used to tell the Driver Station what code you claim to be
* executing for diagnostic purposes only
/**
* Only to be used to tell the Driver Station what code you claim to be
* executing for diagnostic purposes only.
*
* @param entering If true, starting teleop code; if false, leaving teleop
* code */
* code.
*/
void InOperatorControl(bool entering) { m_userInTeleop = entering; }
/** Only to be used to tell the Driver Station what code you claim to be
* executing for diagnostic purposes only
* @param entering If true, starting test code; if false, leaving test code */
/**
* Only to be used to tell the Driver Station what code you claim to be
* executing for diagnostic purposes only.
*
* @param entering If true, starting test code; if false, leaving test code.
*/
void InTest(bool entering) { m_userInTest = entering; }
protected:
@@ -108,6 +123,7 @@ class DriverStation : public SensorBase, public RobotStateInterface {
private:
DriverStation();
void ReportJoystickUnpluggedError(llvm::StringRef message);
void ReportJoystickUnpluggedWarning(llvm::StringRef message);
void Run();

4
wpilibc/src/main/native/include/Encoder.h
View File

@@ -98,8 +98,8 @@ class Encoder : public SensorBase,
double DecodingScaleFactor() const;
std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
std::shared_ptr<DigitalSource> m_aSource; // The A phase of the quad encoder
std::shared_ptr<DigitalSource> m_bSource; // The B phase of the quad encoder
std::unique_ptr<DigitalSource> m_indexSource = nullptr;
HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;

1
wpilibc/src/main/native/include/Error.h
View File

@@ -23,7 +23,6 @@
namespace frc {
// Forward declarations
class ErrorBase;
/**

7
wpilibc/src/main/native/include/ErrorBase.h
View File

@@ -65,10 +65,10 @@ namespace frc {
/**
* Base class for most objects.
*
* ErrorBase is the base class for most objects since it holds the generated
* error
* for that object. In addition, there is a single instance of a global error
* object
* error for that object. In addition, there is a single instance of a global
* error object.
*/
class ErrorBase {
// TODO: Consider initializing instance variables and cleanup in destructor
@@ -113,6 +113,7 @@ class ErrorBase {
protected:
mutable Error m_error;
// TODO: Replace globalError with a global list of all errors.
static wpi::mutex _globalErrorMutex;
static Error _globalError;

7
wpilibc/src/main/native/include/GearTooth.h
View File

@@ -16,19 +16,22 @@ namespace frc {
/**
* Alias for counter class.
* Implement the gear tooth sensor supplied by FIRST. Currently there is no
*
* Implements the gear tooth sensor supplied by FIRST. Currently there is no
* reverse sensing on the gear tooth sensor, but in future versions we might
* implement the necessary timing in the FPGA to sense direction.
*/
class GearTooth : public Counter {
public:
/// 55 uSec for threshold
// 55 uSec for threshold
static constexpr double kGearToothThreshold = 55e-6;
explicit GearTooth(int channel, bool directionSensitive = false);
explicit GearTooth(DigitalSource* source, bool directionSensitive = false);
explicit GearTooth(std::shared_ptr<DigitalSource> source,
bool directionSensitive = false);
virtual ~GearTooth() = default;
void EnableDirectionSensing(bool directionSensitive);
std::string GetSmartDashboardType() const override;

2
wpilibc/src/main/native/include/I2C.h
View File

@@ -20,7 +20,6 @@ namespace frc {
*
* This class is intended to be used by sensor (and other I2C device) drivers.
* It probably should not be used directly.
*
*/
class I2C : SensorBase {
public:
@@ -39,7 +38,6 @@ class I2C : SensorBase {
bool WriteBulk(uint8_t* data, int count);
bool Read(int registerAddress, int count, uint8_t* data);
bool ReadOnly(int count, uint8_t* buffer);
// void Broadcast(int registerAddress, uint8_t data);
bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
private:

43
wpilibc/src/main/native/include/InterruptableSensorBase.h
View File

@@ -28,22 +28,33 @@ class InterruptableSensorBase : public SensorBase {
virtual HAL_Handle GetPortHandleForRouting() const = 0;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
virtual void RequestInterrupts(
HAL_InterruptHandlerFunction handler,
void* param); ///< Asynchronus handler version.
virtual void RequestInterrupts(); ///< Synchronus Wait version.
virtual void
CancelInterrupts(); ///< Free up the underlying chipobject functions.
virtual WaitResult WaitForInterrupt(
double timeout,
bool ignorePrevious = true); ///< Synchronus version.
virtual void
EnableInterrupts(); ///< Enable interrupts - after finishing setup.
virtual void DisableInterrupts(); ///< Disable, but don't deallocate.
virtual double ReadRisingTimestamp(); ///< Return the timestamp for the
/// rising interrupt that occurred.
virtual double ReadFallingTimestamp(); ///< Return the timestamp for the
/// falling interrupt that occurred.
// Asynchronous handler version.
virtual void RequestInterrupts(HAL_InterruptHandlerFunction handler,
void* param);
// Synchronous wait version.
virtual void RequestInterrupts();
// Free up the underlying ChipObject functions.
virtual void CancelInterrupts();
// Synchronous version.
virtual WaitResult WaitForInterrupt(double timeout,
bool ignorePrevious = true);
// Enable interrupts - after finishing setup.
virtual void EnableInterrupts();
// Disable, but don't deallocate.
virtual void DisableInterrupts();
// Return the timestamp for the rising interrupt that occurred.
virtual double ReadRisingTimestamp();
// Return the timestamp for the falling interrupt that occurred.
virtual double ReadFallingTimestamp();
virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
protected:

2
wpilibc/src/main/native/include/Jaguar.h
View File

@@ -12,7 +12,7 @@
namespace frc {
/**
* Luminary Micro / Vex Robotics Jaguar Speed Controller with PWM control
* Luminary Micro / Vex Robotics Jaguar Speed Controller with PWM control.
*/
class Jaguar : public PWMSpeedController {
public:

3
wpilibc/src/main/native/include/LiveWindow/LiveWindow.h
View File

@@ -34,8 +34,7 @@ struct LiveWindowComponent {
/**
* The LiveWindow class is the public interface for putting sensors and
* actuators
* on the LiveWindow.
* actuators on the LiveWindow.
*/
class LiveWindow {
public:

10
wpilibc/src/main/native/include/LiveWindow/LiveWindowSendable.h
View File

@@ -17,20 +17,18 @@ namespace frc {
class LiveWindowSendable : public Sendable {
public:
/**
* Update the table for this sendable object with the latest
* values.
* Update the table for this sendable object with the latest values.
*/
virtual void UpdateTable() = 0;
/**
* Start having this sendable object automatically respond to
* value changes reflect the value on the table.
* Start having this sendable object automatically respond to value changes
* reflect the value on the table.
*/
virtual void StartLiveWindowMode() = 0;
/**
* Stop having this sendable object automatically respond to value
* changes.
* Stop having this sendable object automatically respond to value changes.
*/
virtual void StopLiveWindowMode() = 0;
};

18
wpilibc/src/main/native/include/MotorSafetyHelper.h
View File

@@ -31,19 +31,25 @@ class MotorSafetyHelper : public ErrorBase {
static void CheckMotors();
private:
// the expiration time for this object
// The expiration time for this object
double m_expiration;
// true if motor safety is enabled for this motor
// True if motor safety is enabled for this motor
bool m_enabled;
// the FPGA clock value when this motor has expired
// The FPGA clock value when this motor has expired
double m_stopTime;
// protect accesses to the state for this object
// Protect accesses to the state for this object
mutable wpi::mutex m_syncMutex;
// the object that is using the helper
// The object that is using the helper
MotorSafety* m_safeObject;
// List of all existing MotorSafetyHelper objects.
static std::set<MotorSafetyHelper*> m_helperList;
// protect accesses to the list of helpers
// Protect accesses to the list of helpers
static wpi::mutex m_listMutex;
};

21
wpilibc/src/main/native/include/Notifier.h
View File

@@ -41,24 +41,31 @@ class Notifier : public ErrorBase {
void Stop();
private:
// update the HAL alarm
// Update the HAL alarm
void UpdateAlarm();
// HAL callback
static void Notify(uint64_t currentTimeInt, HAL_NotifierHandle handle);
// used to constrain execution between destructors and callback
// Used to constrain execution between destructors and callback
static wpi::mutex m_destructorMutex;
// held while updating process information
// Held while updating process information
wpi::mutex m_processMutex;
// HAL handle, atomic for proper destruction
std::atomic<HAL_NotifierHandle> m_notifier{0};
// address of the handler
// Address of the handler
TimerEventHandler m_handler;
// the absolute expiration time
// The absolute expiration time
double m_expirationTime = 0;
// the relative time (either periodic or single)
// The relative time (either periodic or single)
double m_period = 0;
// true if this is a periodic event
// True if this is a periodic event
bool m_periodic = false;
};

40
wpilibc/src/main/native/include/PIDController.h
View File

@@ -30,8 +30,8 @@ class PIDOutput;
/**
* Class implements a PID Control Loop.
*
* Creates a separate thread which reads the given PIDSource and takes
* care of the integral calculations, as well as writing the given PIDOutput.
* Creates a separate thread which reads the given PIDSource and takes care of
* the integral calculations, as well as writing the given PIDOutput.
*
* This feedback controller runs in discrete time, so time deltas are not used
* in the integral and derivative calculations. Therefore, the sample rate
@@ -105,38 +105,51 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
double GetContinuousError(double error) const;
private:
// factor for "proportional" control
// Factor for "proportional" control
double m_P;
// factor for "integral" control
// Factor for "integral" control
double m_I;
// factor for "derivative" control
// Factor for "derivative" control
double m_D;
// factor for "feed forward" control
// Factor for "feed forward" control
double m_F;
// |maximum output|
double m_maximumOutput = 1.0;
// |minimum output|
double m_minimumOutput = -1.0;
// maximum input - limit setpoint to this
// Maximum input - limit setpoint to this
double m_maximumInput = 0;
// minimum input - limit setpoint to this
// Minimum input - limit setpoint to this
double m_minimumInput = 0;
// do the endpoints wrap around? eg. Absolute encoder
// Do the endpoints wrap around? eg. Absolute encoder
bool m_continuous = false;
// is the pid controller enabled
// Is the pid controller enabled
bool m_enabled = false;
// the prior error (used to compute velocity)
// The prior error (used to compute velocity)
double m_prevError = 0;
// the sum of the errors for use in the integral calc
// The sum of the errors for use in the integral calc
double m_totalError = 0;
enum {
kAbsoluteTolerance,
kPercentTolerance,
kNoTolerance
} m_toleranceType = kNoTolerance;
// the percetage or absolute error that is considered on target.
// The percetage or absolute error that is considered on target.
double m_tolerance = 0.05;
double m_setpoint = 0;
double m_prevSetpoint = 0;
double m_error = 0;
@@ -145,6 +158,7 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
// Length of buffer for averaging for tolerances.
std::atomic<unsigned> m_bufLength{1};
std::queue<double> m_buf;
double m_bufTotal = 0;

6
wpilibc/src/main/native/include/PIDOutput.h
View File

@@ -13,9 +13,9 @@ namespace frc {
/**
* PIDOutput interface is a generic output for the PID class.
* PWMs use this class.
* Users implement this interface to allow for a PIDController to
* read directly from the inputs.
*
* PWMs use this class. Users implement this interface to allow for a
* PIDController to read directly from the inputs.
*/
class PIDOutput {
public:

1
wpilibc/src/main/native/include/PIDSource.h
View File

@@ -13,6 +13,7 @@ enum class PIDSourceType { kDisplacement, kRate };
/**
* PIDSource interface is a generic sensor source for the PID class.
*
* All sensors that can be used with the PID class will implement the PIDSource
* that returns a standard value that will be used in the PID code.
*/

2
wpilibc/src/main/native/include/PWMSpeedController.h
View File

@@ -13,7 +13,7 @@
namespace frc {
/**
* Common base class for all PWM Speed Controllers
* Common base class for all PWM Speed Controllers.
*/
class PWMSpeedController : public SafePWM, public SpeedController {
public:

3
wpilibc/src/main/native/include/PWMTalonSRX.h
View File

@@ -12,7 +12,8 @@
namespace frc {
/**
* Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control
* Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM
* control.
*/
class PWMTalonSRX : public PWMSpeedController {
public:

14
wpilibc/src/main/native/include/Preferences.h
View File

@@ -22,15 +22,15 @@ namespace frc {
* The preferences class provides a relatively simple way to save important
* values to the roboRIO to access the next time the roboRIO is booted.
*
* <p>This class loads and saves from a file inside the roboRIO. The user can
* not access the file directly, but may modify values at specific fields which
* will then be automatically periodically saved to the file by the NetworkTable
* server.</p>
* This class loads and saves from a file inside the roboRIO. The user cannot
* access the file directly, but may modify values at specific fields which will
* then be automatically periodically saved to the file by the NetworkTable
* server.
*
* <p>This class is thread safe.</p>
* This class is thread safe.
*
* <p>This will also interact with {@link NetworkTable} by creating a table
* called "Preferences" with all the key-value pairs.</p>
* This will also interact with {@link NetworkTable} by creating a table called
* "Preferences" with all the key-value pairs.
*/
class Preferences : public ErrorBase {
public:

3
wpilibc/src/main/native/include/Relay.h
View File

@@ -24,12 +24,13 @@ class MotorSafetyHelper;
/**
* Class for Spike style relay outputs.
*
* Relays are intended to be connected to spikes or similar relays. The relay
* channels controls a pair of pins that are either both off, one on, the other
* on, or both on. This translates into two spike outputs at 0v, one at 12v and
* one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This
* allows off, full forward, or full reverse control of motors without variable
* speed. It also allows the two channels (forward and reverse) to be used
* speed. It also allows the two channels (forward and reverse) to be used
* independently for something that does not care about voltage polarity (like
* a solenoid).
*/

9
wpilibc/src/main/native/include/Resource.h
View File

@@ -21,12 +21,13 @@ namespace frc {
/**
* The Resource class is a convenient way to track allocated resources.
* It tracks them as indicies in the range [0 .. elements - 1].
* E.g. the library uses this to track hardware channel allocation.
*
* It tracks them as indicies in the range [0 .. elements - 1]. E.g. the library
* uses this to track hardware channel allocation.
*
* The Resource class does not allocate the hardware channels or other
* resources; it just tracks which indices were marked in use by
* Allocate and not yet freed by Free.
* resources; it just tracks which indices were marked in use by Allocate and
* not yet freed by Free.
*/
class Resource : public ErrorBase {
public:

1
wpilibc/src/main/native/include/RobotBase.h
View File

@@ -33,6 +33,7 @@ class DriverStation;
/**
* Implement a Robot Program framework.
*
* The RobotBase class is intended to be subclassed by a user creating a robot
* program. Overridden Autonomous() and OperatorControl() methods are called at
* the appropriate time as the match proceeds. In the current implementation,

2
wpilibc/src/main/native/include/RobotDrive.h
View File

@@ -24,6 +24,7 @@ class GenericHID;
/**
* Utility class for handling Robot drive based on a definition of the motor
* configuration.
*
* The robot drive class handles basic driving for a robot. Currently, 2 and 4
* motor tank and mecanum drive trains are supported. In the future other drive
* types like swerve might be implemented. Motor channel numbers are passed
@@ -115,6 +116,7 @@ class RobotDrive : public MotorSafety, public ErrorBase {
static const int kMaxNumberOfMotors = 4;
double m_sensitivity = 0.5;
double m_maxOutput = 1.0;
std::shared_ptr<SpeedController> m_frontLeftMotor;
std::shared_ptr<SpeedController> m_frontRightMotor;
std::shared_ptr<SpeedController> m_rearLeftMotor;

2
wpilibc/src/main/native/include/SD540.h
View File

@@ -12,7 +12,7 @@
namespace frc {
/**
* Mindsensors SD540 Speed Controller
* Mindsensors SD540 Speed Controller.
*/
class SD540 : public PWMSpeedController {
public:

7
wpilibc/src/main/native/include/SPI.h
View File

@@ -28,6 +28,7 @@ class DigitalInput;
class SPI : public SensorBase {
public:
enum Port { kOnboardCS0 = 0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
explicit SPI(Port port);
virtual ~SPI();
@@ -67,9 +68,9 @@ class SPI : public SensorBase {
protected:
HAL_SPIPort m_port;
bool m_msbFirst = false; // default little-endian
bool m_sampleOnTrailing = false; // default data updated on falling edge
bool m_clk_idle_high = false; // default clock active high
bool m_msbFirst = false; // Default little-endian
bool m_sampleOnTrailing = false; // Default data updated on falling edge
bool m_clk_idle_high = false; // Default clock active high
private:
void Init();

1
wpilibc/src/main/native/include/SafePWM.h
View File

@@ -19,6 +19,7 @@ namespace frc {
/**
* A safe version of the PWM class.
*
* It is safe because it implements the MotorSafety interface that provides
* timeouts in the event that the motor value is not updated before the
* expiration time. This delegates the actual work to a MotorSafetyHelper

1
wpilibc/src/main/native/include/SensorBase.h
View File

@@ -14,6 +14,7 @@ namespace frc {
/**
* Base class for all sensors.
*
* Stores most recent status information as well as containing utility functions
* for checking channels and error processing.
*/

4
wpilibc/src/main/native/include/SerialPort.h
View File

@@ -36,18 +36,22 @@ class SerialPort : public ErrorBase {
kParity_Mark = 3,
kParity_Space = 4
};
enum StopBits {
kStopBits_One = 10,
kStopBits_OnePointFive = 15,
kStopBits_Two = 20
};
enum FlowControl {
kFlowControl_None = 0,
kFlowControl_XonXoff = 1,
kFlowControl_RtsCts = 2,
kFlowControl_DtrDsr = 4
};
enum WriteBufferMode { kFlushOnAccess = 1, kFlushWhenFull = 2 };
enum Port { kOnboard = 0, kMXP = 1, kUSB = 2, kUSB1 = 2, kUSB2 = 3 };
SerialPort(int baudRate, Port port = kOnboard, int dataBits = 8,

3
wpilibc/src/main/native/include/Servo.h
View File

@@ -20,8 +20,7 @@ namespace frc {
* 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.
* servo provided in the FIRST Kit of Parts in 2008.
*/
class Servo : public SafePWM {
public:

5
wpilibc/src/main/native/include/SmartDashboard/NamedSendable.h
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@@ -15,13 +15,12 @@ namespace frc {
/**
* The interface for sendable objects that gives the sendable a default name in
* the Smart Dashboard
*
* the Smart Dashboard.
*/
class NamedSendable : public Sendable {
public:
/**
* @return the name of the subtable of SmartDashboard that the Sendable object
* @return The name of the subtable of SmartDashboard that the Sendable object
* will use
*/
virtual std::string GetName() const = 0;

3
wpilibc/src/main/native/include/SmartDashboard/Sendable.h
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@@ -18,12 +18,13 @@ class Sendable {
public:
/**
* Initializes a table for this sendable object.
*
* @param subtable The table to put the values in.
*/
virtual void InitTable(std::shared_ptr<nt::NetworkTable> subtable) = 0;
/**
* @return the string representation of the named data type that will be used
* @return The string representation of the named data type that will be used
* by the smart dashboard for this sendable
*/
virtual std::string GetSmartDashboardType() const = 0;

15
wpilibc/src/main/native/include/SmartDashboard/SendableChooser.h
View File

@@ -20,15 +20,14 @@
namespace frc {
/**
* The {@link SendableChooser} class is a useful tool for presenting a selection
* of options to the {@link SmartDashboard}.
* The SendableChooser class is a useful tool for presenting a selection of
* options to the SmartDashboard.
*
* <p>For instance, you may wish to be able to select between multiple
* autonomous modes. You can do this by putting every possible {@link Command}
* you want to run as an autonomous into a {@link SendableChooser} and then put
* it into the {@link SmartDashboard} to have a list of options appear on the
* laptop. Once autonomous starts, simply ask the {@link SendableChooser} what
* the selected value is.</p>
* For instance, you may wish to be able to select between multiple autonomous
* modes. You can do this by putting every possible Command you want to run as
* an autonomous into a SendableChooser and then put it into the SmartDashboard
* to have a list of options appear on the laptop. Once autonomous starts,
* simply ask the SendableChooser what the selected value is.
*
* @tparam T The type of values to be stored
* @see SmartDashboard

13
wpilibc/src/main/native/include/SmartDashboard/SendableChooser.inc
View File

@@ -18,8 +18,8 @@ namespace frc {
/**
* Adds the given object to the list of options.
*
* On the {@link SmartDashboard} on the desktop, the object will appear as the
* given name.
* On the SmartDashboard on the desktop, the object will appear as the given
* name.
*
* @param name the name of the option
* @param object the option
@@ -32,9 +32,8 @@ void SendableChooser<T>::AddObject(llvm::StringRef name, T object) {
/**
* Add the given object to the list of options and marks it as the default.
*
* Functionally, this is very close to {@link SendableChooser#AddObject(const
* char *name, void *object) AddObject(...)} except that it will use this as
* the default option if none other is explicitly selected.
* Functionally, this is very close to AddObject() except that it will use this
* as the default option if none other is explicitly selected.
*
* @param name the name of the option
* @param object the option
@@ -49,12 +48,12 @@ void SendableChooser<T>::AddDefault(llvm::StringRef name, T object) {
* Returns a copy of the selected option (a raw pointer U* if T =
* std::unique_ptr<U> or a std::weak_ptr<U> if T = std::shared_ptr<U>).
*
* If there is none selected, it will return the default. If there is none
* If there is none selected, it will return the default. If there is none
* selected and no default, then it will return a value-initialized instance.
* For integer types, this is 0. For container types like std::string, this is
* an empty string.
*
* @return the option selected
* @return The option selected
*/
template <class T>
auto SendableChooser<T>::GetSelected()

2
wpilibc/src/main/native/include/SmartDashboard/SendableChooserBase.h
View File

@@ -16,7 +16,7 @@
namespace frc {
/**
* This class is a non-template base class for {@link SendableChooser}.
* This class is a non-template base class for SendableChooser.
*
* It contains static, non-templated variables to avoid their duplication in the
* template class.

2
wpilibc/src/main/native/include/Solenoid.h
View File

@@ -41,7 +41,7 @@ class Solenoid : public SolenoidBase, public LiveWindowSendable {
private:
HAL_SolenoidHandle m_solenoidHandle = HAL_kInvalidHandle;
int m_channel; ///< The channel on the module to control.
int m_channel; // The channel on the module to control
nt::NetworkTableEntry m_valueEntry;
NT_EntryListener m_valueListener = 0;
};

2
wpilibc/src/main/native/include/Spark.h
View File

@@ -12,7 +12,7 @@
namespace frc {
/**
* REV Robotics Speed Controller
* REV Robotics Speed Controller.
*/
class Spark : public PWMSpeedController {
public:

2
wpilibc/src/main/native/include/Talon.h
View File

@@ -12,7 +12,7 @@
namespace frc {
/**
* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller
* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
*/
class Talon : public PWMSpeedController {
public:

1
wpilibc/src/main/native/include/Timer.h
View File

@@ -21,6 +21,7 @@ double GetTime();
/**
* Timer objects measure accumulated time in seconds.
*
* The timer object functions like a stopwatch. It can be started, stopped, and
* cleared. When the timer is running its value counts up in seconds. When
* stopped, the timer holds the current value. The implementation simply records

17
wpilibc/src/main/native/include/Ultrasonic.h
View File

@@ -26,6 +26,7 @@ class DigitalOutput;
/**
* Ultrasonic rangefinder class.
*
* The Ultrasonic rangefinder measures absolute distance based on the round-trip
* time of a ping generated by the controller. These sensors use two
* transducers, a speaker and a microphone both tuned to the ultrasonic range. A
@@ -43,10 +44,8 @@ class Ultrasonic : public SensorBase,
Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
DistanceUnit units = kInches);
Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
DistanceUnit units = kInches);
Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
std::shared_ptr<DigitalInput> echoChannel,
DistanceUnit units = kInches);
@@ -79,16 +78,22 @@ class Ultrasonic : public SensorBase,
// Time (sec) for the ping trigger pulse.
static constexpr double kPingTime = 10 * 1e-6;
// Priority that the ultrasonic round robin task runs.
static const int kPriority = 64;
// Max time (ms) between readings.
static constexpr double kMaxUltrasonicTime = 0.1;
static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
static std::thread
m_thread; // thread doing the round-robin automatic sensing
static std::set<Ultrasonic*> m_sensors; // ultrasonic sensors
static std::atomic<bool> m_automaticEnabled; // automatic round robin mode
// Thread doing the round-robin automatic sensing
static std::thread m_thread;
// Ultrasonic sensors
static std::set<Ultrasonic*> m_sensors;
// Automatic round-robin mode
static std::atomic<bool> m_automaticEnabled;
std::shared_ptr<DigitalOutput> m_pingChannel;
std::shared_ptr<DigitalInput> m_echoChannel;

4
wpilibc/src/main/native/include/Utility.h
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@@ -7,8 +7,8 @@
#pragma once
/** @file
* Contains global utility functions
/**
* @file Contains global utility functions
*/
#include <stdint.h>

2
wpilibc/src/main/native/include/Victor.h
View File

@@ -12,7 +12,7 @@
namespace frc {
/**
* Vex Robotics Victor 888 Speed Controller
* Vex Robotics Victor 888 Speed Controller.
*
* The Vex Robotics Victor 884 Speed Controller can also be used with this
* class but may need to be calibrated per the Victor 884 user manual.

2
wpilibc/src/main/native/include/VictorSP.h
View File

@@ -12,7 +12,7 @@
namespace frc {
/**
* Vex Robotics Victor SP Speed Controller
* Vex Robotics Victor SP Speed Controller.
*/
class VictorSP : public PWMSpeedController {
public:

8
wpilibc/src/main/native/include/WPIErrors.h
View File

@@ -19,9 +19,7 @@
const int wpi_error_value_##label = offset
#endif
/*
* Fatal errors
*/
// Fatal errors
S(ModuleIndexOutOfRange, -1,
"Allocating module that is out of range or not found");
S(ChannelIndexOutOfRange, -1, "Allocating channel that is out of range");
@@ -78,9 +76,7 @@ S(CommandIllegalUse, -50, "Illegal use of Command");
S(UnsupportedInSimulation, -80, "Unsupported in simulation");
S(CameraServerError, -90, "CameraServer error");
/*
* Warnings
*/
// Warnings
S(SampleRateTooHigh, 1, "Analog module sample rate is too high");
S(VoltageOutOfRange, 2,
"Voltage to convert to raw value is out of range [-10; 10]");

11
wpilibc/src/main/native/include/interfaces/Accelerometer.h
View File

@@ -10,7 +10,7 @@
namespace frc {
/**
* Interface for 3-axis accelerometers
* Interface for 3-axis accelerometers.
*/
class Accelerometer {
public:
@@ -22,26 +22,27 @@ class Accelerometer {
* Common interface for setting the measuring range of an accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the
* accelerometer will measure. Not all accelerometers support all ranges.
* accelerometer will measure. Not all accelerometers support all
* ranges.
*/
virtual void SetRange(Range range) = 0;
/**
* Common interface for getting the x axis acceleration
* Common interface for getting the x axis acceleration.
*
* @return The acceleration along the x axis in g-forces
*/
virtual double GetX() = 0;
/**
* Common interface for getting the y axis acceleration
* Common interface for getting the y axis acceleration.
*
* @return The acceleration along the y axis in g-forces
*/
virtual double GetY() = 0;
/**
* Common interface for getting the z axis acceleration
* Common interface for getting the z axis acceleration.
*
* @return The acceleration along the z axis in g-forces
*/

6
wpilibc/src/main/native/include/interfaces/Gyro.h
View File

@@ -10,7 +10,7 @@
namespace frc {
/**
* Interface for yaw rate gyros
* Interface for yaw rate gyros.
*/
class Gyro {
public:
@@ -48,9 +48,9 @@ class Gyro {
virtual double GetAngle() const = 0;
/**
* Return the rate of rotation of the gyro
* Return the rate of rotation of the gyro.
*
* The rate is based on the most recent reading of the gyro analog value
* The rate is based on the most recent reading of the gyro analog value.
*
* @return the current rate in degrees per second
*/

2
wpilibc/src/main/native/include/interfaces/Potentiometer.h
View File

@@ -21,7 +21,7 @@ class Potentiometer : public PIDSource {
/**
* Common interface for getting the current value of a potentiometer.
*
* @return The current set speed. Value is between -1.0 and 1.0.
* @return The current set speed. Value is between -1.0 and 1.0.
*/
virtual double Get() const = 0;

8
wpilibc/src/main/native/include/vision/VisionPipeline.h
View File

@@ -14,8 +14,8 @@ class Mat;
namespace frc {
/**
* A vision pipeline is responsible for running a group of
* OpenCV algorithms to extract data from an image.
* A vision pipeline is responsible for running a group of OpenCV algorithms to
* extract data from an image.
*
* @see VisionRunner
*/
@@ -24,8 +24,8 @@ class VisionPipeline {
virtual ~VisionPipeline() = default;
/**
* Processes the image input and sets the result objects.
* Implementations should make these objects accessible.
* Processes the image input and sets the result objects. Implementations
* should make these objects accessible.
*/
virtual void Process(cv::Mat& mat) = 0;
};

7
wpilibc/src/main/native/include/vision/VisionRunner.inc
View File

@@ -15,10 +15,9 @@ namespace frc {
* listener} when the pipeline has finished to alert user code when it is safe
* to access the pipeline's outputs.
*
* @param videoSource the video source to use to supply images for the pipeline
* @param pipeline the vision pipeline to run
* @param listener a function to call after the pipeline has finished
* running
* @param videoSource The video source to use to supply images for the pipeline
* @param pipeline The vision pipeline to run
* @param listener A function to call after the pipeline has finished running
*/
template <typename T>
VisionRunner<T>::VisionRunner(cs::VideoSource videoSource, T* pipeline,