Implemented FRCSim artf2628, fixed bugs in non-sim Relay.java and sim PWM.cpp.

Change-Id: Ic00fcd5026ce0570c79a65be178e45eeb94b3deb

wpilibc/wpilibC++Sim/include/Relay.h

@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "SensorBase.h"
+#include "simulation/SimContinuousOutput.h"
+#include "tables/ITableListener.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "tables/ITable.h"
+
+class DigitalModule;
+
+/**
+ * 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 independently
+ * for something that does not care about voltage polatiry (like a solenoid).
+ */
+class Relay : public SensorBase, public ITableListener, public LiveWindowSendable
+{
+public:
+	enum Value
+	{
+		kOff,
+		kOn,
+		kForward,
+		kReverse
+	};
+	enum Direction
+	{
+		kBothDirections,
+		kForwardOnly,
+		kReverseOnly
+	};
+
+	Relay(uint32_t channel, Direction direction = kBothDirections);
+	virtual ~Relay();
+
+	void Set(Value value);
+	Value Get();
+
+	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
+	void UpdateTable();
+	void StartLiveWindowMode();
+	void StopLiveWindowMode();
+	std::string GetSmartDashboardType();
+	void InitTable(ITable *subTable);
+	ITable * GetTable();
+
+	ITable *m_table;
+
+private:
+	void InitRelay();
+
+	uint32_t m_channel;
+	Direction m_direction;
+	SimContinuousOutput* impl;
+	bool go_pos, go_neg;
+};