Update to 2018_v4 image and new build system. (#598)

* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system

wpilibc/src/main/native/include/PWM.h

@@ -0,0 +1,86 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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>
+
+#include <memory>
+#include <string>
+
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+/**
+ * Class implements the PWM generation in the FPGA.
+ *
+ * The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They
+ * are mapped to the hardware dependent values, in this case 0-2000 for the
+ * FPGA. Changes are immediately sent to the FPGA, and the update occurs at the
+ * next FPGA cycle. There is no delay.
+ *
+ * As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-2000 values as
+ * follows:
+ *   - 2000 = maximum pulse width
+ *   - 1999 to 1001 = linear scaling from "full forward" to "center"
+ *   - 1000 = center value
+ *   - 999 to 2 = linear scaling from "center" to "full reverse"
+ *   - 1 = minimum pulse width (currently .5ms)
+ *   - 0 = disabled (i.e. PWM output is held low)
+ */
+class PWM : public SensorBase,
+            public ITableListener,
+            public LiveWindowSendable {
+ public:
+  enum PeriodMultiplier {
+    kPeriodMultiplier_1X = 1,
+    kPeriodMultiplier_2X = 2,
+    kPeriodMultiplier_4X = 4
+  };
+
+  explicit PWM(int channel);
+  virtual ~PWM();
+  virtual void SetRaw(uint16_t value);
+  virtual uint16_t GetRaw() const;
+  virtual void SetPosition(double pos);
+  virtual double GetPosition() const;
+  virtual void SetSpeed(double speed);
+  virtual double GetSpeed() const;
+  virtual void SetDisabled();
+  void SetPeriodMultiplier(PeriodMultiplier mult);
+  void SetZeroLatch();
+  void EnableDeadbandElimination(bool eliminateDeadband);
+  void SetBounds(double max, double deadbandMax, double center,
+                 double deadbandMin, double min);
+  void SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
+                    int min);
+  void GetRawBounds(int32_t* max, int32_t* deadbandMax, int32_t* center,
+                    int32_t* deadbandMin, int32_t* min);
+  int GetChannel() const { return m_channel; }
+
+ protected:
+  void ValueChanged(ITable* source, llvm::StringRef key,
+                    std::shared_ptr<nt::Value> value, bool isNew) override;
+  void UpdateTable() override;
+  void StartLiveWindowMode() override;
+  void StopLiveWindowMode() override;
+  std::string GetSmartDashboardType() const override;
+  void InitTable(std::shared_ptr<ITable> subTable) override;
+  std::shared_ptr<ITable> GetTable() const override;
+
+  std::shared_ptr<ITable> m_table;
+
+ private:
+  int m_channel;
+  HAL_DigitalHandle m_handle;
+};
+
+}  // namespace frc