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
2026-06-23 01:21:42 +00:00 · 2017-08-18 21:35:53 -07:00
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
@@ -0,0 +1,144 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.tables.ITable;
+import edu.wpi.first.wpilibj.tables.ITableListener;
+
+/**
+ * Standard hobby style servo.
+ *
+ * <p>The range parameters default to the appropriate values for the Hitec HS-322HD servo provided
+ * in the FIRST Kit of Parts in 2008.
+ */
+public class Servo extends PWM {
+
+  private static final double kMaxServoAngle = 180.0;
+  private static final double kMinServoAngle = 0.0;
+
+  protected static final double kDefaultMaxServoPWM = 2.4;
+  protected static final double kDefaultMinServoPWM = .6;
+
+  /**
+   * Constructor.<br>
+   *
+   * <p>By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br> By default
+   * {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
+   *
+   * @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on
+   *                the MXP port
+   */
+  public Servo(final int channel) {
+    super(channel);
+    setBounds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
+    setPeriodMultiplier(PeriodMultiplier.k4X);
+
+    LiveWindow.addActuator("Servo", getChannel(), this);
+    HAL.report(tResourceType.kResourceType_Servo, getChannel());
+  }
+
+
+  /**
+   * Set the servo position.
+   *
+   * <p>Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
+   *
+   * @param value Position from 0.0 to 1.0.
+   */
+  public void set(double value) {
+    setPosition(value);
+  }
+
+  /**
+   * Get the servo position.
+   *
+   * <p>Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
+   *
+   * @return Position from 0.0 to 1.0.
+   */
+  public double get() {
+    return getPosition();
+  }
+
+  /**
+   * Set the servo angle.
+   *
+   * <p>Assume that the servo angle is linear with respect to the PWM value (big assumption, need to
+   * test).
+   *
+   * <p>Servo angles that are out of the supported range of the servo simply "saturate" in that
+   * direction In other words, if the servo has a range of (X degrees to Y degrees) than angles of
+   * less than X result in an angle of X being set and angles of more than Y degrees result in an
+   * angle of Y being set.
+   *
+   * @param degrees The angle in degrees to set the servo.
+   */
+  public void setAngle(double degrees) {
+    if (degrees < kMinServoAngle) {
+      degrees = kMinServoAngle;
+    } else if (degrees > kMaxServoAngle) {
+      degrees = kMaxServoAngle;
+    }
+
+    setPosition(((degrees - kMinServoAngle)) / getServoAngleRange());
+  }
+
+  /**
+   * Get the servo angle.
+   *
+   * <p>Assume that the servo angle is linear with respect to the PWM value (big assumption, need to
+   * test).
+   *
+   * @return The angle in degrees to which the servo is set.
+   */
+  public double getAngle() {
+    return getPosition() * getServoAngleRange() + kMinServoAngle;
+  }
+
+  private double getServoAngleRange() {
+    return kMaxServoAngle - kMinServoAngle;
+  }
+
+  /*
+   * Live Window code, only does anything if live window is activated.
+   */
+  public String getSmartDashboardType() {
+    return "Servo";
+  }
+
+  private ITable m_table;
+  private ITableListener m_tableListener;
+
+  @Override
+  public void initTable(ITable subtable) {
+    m_table = subtable;
+    updateTable();
+  }
+
+  @Override
+  public void updateTable() {
+    if (m_table != null) {
+      m_table.putNumber("Value", get());
+    }
+  }
+
+  @Override
+  public void startLiveWindowMode() {
+    m_tableListener = (source, key, value, isNew) -> set((double) value);
+    m_table.addTableListener("Value", m_tableListener, true);
+  }
+
+  @Override
+  public void stopLiveWindowMode() {
+    // TODO: Broken, should only remove the listener from "Value" only.
+    m_table.removeTableListener(m_tableListener);
+  }
+}