Renamed folders for consistency, using sim/athena/shared schema (#27)

Rename the following folders:
hal/lib/Athena -> hal/lib/athena
hal/lib/Desktop -> hal/lib/sim
hal/lib/Shared -> hal/lib/shared
wpilibc/Athena -> wpilibc/athena
wpilibc/simulation -> wpilibc/sim

Windows users may need to run gradlew clean after updating.

wpilibc/sim/src/PWM.cpp

@@ -0,0 +1,240 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "PWM.h"
+
+//#include "NetworkCommunication/UsageReporting.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+
+const float PWM::kDefaultPwmPeriod = 5.05;
+const float PWM::kDefaultPwmCenter = 1.5;
+const int32_t PWM::kDefaultPwmStepsDown = 1000;
+const int32_t PWM::kPwmDisabled = 0;
+
+/**
+ * Allocate a PWM given a channel number.
+ *
+ * Checks channel value range and allocates the appropriate channel.
+ * The allocation is only done to help users ensure that they don't double
+ * assign channels.
+ *
+ * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP
+ *                port
+ */
+PWM::PWM(uint32_t channel) {
+  char buf[64];
+
+  if (!CheckPWMChannel(channel)) {
+    snprintf(buf, 64, "PWM Channel %d", channel);
+    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+    return;
+  }
+
+  sprintf(buf, "pwm/%d", channel);
+  impl = new SimContinuousOutput(buf);
+  m_channel = channel;
+  m_eliminateDeadband = false;
+
+  m_centerPwm = kPwmDisabled;  // In simulation, the same thing.
+}
+
+PWM::~PWM() {
+  if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Optionally eliminate the deadband from a speed controller.
+ *
+ * @param eliminateDeadband If true, set the motor curve on the Jaguar to
+ *                          eliminate the deadband in the middle of the range.
+ *                          Otherwise, keep the full range without modifying
+ *                          any values.
+ */
+void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
+  m_eliminateDeadband = eliminateDeadband;
+}
+
+/**
+ * Set the bounds on the PWM values.
+ *
+ * This sets the bounds on the PWM values for a particular each type of
+ * controller. The values determine the upper and lower speeds as well as the
+ * deadband bracket.
+ *
+ * @param max         The Minimum pwm value
+ * @param deadbandMax The high end of the deadband range
+ * @param center      The center speed (off)
+ * @param deadbandMin The low end of the deadband range
+ * @param min         The minimum pwm value
+ */
+void PWM::SetBounds(int32_t max, int32_t deadbandMax, int32_t center,
+                    int32_t deadbandMin, int32_t min) {
+  // Nothing to do in simulation.
+}
+
+/**
+ * Set the bounds on the PWM pulse widths.
+ *
+ * This sets the bounds on the PWM values for a particular type of controller.
+ * The values determine the upper and lower speeds as well as the deadband
+ * bracket.
+ *
+ * @param max         The max PWM pulse width in ms
+ * @param deadbandMax The high end of the deadband range pulse width in ms
+ * @param center      The center (off) pulse width in ms
+ * @param deadbandMin The low end of the deadband pulse width in ms
+ * @param min         The minimum pulse width in ms
+ */
+void PWM::SetBounds(double max, double deadbandMax, double center,
+                    double deadbandMin, double min) {
+  // Nothing to do in simulation.
+}
+
+/**
+ * Set the PWM value based on a position.
+ *
+ * This is intended to be used by servos.
+ *
+ * @pre SetMaxPositivePwm() called.
+ * @pre SetMinNegativePwm() called.
+ *
+ * @param pos The position to set the servo between 0.0 and 1.0.
+ */
+void PWM::SetPosition(float pos) {
+  if (pos < 0.0) {
+    pos = 0.0;
+  } else if (pos > 1.0) {
+    pos = 1.0;
+  }
+
+  impl->Set(pos);
+}
+
+/**
+ * Get the PWM value in terms of a position.
+ *
+ * This is intended to be used by servos.
+ *
+ * @pre SetMaxPositivePwm() called.
+ * @pre SetMinNegativePwm() called.
+ *
+ * @return The position the servo is set to between 0.0 and 1.0.
+ */
+float PWM::GetPosition() const {
+  float value = impl->Get();
+  if (value < 0.0) {
+    return 0.0;
+  } else if (value > 1.0) {
+    return 1.0;
+  } else {
+    return value;
+  }
+}
+
+/**
+ * Set the PWM value based on a speed.
+ *
+ * This is intended to be used by speed controllers.
+ *
+ * @pre SetMaxPositivePwm() called.
+ * @pre SetMinPositivePwm() called.
+ * @pre SetCenterPwm() called.
+ * @pre SetMaxNegativePwm() called.
+ * @pre SetMinNegativePwm() called.
+ *
+ * @param speed The speed to set the speed controller between -1.0 and 1.0.
+ */
+void PWM::SetSpeed(float speed) {
+  // clamp speed to be in the range 1.0 >= speed >= -1.0
+  if (speed < -1.0) {
+    speed = -1.0;
+  } else if (speed > 1.0) {
+    speed = 1.0;
+  }
+
+  impl->Set(speed);
+}
+
+/**
+ * Get the PWM value in terms of speed.
+ *
+ * This is intended to be used by speed controllers.
+ *
+ * @pre SetMaxPositivePwm() called.
+ * @pre SetMinPositivePwm() called.
+ * @pre SetMaxNegativePwm() called.
+ * @pre SetMinNegativePwm() called.
+ *
+ * @return The most recently set speed between -1.0 and 1.0.
+ */
+float PWM::GetSpeed() const {
+  float value = impl->Get();
+  if (value > 1.0) {
+    return 1.0;
+  } else if (value < -1.0) {
+    return -1.0;
+  } else {
+    return value;
+  }
+}
+
+/**
+ * Set the PWM value directly to the hardware.
+ *
+ * Write a raw value to a PWM channel.
+ *
+ * @param value Raw PWM value.
+ */
+void PWM::SetRaw(unsigned short value) {
+  wpi_assert(value == kPwmDisabled);
+  impl->Set(0);
+}
+
+/**
+ * Slow down the PWM signal for old devices.
+ *
+ * @param mult The period multiplier to apply to this channel
+ */
+void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
+  // Do nothing in simulation.
+}
+
+void PWM::ValueChanged(ITable* source, llvm::StringRef key,
+                       std::shared_ptr<nt::Value> value, bool isNew) {
+  if (!value->IsDouble()) return;
+  SetSpeed(value->GetDouble());
+}
+
+void PWM::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutNumber("Value", GetSpeed());
+  }
+}
+
+void PWM::StartLiveWindowMode() {
+  SetSpeed(0);
+  if (m_table != nullptr) {
+    m_table->AddTableListener("Value", this, true);
+  }
+}
+
+void PWM::StopLiveWindowMode() {
+  SetSpeed(0);
+  if (m_table != nullptr) {
+    m_table->RemoveTableListener(this);
+  }
+}
+
+std::string PWM::GetSmartDashboardType() const { return "Speed Controller"; }
+
+void PWM::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> PWM::GetTable() const { return m_table; }