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Relay stores nt value in enum (#460)

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Austin Shalit
2017-05-07 09:05:15 -07:00
committed by Peter Johnson
parent 846eee2f6c
commit f0c413f40d
1 changed files with 24 additions and 22 deletions
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46
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
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@@ -15,6 +15,9 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
import java.util.Arrays;
import java.util.Optional;
import static java.util.Objects.requireNonNull;
/**
@@ -49,7 +52,24 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
* The state to drive a Relay to.
*/
public enum Value {
kOff, kOn, kForward, kReverse
kOff("Off"),
kOn("On"),
kForward("Forward"),
kReverse("Reverse");
private final String m_prettyValue;
Value(String prettyValue) {
m_prettyValue = prettyValue;
}
public String getPrettyValue() {
return m_prettyValue;
}
public static Optional<Value> getValueOf(String value) {
return Arrays.stream(Value.values()).filter(v -> v.m_prettyValue.equals(value)).findFirst();
}
}
/**
@@ -331,32 +351,14 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
@Override
public void updateTable() {
if (m_table != null) {
if (get() == Value.kOn) {
m_table.putString("Value", "On");
} else if (get() == Value.kForward) {
m_table.putString("Value", "Forward");
} else if (get() == Value.kReverse) {
m_table.putString("Value", "Reverse");
} else {
m_table.putString("Value", "Off");
}
m_table.putString("Value", get().getPrettyValue());
}
}
@Override
public void startLiveWindowMode() {
m_tableListener = (source, key, value, isNew) -> {
String val = ((String) value);
if (val.equals("Off")) {
set(Value.kOff);
} else if (val.equals("On")) {
set(Value.kOn);
} else if (val.equals("Forward")) {
set(Value.kForward);
} else if (val.equals("Reverse")) {
set(Value.kReverse);
}
};
m_tableListener =
(source, key, value, isNew) -> set(Value.getValueOf((String) value).orElse(Value.kOff));
m_table.addTableListener("Value", m_tableListener, true);
}