diff --git a/hal/src/main/java/org/wpilib/hardware/hal/I2CJNI.java b/hal/src/main/java/org/wpilib/hardware/hal/I2CJNI.java index dde6f1b840..a87ae0e1be 100644 --- a/hal/src/main/java/org/wpilib/hardware/hal/I2CJNI.java +++ b/hal/src/main/java/org/wpilib/hardware/hal/I2CJNI.java @@ -15,10 +15,9 @@ public class I2CJNI extends JNIWrapper { /** * Initializes the I2C port. * - *

Opens the port if necessary and saves the handle. If opening the MXP port, also sets up the - * channel functions appropriately. + *

Opens the port if necessary and saves the handle. * - * @param port The port to open, 0 for the on-board, 1 for the MXP. + * @param port The port to open. * @see "HAL_InitializeI2C" */ public static native void i2CInitialize(int port); @@ -29,7 +28,7 @@ public class I2CJNI extends JNIWrapper { *

This is a lower-level interface to the I2C hardware giving you more control over each * transaction. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @param address The address of the register on the device to be read/written. * @param dataToSend Buffer of data to send as part of the transaction. * @param sendSize Number of bytes to send as part of the transaction. @@ -52,7 +51,7 @@ public class I2CJNI extends JNIWrapper { *

This is a lower-level interface to the I2C hardware giving you more control over each * transaction. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @param address The address of the register on the device to be read/written. * @param dataToSend Buffer of data to send as part of the transaction. * @param sendSize Number of bytes to send as part of the transaction. @@ -74,7 +73,7 @@ public class I2CJNI extends JNIWrapper { * *

Writes a single byte to a register on a device and wait until the transaction is complete. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @param address The address of the register on the device to be written. * @param dataToSend The byte to write to the register on the device. * @param sendSize Number of bytes to send. @@ -88,7 +87,7 @@ public class I2CJNI extends JNIWrapper { * *

Writes a single byte to a register on a device and wait until the transaction is complete. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @param address The address of the register on the device to be written. * @param dataToSend The byte to write to the register on the device. * @param sendSize Number of bytes to send. @@ -103,7 +102,7 @@ public class I2CJNI extends JNIWrapper { *

Reads bytes from a device. Most I2C devices will auto-increment the register pointer * internally allowing you to read consecutive registers on a device in a single transaction. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @param address The register to read first in the transaction. * @param dataReceived A ByteBuffer to store the data read from the device. * @param receiveSize The number of bytes to read in the transaction. @@ -119,7 +118,7 @@ public class I2CJNI extends JNIWrapper { *

Reads bytes from a device. Most I2C devices will auto-increment the register pointer * internally allowing you to read consecutive registers on a device in a single transaction. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @param address The register to read first in the transaction. * @param dataReceived A byte array to store the data read from the device. * @param receiveSize The number of bytes to read in the transaction. @@ -131,7 +130,7 @@ public class I2CJNI extends JNIWrapper { /** * Closes an I2C port. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @see "HAL_CloseI2C" */ public static native void i2CClose(int port); diff --git a/hal/src/main/native/include/wpi/hal/I2C.h b/hal/src/main/native/include/wpi/hal/I2C.h index 67bb616a13..0f0739834a 100644 --- a/hal/src/main/native/include/wpi/hal/I2C.h +++ b/hal/src/main/native/include/wpi/hal/I2C.h @@ -22,9 +22,8 @@ extern "C" { * Initializes the I2C port. * * Opens the port if necessary and saves the handle. - * If opening the MXP port, also sets up the channel functions appropriately. * - * @param[in] port The port to open, 0 for the on-board, 1 for the MXP. + * @param[in] port The port to open. * @param[out] status Error status variable. 0 on success. */ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status); @@ -35,7 +34,7 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status); * This is a lower-level interface to the I2C hardware giving you more control * over each transaction. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @param deviceAddress The address of the register on the device to be * read/written. * @param dataToSend Buffer of data to send as part of the transaction. @@ -54,7 +53,7 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress, * Writes a single byte to a register on a device and wait until the * transaction is complete. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @param deviceAddress The address of the register on the device to be * written. * @param dataToSend The byte to write to the register on the device. @@ -71,7 +70,7 @@ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress, * Most I2C devices will auto-increment the register pointer internally allowing * you to read consecutive registers on a device in a single transaction. * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. * @param deviceAddress The register to read first in the transaction. * @param count The number of bytes to read in the transaction. * @param buffer A pointer to the array of bytes to store the data read from the @@ -84,7 +83,7 @@ int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer, /** * Closes an I2C port * - * @param port The I2C port, 0 for the on-board, 1 for the MXP. + * @param port The I2C port. */ void HAL_CloseI2C(HAL_I2CPort port); #ifdef __cplusplus diff --git a/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja b/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja index 5eab39dfa6..17d3240c36 100644 --- a/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja +++ b/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja @@ -31,8 +31,7 @@ class {{ name }} : public PWMMotorController { /** * Constructor for a {{ DisplayName }} connected via PWM. * - * @param channel The PWM channel that the {{ DisplayName }} is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the {{ DisplayName }} is attached to. */ explicit {{ name }}(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp index bf3b861163..44dcabdfcc 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp @@ -31,8 +31,7 @@ class Koors40 : public PWMMotorController { /** * Constructor for a Koors40 connected via PWM. * - * @param channel The PWM channel that the Koors40 is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the Koors40 is attached to. */ explicit Koors40(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp index ebd9eae6a0..4ee4446936 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp @@ -31,8 +31,7 @@ class PWMSparkFlex : public PWMMotorController { /** * Constructor for a SPARK Flex connected via PWM. * - * @param channel The PWM channel that the SPARK Flex is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the SPARK Flex is attached to. */ explicit PWMSparkFlex(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp index 54102a6e6b..8614ba0faf 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp @@ -31,8 +31,7 @@ class PWMSparkMax : public PWMMotorController { /** * Constructor for a SPARK MAX connected via PWM. * - * @param channel The PWM channel that the SPARK MAX is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the SPARK MAX is attached to. */ explicit PWMSparkMax(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp index 2b1e56932d..601a570d28 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp @@ -31,8 +31,7 @@ class PWMTalonFX : public PWMMotorController { /** * Constructor for a Talon FX connected via PWM. * - * @param channel The PWM channel that the Talon FX is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the Talon FX is attached to. */ explicit PWMTalonFX(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp index 412b5a9de5..dd84d61e04 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp @@ -31,8 +31,7 @@ class PWMTalonSRX : public PWMMotorController { /** * Constructor for a Talon SRX connected via PWM. * - * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the Talon SRX is attached to. */ explicit PWMTalonSRX(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp index 156b94e6d5..7b0e027fd1 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp @@ -31,8 +31,7 @@ class PWMVenom : public PWMMotorController { /** * Constructor for a Venom connected via PWM. * - * @param channel The PWM channel that the Venom is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the Venom is attached to. */ explicit PWMVenom(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp index 35435176a8..2f87f72ad2 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp @@ -31,8 +31,7 @@ class PWMVictorSPX : public PWMMotorController { /** * Constructor for a Victor SPX connected via PWM. * - * @param channel The PWM channel that the Victor SPX is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the Victor SPX is attached to. */ explicit PWMVictorSPX(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp index 052ec7e9d5..62d3a120bd 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp @@ -31,8 +31,7 @@ class Spark : public PWMMotorController { /** * Constructor for a SPARK connected via PWM. * - * @param channel The PWM channel that the SPARK is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the SPARK is attached to. */ explicit Spark(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp index d49faef4a1..8e7d19b157 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp @@ -31,8 +31,7 @@ class SparkMini : public PWMMotorController { /** * Constructor for a SPARKMini connected via PWM. * - * @param channel The PWM channel that the SPARKMini is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the SPARKMini is attached to. */ explicit SparkMini(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp index c104b64fd8..c009a83f50 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp @@ -31,8 +31,7 @@ class Talon : public PWMMotorController { /** * Constructor for a Talon connected via PWM. * - * @param channel The PWM channel that the Talon is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the Talon is attached to. */ explicit Talon(int channel); diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp index ea711c15ad..6752df1c54 100644 --- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp +++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp @@ -31,8 +31,7 @@ class VictorSP : public PWMMotorController { /** * Constructor for a Victor SP connected via PWM. * - * @param channel The PWM channel that the Victor SP is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the Victor SP is attached to. */ explicit VictorSP(int channel); diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp index 8fdbffa02e..8e7e47acaf 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp @@ -31,8 +31,7 @@ class AnalogInput : public wpi::util::Sendable, /** * Construct an analog input. * - * @param channel The channel number on the roboRIO to represent. 0-3 are - * on-board 4-7 are on the MXP port. + * @param channel The SmartIO channel to use. */ explicit AnalogInput(int channel); diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp index 5008c4404d..407666ba7d 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp @@ -28,7 +28,7 @@ class DigitalInput : public wpi::util::Sendable, * * Creates a digital input given a channel. * - * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port + * @param channel The SmartIO channel */ explicit DigitalInput(int channel); diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp index 7ce1973000..387816a987 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp @@ -27,8 +27,7 @@ class DigitalOutput : public wpi::util::Sendable, * * Create a digital output given a channel. * - * @param channel The digital channel 0-9 are on-board, 10-25 are on the MXP - * port + * @param channel The SmartIO channel */ explicit DigitalOutput(int channel); diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp index 365195959b..9508bdeffe 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp @@ -51,8 +51,7 @@ class PWM : public wpi::util::Sendable, public wpi::util::SendableHelper { * 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 + * @param channel The SmartIO channel number. * @param registerSendable If true, adds this instance to SendableRegistry */ explicit PWM(int channel, bool registerSendable = true); diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp index facb50aba8..289ade70eb 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp @@ -92,11 +92,10 @@ class PWMMotorController protected: /** - * Constructor for a PWM Motor %Controller connected via PWM. + * Constructor for a PWM Motor Controller connected via PWM. * * @param name Name to use for SendableRegistry - * @param channel The PWM channel that the controller is attached to. 0-9 are - * on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel that the controller is attached to. */ PWMMotorController(std::string_view name, int channel); diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp index 7577601582..9ab51179ba 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp @@ -34,9 +34,7 @@ class AnalogPotentiometer * This will calculate the result from the fullRange times the fraction of the * supply voltage, plus the offset. * - * @param channel The Analog Input channel number on the roboRIO the - * potentiometer is plugged into. 0-3 are on-board and 4-7 - * are on the MXP port. + * @param channel The SmartIO channel this potentiometer is plugged into. * @param fullRange The value (in desired units) representing the full * 0-3.3V range of the input. * @param offset The value (in desired units) representing the diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp index d91f6e2d2e..4ece4d88f3 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp @@ -37,10 +37,8 @@ class Encoder : public CounterBase, * * The counter will start counting immediately. * - * @param aChannel The a channel DIO channel. 0-9 are on-board, 10-25 - * are on the MXP port - * @param bChannel The b channel DIO channel. 0-9 are on-board, 10-25 - * are on the MXP port + * @param aChannel The 'a' SmartIO channel. + * @param bChannel The 'b' SmartIO channel. * @param reverseDirection represents the orientation of the encoder and * inverts the output values if necessary so forward * represents positive values. diff --git a/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp index 6d29f4554d..6a6f8c0c7e 100644 --- a/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp @@ -25,8 +25,8 @@ class Robot : public wpi::TimedRobot { } private: - // Creates an ADXL345 accelerometer object on the MXP I2C port - // with a measurement range from -8 to 8 G's + // Creates an ADXL345 accelerometer object with a measurement range from -8 to + // 8 G's wpi::ADXL345_I2C m_accelerometer{wpi::I2C::Port::PORT_0, wpi::ADXL345_I2C::Range::kRange_8G}; }; diff --git a/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja b/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja index ae3030b643..d59ecf7834 100644 --- a/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja +++ b/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja @@ -30,8 +30,7 @@ public class {{ name }} extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the {{ DisplayName }} is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the {{ DisplayName }} is attached to. */ @SuppressWarnings("this-escape") public {{ name }}(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Koors40.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Koors40.java index 47a192b143..a0e1d7c3b7 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Koors40.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Koors40.java @@ -30,8 +30,7 @@ public class Koors40 extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the Koors40 is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the Koors40 is attached to. */ @SuppressWarnings("this-escape") public Koors40(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkFlex.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkFlex.java index 47960e2291..dfc55d9abd 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkFlex.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkFlex.java @@ -30,8 +30,7 @@ public class PWMSparkFlex extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the SPARK Flex is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the SPARK Flex is attached to. */ @SuppressWarnings("this-escape") public PWMSparkFlex(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkMax.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkMax.java index ec9a3f21b6..b6a90ca18e 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkMax.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkMax.java @@ -30,8 +30,7 @@ public class PWMSparkMax extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the SPARK MAX is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the SPARK MAX is attached to. */ @SuppressWarnings("this-escape") public PWMSparkMax(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonFX.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonFX.java index abf41a19a9..dee5ce6a16 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonFX.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonFX.java @@ -30,8 +30,7 @@ public class PWMTalonFX extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the Talon FX is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the Talon FX is attached to. */ @SuppressWarnings("this-escape") public PWMTalonFX(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonSRX.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonSRX.java index 69fe3a20be..54eda91a6a 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonSRX.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonSRX.java @@ -30,8 +30,7 @@ public class PWMTalonSRX extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the Talon SRX is attached to. */ @SuppressWarnings("this-escape") public PWMTalonSRX(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVenom.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVenom.java index f96d98ced6..29bfe28c6f 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVenom.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVenom.java @@ -30,8 +30,7 @@ public class PWMVenom extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the Venom is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the Venom is attached to. */ @SuppressWarnings("this-escape") public PWMVenom(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVictorSPX.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVictorSPX.java index 945a1ad1ea..fb9d578478 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVictorSPX.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVictorSPX.java @@ -30,8 +30,7 @@ public class PWMVictorSPX extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the Victor SPX is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the Victor SPX is attached to. */ @SuppressWarnings("this-escape") public PWMVictorSPX(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Spark.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Spark.java index 90b8f30b0c..9e5002475f 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Spark.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Spark.java @@ -30,8 +30,7 @@ public class Spark extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the SPARK is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the SPARK is attached to. */ @SuppressWarnings("this-escape") public Spark(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/SparkMini.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/SparkMini.java index 623e88668e..c005f928e4 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/SparkMini.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/SparkMini.java @@ -30,8 +30,7 @@ public class SparkMini extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the SPARKMini is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the SPARKMini is attached to. */ @SuppressWarnings("this-escape") public SparkMini(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Talon.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Talon.java index 8012844f8d..0271cf09f1 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Talon.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Talon.java @@ -30,8 +30,7 @@ public class Talon extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the Talon is attached to. */ @SuppressWarnings("this-escape") public Talon(final int channel) { diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/VictorSP.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/VictorSP.java index 216c133a90..102921ffd5 100644 --- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/VictorSP.java +++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/VictorSP.java @@ -30,8 +30,7 @@ public class VictorSP extends PWMMotorController { /** * Constructor. * - * @param channel The PWM channel that the Victor SP is attached to. 0-9 are on-board, 10-19 - * are on the MXP port + * @param channel The SmartIO channel that the Victor SP is attached to. */ @SuppressWarnings("this-escape") public VictorSP(final int channel) { diff --git a/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java b/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java index 63bec0f6b0..672aade96a 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java @@ -15,13 +15,6 @@ import org.wpilib.util.sendable.SendableRegistry; * Analog channel class. * *

Each analog channel is read from hardware as a 12-bit number representing 0V to 3.3V. - * - *

Connected to each analog channel is an averaging and oversampling engine. This engine - * accumulates the specified ( by setAverageBits() and setOversampleBits() ) number of samples - * before returning a new value. This is not a sliding window average. The only difference between - * the oversampled samples and the averaged samples is that the oversampled samples are simply - * accumulated effectively increasing the resolution, while the averaged samples are divided by the - * number of samples to retain the resolution, but get more stable values. */ public class AnalogInput implements Sendable, AutoCloseable { int m_port; // explicit no modifier, private and package accessible. @@ -30,7 +23,7 @@ public class AnalogInput implements Sendable, AutoCloseable { /** * Construct an analog channel. * - * @param channel The channel number to represent. 0-3 are on-board 4-7 are on the MXP port. + * @param channel The SmartIO channel for the analog input. */ @SuppressWarnings("this-escape") public AnalogInput(final int channel) { diff --git a/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java b/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java index 1da94ca8da..9c3b772d32 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java @@ -25,7 +25,7 @@ public class DigitalInput implements AutoCloseable, Sendable { /** * Create an instance of a Digital Input class. Creates a digital input given a channel. * - * @param channel the DIO channel for the digital input 0-9 are on-board, 10-25 are on the MXP + * @param channel the SmartIO channel for the digital input */ @SuppressWarnings("this-escape") public DigitalInput(int channel) { diff --git a/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java b/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java index dfa6eabda7..0d86b75e37 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java @@ -26,8 +26,7 @@ public class DigitalOutput implements AutoCloseable, Sendable { /** * Create an instance of a digital output. Create an instance of a digital output given a channel. * - * @param channel the DIO channel to use for the digital output. 0-9 are on-board, 10-25 are on - * the MXP + * @param channel the SmartIO channel to use for the digital output. */ @SuppressWarnings("this-escape") public DigitalOutput(int channel) { diff --git a/wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java b/wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java index b23eb4d849..8658943a1e 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java @@ -42,7 +42,7 @@ public class PWM implements Sendable, AutoCloseable { * *

By default, adds itself to SendableRegistry. * - * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel number. */ public PWM(final int channel) { this(channel, true); @@ -51,7 +51,7 @@ public class PWM implements Sendable, AutoCloseable { /** * Allocate a PWM given a channel. * - * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port + * @param channel The SmartIO channel number. * @param registerSendable If true, adds this instance to SendableRegistry */ @SuppressWarnings("this-escape") diff --git a/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java b/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java index a31bb3a4df..76389d71dc 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java @@ -38,8 +38,7 @@ public abstract class PWMMotorController extends MotorSafety * Constructor. * * @param name Name to use for SendableRegistry - * @param channel The PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are - * on the MXP port + * @param channel The SmartIO channel that the controller is attached to. */ @SuppressWarnings("this-escape") protected PWMMotorController(final String name, final int channel) { diff --git a/wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogPotentiometer.java b/wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogPotentiometer.java index 8c4fea2fc2..a1e07dab9b 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogPotentiometer.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogPotentiometer.java @@ -30,8 +30,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable { * point after scaling is 135 degrees. This will calculate the result from the fullRange times the * fraction of the supply voltage, plus the offset. * - * @param channel The analog input channel this potentiometer is plugged into. 0-3 are on-board - * and 4-7 are on the MXP port. + * @param channel The SmartIO channel this potentiometer is plugged into. * @param fullRange The scaling to multiply the fraction by to get a meaningful unit. * @param offset The offset to add to the scaled value for controlling the zero value */ @@ -73,8 +72,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable { * degree potentiometer, and you want the output to be degrees with the starting point as 0 * degrees. The scale value is 270.0(degrees). * - * @param channel The analog input channel this potentiometer is plugged into. 0-3 are on-board - * and 4-7 are on the MXP port. + * @param channel The analog input channel this potentiometer is plugged into. * @param scale The scaling to multiply the voltage by to get a meaningful unit. */ public AnalogPotentiometer(final int channel, double scale) { @@ -100,8 +98,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable { * *

The potentiometer will return a value between 0 and 1.0. * - * @param channel The analog input channel this potentiometer is plugged into. 0-3 are on-board - * and 4-7 are on the MXP port. + * @param channel The analog input channel this potentiometer is plugged into. */ public AnalogPotentiometer(final int channel) { this(channel, 1, 0); diff --git a/wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java b/wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java index 4d69a2c2f7..1d9da0f531 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java @@ -64,8 +64,8 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable { * *

The encoder will start counting immediately. * - * @param channelA The 'a' channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port - * @param channelB The 'b' channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port + * @param channelA The 'a' SmartIO channel. + * @param channelB The 'b' SmartIO channel. * @param reverseDirection represents the orientation of the encoder and inverts the output values * if necessary so forward represents positive values. */ @@ -78,8 +78,8 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable { * *

The encoder will start counting immediately. * - * @param channelA The a channel digital input channel. - * @param channelB The b channel digital input channel. + * @param channelA The 'a' SmartIO channel. + * @param channelB The 'b' SmartIO channel. */ public Encoder(final int channelA, final int channelB) { this(channelA, channelB, false); @@ -90,8 +90,8 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable { * *

The encoder will start counting immediately. * - * @param channelA The a channel digital input channel. - * @param channelB The b channel digital input channel. + * @param channelA The 'a' SmartIO channel. + * @param channelB The 'b' SmartIO channel. * @param reverseDirection represents the orientation of the encoder and inverts the output values * if necessary so forward represents positive values. * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/adxlaccelerometers/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/adxlaccelerometers/Robot.java index 3439b54e59..9474048b69 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/snippets/adxlaccelerometers/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/adxlaccelerometers/Robot.java @@ -13,8 +13,7 @@ import org.wpilib.hardware.bus.I2C; * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html */ public class Robot extends TimedRobot { - // Creates an ADXL345 accelerometer object on the MXP I2C port - // with a measurement range from -8 to 8 G's + // Creates an ADXL345 accelerometer object with a measurement range from -8 to 8 G's ADXL345_I2C m_accelerometer345I2C = new ADXL345_I2C(I2C.Port.PORT_0, ADXL345_I2C.Range.k8G); /** Called once at the beginning of the robot program. */