Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-30 02:31:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix exception when getting a relay in kReverse Direction. Fixes #458 (#525)

Browse Source 
Add additional tests that would have caught this previously.
This commit is contained in:
sciencewhiz
2017-05-08 21:54:03 -07:00
committed by Peter Johnson
parent fc81298fac
commit f32e696fef
4 changed files with 87 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
View File

@@ -235,25 +235,31 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
* @return The current state of the relay as a Relay::Value
*/
public Value get() {
if (RelayJNI.getRelay(m_forwardHandle)) {
if (m_direction == Direction.kForward) {
if (RelayJNI.getRelay(m_forwardHandle)) {
return Value.kOn;
} else {
return Value.kOff;
}
} else if (m_direction == Direction.kReverse) {
if (RelayJNI.getRelay(m_reverseHandle)) {
return Value.kOn;
} else {
if (m_direction == Direction.kForward) {
return Value.kOff;
}
} else {
if (RelayJNI.getRelay(m_forwardHandle)) {
if (RelayJNI.getRelay(m_reverseHandle)) {
return Value.kOn;
} else {
return Value.kForward;
}
}
} else {
if (RelayJNI.getRelay(m_reverseHandle)) {
if (m_direction == Direction.kReverse) {
return Value.kOn;
} else {
return Value.kReverse;
}
} else {
return Value.kOff;
if (RelayJNI.getRelay(m_reverseHandle)) {
return Value.kReverse;
} else {
return Value.kOff;
}
}
}
}