For C++: The PIDController loop had been changed to run an infinite loop
with a Wait(period) rather than using the Notifier class to schedule
exact runs of the CallCalculate command. Essentially a revert to bb50f4b134,
accounting for more recent changes.
For Java: A similar problem had developed; essentially, a TimerTask used
to be used and at some point was changed to a Runnable. The Runnable had
an infinite loop with a Wait; TimerTask actually schedules things reasonably
(although it is not strictly real-time). Also, there were some
Thread-safety issues which I fixed.
Although Java and C++ had similar issues, they seem to have developed
these issues independently.
Changes have been tested on the GearsBot in both C++ and Java (and it
works).
Change-Id: I478cb8bfd77cd2d031f8e343d0b8193b602dcc2a
Squashed commit of the following:
commit f317b3522e312cf7e7bb9eb0494f2f96a7f6363c
Author: Kevin O'Connor <koconnor@usfirst.org>
Date: Mon Oct 20 17:15:46 2014 -0400
Send unhandled exceptions back to the DS.
Change-Id: I0e658fdb6d43593ee20457f20f71f4f4cd2d21c3
commit f834ef8c791945697ad483c27b4167eb917ac242
Author: Kevin O'Connor <koconnor@usfirst.org>
Date: Mon Oct 20 16:05:24 2014 -0400
Add StackTrace to Java errors
Change-Id: I83b162afcc5f294703705770fbcd8623b0895539
commit 02e040b0c79067ce046ada29e26004e0460fceb0
Author: Kevin O'Connor <koconnor@usfirst.org>
Date: Mon Oct 20 15:07:44 2014 -0400
HAL Errors to DS in Java
Change-Id: I5fb51e4066bbc26ea59ca513c03c5ec5ace98831
commit 03775ddc42b129c27fdf403f17f0796009311c3c
Author: Kevin O'Connor <koconnor@usfirst.org>
Date: Mon Oct 20 13:38:18 2014 -0400
Update AnalogInput to report errors for getting and setting sample rate
Change-Id: I00eb78f52fc5b17a60bc84456f0ec9842cc40ef7
commit 4c10cb79612ae81e3cbb6bd4d6da8cf3b8955821
Author: Kevin O'Connor <koconnor@usfirst.org>
Date: Mon Oct 20 11:46:03 2014 -0400
Define errors in HAL
Change-Id: I96595472e42ba61f0f3d0da17caf01a748d0422a
commit 56cb5dcd93e5e849a016f63ac9d0dc245a23eb2b
Author: Kevin O'Connor <koconnor@usfirst.org>
Date: Fri Oct 17 10:59:29 2014 -0400
Throttle errors (1 report per second per error code) and fix issue with GetTime conflicting with GetTime from Timer.h/Timer.cpp
Change-Id: Ibe4dc2e400fc4671b240b876a46959256ea65ad7
commit 71c78826e548682ecd0c1548255f8a6552cece32
Author: Kevin O'Connor <koconnor@usfirst.org>
Date: Thu Oct 16 16:41:04 2014 -0400
Feed errors to DS from C++
Change-Id: I009a7798499fd93e9fdd976ff00aa74c0bd094ae
commit 81030c6cee7f18a5ddf0e95c4e402a6cf7b5de6c
Author: Kevin O'Connor <koconnor@usfirst.org>
Date: Thu Oct 16 16:40:50 2014 -0400
Don't try to de-mangle lines without any symbols in them
Change-Id: Icea02494b68f2ec9116d6cbf20a35a3a132234f8
Change-Id: If7717025b03914183736ccd95da5c9d49819a6f3
Make axes and POVs 0-based like they are on the DS
Correct default joystick axis numbers to be 0-based
Fix array dimensions for joystick axis values
Increase the number of joystick ports to the maximum 6 that the DS supports
Change-Id: I16d0e6e636188cbdd9cd7bfa0453a62466a55093
Axis counts other than six and POVs are both present in C++ and Java now
Add dynamic joystick axis counts, up to 12
Change-Id: Ieade5e61a89df822df8702cb32326e4635558778
Add support for POVs in C++
Change-Id: I12dc0fcaca605a256ddcf990eebde45767229171
Make POVs work in Java
Change-Id: Ie2d98adb416c1930f058bdd21c3e7d26289df503
Add all of the most recent headers and .SOs
Also make DriverStation work with the new FRC comm protocol, using the new
functions for getting status data
Change-Id: I1c7fc5f90e72c5fbebf87d9923ce0967ed0ef3bc
Initial HAL support for v13 ds
Change-Id: I9a7f37ef8e24241598fa3981cb3df30c07c52e0f
New ds stuff in the HAL
Change-Id: I025910625453baf63f79f49bbc70ba8b2f093f50
New ds stuff in C++
Joysticks are still todo
Driver station IO is pulled out
Change-Id: I1bb59037c097713bd943e7bef00e12f67f13c3ac
New ds works in C++ and Java. Joysticks still todo
Change-Id: Ic93f8686856761badc592eceaf05964f52355578
Make joysticks work again with the v13 image protocol
Change-Id: Ief7ee95d3398c2262ca07ab7d60499af3c8f60f7
Re-number MXP DIO to match pinout (include SPI and I2C pins) (fixes artf2664)
Change PWM MXP mapping to accommodate DIO re-mapping
This re-implementation also fixes artf2668 for C++ and Java
Change the test bench to reflect this change also
Change-Id: If30bd6a85a9f1f619fbde06a4ecd595a15fd28f7
When interrupts are cancelled on any interruptable class, the resource is now
freed. Previously, the resource was only freed if the object is destructed
before CancelInterrupts() is called, so it was impossible to create and
destruct more than 8 interrupts.
The interrupts resource object is now in InterruptableSensorBase instead of
SensorBase.
A synchronous interrupt integration test was added.
Change-Id: I0806176340cecd4c1480dd8f043474cc05919f24
The gyro class no longer attempts to set a default deadband, but it still
has an optional SetDeadband() method.
The gyro integration tests were modified and still pass consistently.
Change-Id: I08a97b00b98b49b0a3c63306fcc809857523af2b
During calibration, the Gyro class sets the accumulator deadband to contain
whatever the farthest sample from the center was. The integration test
passes now.
A SetDeadBand method was added to the Gyro class for teams to set their own
deadbands.
Change-Id: Idbe4c279e2991b4daed4d4cf3bfaf605d4ee25c0
Timer::Get now compensates for the FPGA time rolling over after 71 minutes
UltraSonic::Ping doesn't bother disabling automatic mode, since it asserts
that it's not in automatic mode on the line before.
Change-Id: I6b0f45327c453abd8a846ec8da0f9676e210d909
SmartDashboard does usage reporting now (or will when it's implemented
in the HAL).
Global errors are raised in C++ when problems happen, since there is
no SmartDashboard instance. Previously, no error reporting was done
at all.
GetData was uncommented.
Change-Id: I3331eb9f09924d1d0028e3fa041f0cf68caa5cf5
Analog interrupts now work in C++.
The interrupts Resource was moved from a global in DigitalInput
to a static member of SensorBase.
An analog interrupt IT was added, and the digital interrupt one modified
to prevent a linker error.
Change-Id: I9a300daafed15e9666a4ccb405a509615e3dbb06
Modules aren't used anymore in wpilibc and wpilibj, so the hal functions
that references them and and JNI bindings for these functions have been
pulled out.
Both Counter classes were also modified because they still referenced
modules.
Change-Id: Ic01feb145a4ed5f08cd55f140867c721f5ee7b10
Analog accumulators now wait for the amount of time a full sample
(including oversampling and averaging) lasts after
AnalogInput::ResetAccumulator() is called, so they don't return
old values after being reset.
This delay should be microseconds long and will only happen
when an accumulator is reset.
A new test is is the C++ TiltPanCameraTest that tests this behavior
with the Gyro class.
Change-Id: I1b3ffdeec187959f95c5e637a6d428c9a4bc2cf4
The LiveWindow singleton instance shouldn't be a global static
variable, since the order that global statics are constructed is
undefined, and it's required by other constructors.
Change-Id: I2edccc1f723f0ea41b1347379b3e3778a50afcdc
Previously, negative output voltages were unpacked incorrectly.
Now, they're requested as percentages, unpacked, and then scaled
in software based on the bus voltage. The output voltage and
bus voltage shouldn't ever be out of sync, since they're in
the same message.
Change-Id: I745fffd0faa6cbaab967240271e6cfa8653212e2
You can get the state of the USER button with GetUserButton() in
C++ or Utility.getUserButton() in java.
Change-Id: I923e62cab5e621ef43fed503acab5c0d751264fb
Calling CANJaguar::Disable() now makes NetComms stop periodic
setpoint messages, so the motor actually stops until EnableControl()
is called again.
Change-Id: Ib4eb4ad5f729be5c74e799f02ed000511de1e03d
When an error is reported or an assertion fails in C++, a line is now
printed with information about where the error occured, and a stack trace
is printed.
The stacktrace isn't implemented in the HAL because it's not
hardware-dependent, so StackTrace.hpp and StackTrace.cpp are gone.
The Eclipse project template is modified to include "-export-dynamic" in
the linker options, which is necessary for stack traces.
Change-Id: Ie86c14185b13ed603d0fe6467e87ba4f731b1913
