Merge "Fixed FRCSim artf2615: added more thorough cleaning system to Makefile."

Change-Id: I2e26b5480a1c4340bcf67c676dc7391c58b77bd5

eclipse-plugins/.gitattributes

@@ -1,3 +1,4 @@
 *runcppprogram text eol=lf
 *runjavaprogram text eol=lf
-
+*robotCommand text eol=lf
+*robotDebugCommand text eol=lf

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp

@@ -8,13 +8,13 @@
 #include "Commands/Shoot.h"
 
 DriveAndShootAutonomous::DriveAndShootAutonomous() {
+    AddSequential(new CloseClaw());
     AddSequential(new WaitForPressure(), 2);
  	#ifdef REAL
     	// NOTE: Simulation doesn't currently have the concept of hot.
     	AddSequential(new CheckForHotGoal(2));
 	#endif
-    AddSequential(new CloseClaw());
     AddSequential(new SetPivotSetpoint(45));
-    AddSequential(new DriveForward(8, 0.4));
+    AddSequential(new DriveForward(8, 0.3));
     AddSequential(new Shoot());
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp

@@ -29,7 +29,7 @@ DriveTrain::DriveTrain() :
 
 	// Configure encoders
 	rightEncoder = new Encoder(1, 2, true, Encoder::k4X);
-	leftEncoder = new Encoder(5, 6, false, Encoder::k4X); // TODO: Correct encoder module.
+	leftEncoder = new Encoder(3, 4, false, Encoder::k4X);
 	rightEncoder->SetPIDSourceParameter(PIDSource::kDistance);
 	leftEncoder->SetPIDSourceParameter(PIDSource::kDistance);
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp

@@ -7,8 +7,8 @@ Pivot::Pivot() :
 	GetPIDController()->SetContinuous(false);
 	#ifdef SIMULATION
 		// PID is different in simulation.
-		GetPIDController()->SetPID(0.5, 0.00001, 4.5);
-		SetAbsoluteTolerance(2.5);
+		GetPIDController()->SetPID(0.5, 0.001, 2);
+		SetAbsoluteTolerance(5);
 	#endif
 
 	// Motor to move the pivot.

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/Robot.java

@@ -70,8 +70,8 @@ public class Robot extends IterativeRobot {
 	}
 
 	public void autonomousInit() {
-		Command auto = (Command) autoChooser.getSelected();
-		auto.start();
+		autonomousCommand = (Command) autoChooser.getSelected();
+		autonomousCommand.start();
 	}
 
 	// This function is called periodically during autonomous

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveAndShootAutonomous.java

@@ -10,14 +10,14 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  */
 public class DriveAndShootAutonomous extends CommandGroup {
     public DriveAndShootAutonomous() {
+        addSequential(new CloseClaw());
         addSequential(new WaitForPressure(), 2);
         if (Robot.isReal()) {
         	// NOTE: Simulation doesn't currently have the concept of hot. 
         	addSequential(new CheckForHotGoal(2));
-        }	
-        addSequential(new CloseClaw());
+        }
         addSequential(new SetPivotSetpoint(45));
-        addSequential(new DriveForward(8, 0.4));
+        addSequential(new DriveForward(8, 0.3));
         addSequential(new Shoot());
     }
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveForward.java

@@ -11,9 +11,9 @@ import edu.wpi.first.wpilibj.command.Command;
 public class DriveForward extends Command {
 	private double driveForwardSpeed;
 	private double distance;
-	private final double tolerance = .1; // TODO: Was 5
 	private double error;
-	private final double Kp = -1.0 / 5.0;
+	private final double TOLERANCE = .1;
+	private final double KP = -1.0 / 5.0;
 
 	public DriveForward() {
 		this(10, 0.5);
@@ -36,16 +36,16 @@ public class DriveForward extends Command {
 
 	protected void execute() {
 		error = (distance - Robot.drivetrain.getRightEncoder().getDistance());
-		if (driveForwardSpeed * Kp * error >= driveForwardSpeed) {
+		if (driveForwardSpeed * KP * error >= driveForwardSpeed) {
 			Robot.drivetrain.tankDrive(driveForwardSpeed, driveForwardSpeed);
 		} else {
-			Robot.drivetrain.tankDrive(driveForwardSpeed * Kp * error,
-					driveForwardSpeed * Kp * error);
+			Robot.drivetrain.tankDrive(driveForwardSpeed * KP * error,
+					driveForwardSpeed * KP * error);
 		}
 	}
 
 	protected boolean isFinished() {
-		return (Math.abs(error) <= tolerance) || isTimedOut();
+		return (Math.abs(error) <= TOLERANCE) || isTimedOut();
 	}
 
 	protected void end() {

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveWithJoystick.java

@@ -31,4 +31,4 @@ public class DriveWithJoystick extends Command {
 	protected void interrupted() {
 		end();
 	}
-}
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java

@@ -51,7 +51,7 @@ public class DriveTrain extends Subsystem {
 
 		// Configure encoders
 		rightEncoder = new Encoder(1, 2, true, EncodingType.k4X);
-		leftEncoder = new Encoder(5, 6, false, EncodingType.k4X); // XXX: Module 2
+		leftEncoder = new Encoder(3, 4, false, EncodingType.k4X);
 		rightEncoder.setPIDSourceParameter(PIDSourceParameter.kDistance);
 		leftEncoder.setPIDSourceParameter(PIDSourceParameter.kDistance);
 
@@ -126,4 +126,4 @@ public class DriveTrain extends Subsystem {
 	public double getAngle() {
 		return gyro.getAngle();
 	}
-}
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Pivot.java

@@ -29,8 +29,8 @@ public class Pivot extends PIDSubsystem {
 		setAbsoluteTolerance(0.005);
 		getPIDController().setContinuous(false);
 		if (Robot.isSimulation()) { // PID is different in simulation.
-			getPIDController().setPID(0.5, 0.00001, 4.5);
-			setAbsoluteTolerance(2.5);
+			getPIDController().setPID(0.5, 0.001, 2);
+			setAbsoluteTolerance(5);
 		}
 		
 		// Motor to move the pivot.

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.properties

@@ -2,8 +2,10 @@
 username=admin
 password=
 deploy.dir=/home/admin
-deploy.run.command=./runjavaprogram
-deploy.debug.command=./debugjavaprogram
+deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
+deploy.debug.command = /usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar ${deploy.dir}/FRCUserProgram.jar
+deploy.log.file=/var/local/natinst/log/FRC_UserProgram.log
+command.dir=/home/lvuser/
 
 # Libraries to use
 wpilib=${user.home}/wpilib/java/${version}
@@ -34,4 +36,4 @@ dist.jar=${dist.dir}/${jar}
 simulation.dist.jar=${dist.dir}/FRCUserProgramSim.jar
 wpilib.sim=${wpilib}/sim
 wpilib.sim.lib=${wpilib.sim}/lib
-wpilib.sim.tools=${wpilib.sim}/tools
+wpilib.sim.tools=${wpilib.sim}/tools

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.xml

@@ -24,11 +24,11 @@
     <property name="target" value="10.${ip.upper}.${ip.lower}.2" />
      <echo>Target IP: ${target}</echo>
   </target>
-  
+
   <target name="compile" description="Compile the source code.">
     <mkdir dir="${build.dir}"/>
     <echo>[athena-compile] Compiling ${src.dir} with classpath=${classpath} to ${build.dir}</echo>
-    
+
     <javac srcdir="${src.dir}"
      destdir="${build.dir}"
      includeAntRuntime="no"
@@ -40,7 +40,7 @@
      debug="true">
     </javac>
   </target>
-  
+
   <target name="jar" depends="compile">
     <echo>[athena-jar] Making jar ${dist.jar}.</echo>
     <mkdir dir="${dist.dir}" />
@@ -52,16 +52,16 @@
     <pathelement path="${classpath}"/>
     </path>
   </copy>
-  
+
     <jar destfile="${dist.jar}" update="false">
       <manifest>
     	<attribute name="Main-Class" value="edu.wpi.first.wpilibj.RobotBase"/>
     	<attribute name="Robot-Class" value="${robot.class}"/>
     	<attribute name="Class-Path" value="."/>
       </manifest>
-    
+
       <fileset dir="${build.dir}" includes="**/*.class"/>
-      
+
     <zipgroupfileset dir="${build.jars}">
       <include name="**/*.jar" />
     </zipgroupfileset>
@@ -70,37 +70,39 @@
 
   <target name="deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running.">
     <echo>[athena-deploy] Copying code over.</echo>
-    <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}"
-   password="${password}" trust="true"/>
-    <scp file="${wpilib.ant.dir}/runjavaprogram" todir="${username}@${target}:${deploy.dir}"
-   password="${password}" trust="true"/>
+    <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
+    <scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
+
     <echo>[athena-deploy] Starting program.</echo>
     <sshexec host="${target}"
        username="${username}"
        password="${password}"
        trust="true"
-       command="chmod a+x run*program; ${deploy.run.command}"/>
-  </target>
+       command=". /etc/profile.d/natinst-path.sh; chmod a+x run*program; ${deploy.kill.command};"/>
 
-  <target name="debug-deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running in debug mode.">
-    <echo>[athena-debug-deploy] Copying code over.</echo>
-    <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}"
-   password="${password}" trust="true"/>
-   <echo>[athena-debug-deploy] Copying Debug Script Over.</echo>
-   <scp file="${wpilib.ant.dir}/debugjavaprogram" todir="${username}@${target}:${deploy.dir}"
-   password="${password}" trust="true"/>
-    <echo>[athena-debug-deploy] Starting program.</echo>
     <sshexec host="${target}"
        username="${username}"
        password="${password}"
        trust="true"
-       command="chmod a+x debug*program; ${deploy.debug.command}"/>
+       command="tail -f -s 0 -n 1 ${deploy.log.file}"/>
+  </target>
+
+  <target name="debug-deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running.">
+    <echo>[athena-deploy] Copying code over.</echo>
+    <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
+
+    <echo>[athena-deploy] Starting program.</echo>
+    <sshexec host="${target}"
+       username="${username}"
+       password="${password}"
+       trust="true"
+       command=". /etc/profile.d/natinst-path.sh; ${deploy.debug.command}"/>
   </target>
 
   <!-- Simulate -->
   <target name="jar-for-simulation" depends="compile">
 	<echo>[jar-for-simulation] Building jar.</echo>
-	
+
 	<jar destfile="${simulation.dist.jar}">
 	  <manifest>
 		<attribute name="Built-By" value="${user.name}"/>
@@ -123,12 +125,14 @@
 	    </exec>
       </sequential>
       <sequential>
+        <sleep seconds="5"/>
 	    <echo>[simulate] Running DriverStation.</echo>
 	    <java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
           <jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
         </java>
       </sequential>
       <sequential>
+        <sleep seconds="5"/>
 	    <echo>[simulate] Running Code.</echo>
 	    <java jar="${simulation.dist.jar}" fork="true">
           <jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
@@ -146,12 +150,14 @@
 	    </exec>
       </sequential>
       <sequential>
+        <sleep seconds="5"/>
 	    <echo>[debug-simulate] Running DriverStation.</echo>
 	    <java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
           <jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
         </java>
       </sequential>
       <sequential>
+        <sleep seconds="5"/>
 	    <echo>[debug-simulate] Running Code.</echo>
 	    <java jar="${simulation.dist.jar}" fork="true">
           <jvmarg value="-Xdebug" />

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/debugjavaprogram

@@ -1,5 +0,0 @@
-#. ./.profile
-killall java
-sleep 1
-/usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar FRCUserProgram.jar
-#nohup java -Djna.library.path=$LD_LIBRARY_PATH -Xmx32M -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar FRCUserProgram.jar

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/robotCommand

@@ -0,0 +1,3 @@
+/usr/local/frc/JRE/bin/java
+-jar /home/admin/FRCUserProgram.jar
+

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/runjavaprogram

@@ -1,6 +0,0 @@
-#. ./.profile
-killall java
-killall FRCUserProgram
-sleep 1
-nohup /usr/local/frc/JRE/bin/java -jar FRCUserProgram.jar
-#nohup /usr/local/frc/JRE/bin/java -Djna.library.path=$LD_LIBRARY_PATH -Xmx32M -jar FRCUserProgram.jar

hal/lib/Athena/Digital.cpp

@@ -1554,6 +1554,8 @@ void clearSPIReceivedData(void* spi_pointer, int32_t *status) {}
  * @param port The port to open, 0 for the on-board, 1 for the MXP.
  */
 void i2CInitialize(uint8_t port, int32_t *status) {
+	initializeDigital(status);
+
 	if(port > 1)
 	{
 		//Set port out of range error here
@@ -1570,7 +1572,6 @@ void i2CInitialize(uint8_t port, int32_t *status) {
 		} else if(port == 1) {
 			i2CMXPObjCount++;
 			if (i2CMXPHandle > 0) return;
-			initializeDigital(status);
 			digitalSystem->writeEnableMXPSpecialFunction(digitalSystem->readEnableMXPSpecialFunction(status)|0xC000, status);
 			i2CMXPHandle = i2clib_open("/dev/i2c-1");
 		}

hal/lib/Athena/ctre/PCM.h

@@ -1,6 +1,6 @@
 #ifndef PCM_H_
 #define PCM_H_
-#include "ctre.h"				//BIT Defines + Typedefs
+#include "ctre.h"				//BIT Defines +  Typedefs
 #include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
 #include <pthread.h>
 /* encoder/decoders */

hal/lib/Athena/ctre/PDP.h

@@ -1,6 +1,6 @@
 #ifndef PDP_H_
 #define PDP_H_
-#include "ctre.h"				//BIT Defines + Typedefs
+#include "ctre.h"				/* BIT Defines + Typedefs */
 #include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
 #include <pthread.h>
 /* encoder/decoders */

simulation/debs/Makefile

@@ -21,7 +21,7 @@ all: debs update-repository
 allwpilib:
 	cd $(allwpilib) && mvn -T 8 clean package -Dwith-eclipse-plugins -DskipTests -DskipIT
 
-orig: clean
+orig: pre-orig-clean
 	cd frcsim-gazebo-plugins && tar --exclude="./debian" -czvf \
 		frcsim-gazebo-plugins_${gazebo-plugins-version}.orig.tar.gz frcsim-gazebo-plugins
 	cd frcsim-gazebo-models && tar --exclude="./debian" -czvf \
@@ -59,7 +59,7 @@ clean-repository:
 	cd repository && reprepro remove $(codename) frcsim-libwpilibsim-cpp
 	cd repository && reprepro remove $(codename) frcsim
 
-clean:
+pre-orig-clean:
 	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild clean
 	cd frcsim-gazebo-models/frcsim-gazebo-models && debuild clean
 	cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild clean
@@ -67,14 +67,26 @@ clean:
 	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild clean
 	cd frcsim/frcsim && debuild clean
 
-	rm -f frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version).orig.tar.gz
-	rm -f frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version).orig.tar.gz
-	rm -f frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version).orig.tar.gz
-	rm -f frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version).orig.tar.gz
+	rm -f frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
+	rm -f frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
+	rm -f frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
+	rm -f frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
 	rm -f frcsim-libwpilib-cpp/frcsim-libwpilib-cpp_$(libwpilibsim-version).orig.tar.gz
-	rm -f frcsim/frcsim_$(frcsim-package-version).orig.tar.gz
+	rm -f frcsim/frcsim_$(frcsim-version).orig.tar.gz
 
-pull: pull-gazebo-plugins pull-eclipse-plugins pull-libwpilibsim-cpp orig
+clean: pre-orig-clean
+	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
+	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
+
+	rm -rf frcsim-gazebo-plugins/frcsim-gazebo-plugins/src
+
+	rm -rf frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/src
+	rm -rf frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/include
+	rm -f frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/Makefile
+	rm -f frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/CMakeLists.txt
+	rm -rf frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/target
+
+pull: clean pull-gazebo-plugins pull-eclipse-plugins pull-libwpilibsim-cpp orig
 
 pull-gazebo-plugins:
 	cp -rf -t frcsim-gazebo-plugins/frcsim-gazebo-plugins/ $(allwpilib)/simulation/frc_gazebo_plugin/*

wpilibc/wpilibC++/lib/CANJaguar.cpp

@@ -30,7 +30,7 @@ constexpr double CANJaguar::kApproxBusVoltage;
 static const int32_t kSendMessagePeriod = 20;
 static const uint32_t kFullMessageIDMask = (CAN_MSGID_API_M | CAN_MSGID_MFR_M | CAN_MSGID_DTYPE_M);
 
-static const int32_t kReceiveStatusAttempts = 5000;
+static const int32_t kReceiveStatusAttempts = 50;
 
 static int32_t sendMessageHelper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t period)
 {

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java

@@ -245,15 +245,15 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 	}
 
 	/**
-	 * set the output set-point value.
-	 *
-	 * The scale and the units depend on the mode the Jaguar is in.
-	 * In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).
-	 * In Voltage Mode, the outputValue is in Volts.
-	 * In Current Mode, the outputValue is in Amps.
-	 * In Speed Mode, the outputValue is in Rotations/Minute.
+	 * Sets the output set-point value.
+	 * 
+	 * The scale and the units depend on the mode the Jaguar is in.<br>
+	 * In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWMJaguar).<br>
+	 * In Voltage Mode, the outputValue is in Volts. <br>
+	 * In Current Mode, the outputValue is in Amps. In Speed Mode, the outputValue is in 
+	 * Rotations/Minute.<br>
 	 * In Position Mode, the outputValue is in Rotations.
-	 *
+	 * 
 	 * @param outputValue The set-point to sent to the motor controller.
 	 * @param syncGroup The update group to add this set() to, pending UpdateSyncGroup().  If 0, update immediately.
 	 */
@@ -306,6 +306,19 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 		verify();
 	}
 
+	/**
+	 * Sets the output set-point value.
+	 * 
+	 * The scale and the units depend on the mode the Jaguar is in.<br>
+	 * In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWMJaguar).<br>
+	 * In Voltage Mode, the outputValue is in Volts. <br>
+	 * In Current Mode, the outputValue is in Amps. In Speed Mode, the outputValue is in 
+	 * Rotations/Minute.<br>
+	 * In Position Mode, the outputValue is in Rotations.
+	 * 
+	 * @param value
+	 *            The set-point to sent to the motor controller.
+	 */
 	public void set(double value) {
 		set(value, (byte)0);
 	}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANJaguarTest.java

@@ -0,0 +1,238 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.*;
+import static org.hamcrest.Matchers.*;
+
+import java.util.logging.Logger;
+
+import org.junit.After;
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Ignore;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.can.ICANData;
+import edu.wpi.first.wpilibj.can.AbstractCANTest;
+import edu.wpi.first.wpilibj.command.AbstractCommandTest;
+import edu.wpi.first.wpilibj.fixtures.CANMotorEncoderFixture;
+import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public class CANJaguarTest extends AbstractComsSetup implements ICANData{
+	private static final Logger logger = Logger.getLogger(CANJaguarTest.class.getName());
+	private CANMotorEncoderFixture me;
+	
+	@Override
+	protected Logger getClassLogger() {
+		return logger;
+	}
+	
+	@Before
+	public void setUp() {
+		me = TestBench.getInstance().getCanJaguarPair();
+		me.setup();
+		me.getMotor().setPercentMode(CANJaguar.kEncoder, 360);
+	}
+	
+	@After
+	public void tearDown() {
+		me.teardown();
+	}
+	
+	
+	@Test
+	public void testDefaultSpeedGet(){
+		assertEquals("CAN Jaguar did not initilize stopped", 0.0, me.getMotor().get(), .01f);
+	}
+	
+	@Test
+	public void testDefaultBusVoltage(){
+		assertEquals("CAN Jaguar did not start at 14 volts", 14.0f, me.getMotor().getBusVoltage(), 2.0f);
+	}
+	
+	@Test
+	public void testDefaultOutputVoltage(){
+		assertEquals("CAN Jaguar did not start with an output voltage of 0", 0.0f, me.getMotor().getOutputVoltage(), 0.3f);
+
+	}
+	
+	@Test
+	public void testDefaultOutputCurrent(){
+		assertEquals("CAN Jaguar did not start with an output current of 0", 0.0f, me.getMotor().getOutputCurrent(), 0.3f);
+	}
+	
+	@Test
+	public void testDefaultTemperature(){
+		double room_temp = 18.0f;
+		assertThat("CAN Jaguar did not start with an initial temperature greater than " + room_temp, me.getMotor().getTemperature(), is(greaterThan(room_temp)));
+	}
+	
+	@Ignore
+	@Test
+	public void testDefaultPosition(){
+		assertEquals("CAN Jaguar did not start with an initial position of zero", 0.0f, me.getMotor().getPosition(), 0.3f);
+	}
+	
+	@Test
+	public void testDefaultSpeed(){
+		assertEquals("CAN Jaguar did not start with an initial speed of zero", 0.0f, me.getMotor().getSpeed(), 0.3f);
+	}
+
+	//TODO Check that attached FPGA encoder is zeroed after a delay
+	//TODO Check that attached FPGA encoder speed is zero after a delay
+	
+	@Test
+	public void testDefaultForwardLimit(){
+		assertTrue("CAN Jaguar did not start with the Forward Limit Switch Off", me.getMotor().getForwardLimitOK());
+	}
+	
+	@Test
+	public void testDefaultReverseLimit(){
+		assertTrue("CAN Jaguar did not start with the Reverse Limit Switch Off", me.getMotor().getReverseLimitOK());
+	}
+	
+	@Test
+	public void testDefaultNoFaults(){
+		assertEquals(0, me.getMotor().getFaults());
+	}
+	
+
+	/**
+	 * Test if we can set a position and reach that position with PID control on
+	 * the Jaguar.
+	 */
+	@Test
+	public void testEncoderPositionPID() {
+	    me.getMotor().setPositionMode(CANJaguar.kQuadEncoder, 360, 5.0, 0.1, 2.0);
+	    me.getMotor().enableControl();
+
+	    double setpoint = me.getMotor().getPosition() + 10.0f;
+
+	    /* It should get to the setpoint within 10 seconds */
+	    me.getMotor().set(setpoint);
+	    Timer.delay(10.0f);
+
+		assertEquals("CAN Jaguar should have reached setpoint with PID control", setpoint, me.getMotor().getPosition(), kEncoderPositionTolerance);
+	}
+
+	/**
+	 * Test if we can get a position in potentiometer mode, using an analog output
+	 * as a fake potentiometer.
+	 */
+	@Test
+	public void testFakePotentiometerPosition() {
+	    me.getMotor().setPercentMode(CANJaguar.kPotentiometer);
+	    me.getMotor().enableControl();
+
+	    me.getFakePot().setVoltage(0.0f);
+	    Timer.delay(kPotentiometerSettlingTime);
+	    assertEquals("CAN Jaguar should have returned the potentiometer position set by the analog output", me.getFakePot().getVoltage() / 3.0f, me.getMotor().getPosition(), kPotentiometerPositionTolerance);
+
+	    me.getFakePot().setVoltage(1.0f);
+	    Timer.delay(kPotentiometerSettlingTime);
+	    assertEquals("CAN Jaguar should have returned the potentiometer position set by the analog output", me.getFakePot().getVoltage() / 3.0f, me.getMotor().getPosition(), kPotentiometerPositionTolerance);
+
+	    me.getFakePot().setVoltage(2.0f);
+	    Timer.delay(kPotentiometerSettlingTime);
+	    assertEquals("CAN Jaguar should have returned the potentiometer position set by the analog output", me.getFakePot().getVoltage() / 3.0f, me.getMotor().getPosition(), kPotentiometerPositionTolerance);
+
+	    me.getFakePot().setVoltage(3.0f);
+	    Timer.delay(kPotentiometerSettlingTime);
+	    assertEquals("CAN Jaguar should have returned the potentiometer position set by the analog output", me.getFakePot().getVoltage() / 3.0f, me.getMotor().getPosition(), kPotentiometerPositionTolerance);
+	}
+
+	/**
+	 * Test if we can limit the Jaguar to only moving in reverse with a fake
+	 * limit switch.
+	 */
+	@Test
+	public void testFakeLimitSwitchForwards() {
+	    me.getMotor().setPercentMode(CANJaguar.kQuadEncoder, 360);
+	    me.getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
+	    me.getForwardLimit().set(true);
+	    me.getReverseLimit().set(false);
+	    me.getMotor().enableControl();
+
+	    me.getMotor().set(0.0f);
+	    Timer.delay(kEncoderSettlingTime);
+
+	    /* Make sure we limits are recognized by the Jaguar. */
+	    assertFalse(me.getMotor().getForwardLimitOK());
+	    assertTrue(me.getMotor().getReverseLimitOK());
+
+	    double initialPosition = me.getMotor().getPosition();
+
+	    /* Drive the speed controller briefly to move the encoder.  If the limit
+	         switch is recognized, it shouldn't actually move. */
+	    me.getMotor().set(1.0f);
+	    Timer.delay(kMotorTime);
+	    me.getMotor().set(0.0f);
+
+	    /* The position should be the same, since the limit switch was on. */
+	    assertEquals("CAN Jaguar should not have moved with the limit switch pressed", initialPosition, me.getMotor().getPosition(), kEncoderPositionTolerance);
+
+	    /* Drive the speed controller in the other direction.  It should actually
+	         move, since only the forward switch is activated.*/
+	    me.getMotor().set(-1.0f);
+	    Timer.delay(kMotorTime);
+	    me.getMotor().set(0.0f);
+
+	    /* The position should have decreased */
+	    assertThat("CAN Jaguar should have moved in reverse while the forward limit was on", me.getMotor().getPosition(), is(lessThan(initialPosition)));
+	}
+
+	/**
+	 * Test if we can limit the Jaguar to only moving forwards with a fake limit
+	 * switch.
+	 */
+	@Test
+	public void testFakeLimitSwitchReverse() {
+	    me.getMotor().setPercentMode(CANJaguar.kQuadEncoder, 360);
+	    me.getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
+	    me.getForwardLimit().set(false);
+	    me.getReverseLimit().set(true);
+	    me.getMotor().enableControl();
+
+	    me.getMotor().set(0.0f);
+	    Timer.delay(kEncoderSettlingTime);
+
+	    /* Make sure we limits are recognized by the Jaguar. */
+	    assertTrue(me.getMotor().getForwardLimitOK());
+	    assertFalse(me.getMotor().getReverseLimitOK());
+
+	    double initialPosition = me.getMotor().getPosition();
+
+	    /* Drive the speed controller backwards briefly to move the encoder.  If
+	         the limit switch is recognized, it shouldn't actually move. */
+	    me.getMotor().set(-1.0f);
+	    Timer.delay(kMotorTime);
+	    me.getMotor().set(0.0f);
+
+	    /* The position should be the same, since the limit switch was on. */
+	    assertEquals("CAN Jaguar should not have moved with the limit switch pressed", initialPosition, me.getMotor().getPosition(), kEncoderPositionTolerance);
+
+	    Timer.delay(kEncoderSettlingTime);
+
+	    /* Drive the speed controller in the other direction.  It should actually
+	         move, since only the reverse switch is activated.*/
+	    me.getMotor().set(1.0f);
+	    Timer.delay(kMotorTime);
+	    me.getMotor().set(0.0f);
+
+	    /* The position should have increased */
+	    assertThat("CAN Jaguar should have moved forwards while the reverse limit was on", me.getMotor().getPosition(), is(greaterThan(initialPosition)));
+	}
+	
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java

@@ -12,24 +12,26 @@ import org.junit.runners.Suite.SuiteClasses;
 
 /**
  * @author jonathanleitschuh
- *
+ * Holds all of the tests in the roor wpilibj directory
+ * Please list alphabetically so that it is easy to determine if a test is missing from the list
  */
 @RunWith(Suite.class)
 @SuiteClasses({
 				AnalogCrossConnectTest.class,
 				AnalogPotentiometerTest.class,
+				CANJaguarTest.class,
 				CounterTest.class,
 				DIOCrossConnectTest.class,
 				EncoderTest.class,
 				MotorEncoderTest.class,
-				PIDTest.class,
 				PCMTest.class,
+				PIDTest.class,
+				PDPTest.class,
 				PrefrencesTest.class,
 				RelayCrossConnectTest.class,
 				SampleTest.class,
 				TiltPanCameraTest.class,
-				TimerTest.class,
-				PDPTest.class
+				TimerTest.class
 				})
 public class WpiLibJTestSuite {
 

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/AbstractCANTest.java

@@ -0,0 +1,78 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.can;
+
+import static org.hamcrest.Matchers.greaterThan;
+import static org.hamcrest.Matchers.is;
+import static org.hamcrest.Matchers.lessThan;
+import static org.junit.Assert.assertThat;
+
+import org.junit.After;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.fixtures.CANMotorEncoderFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public abstract class AbstractCANTest extends AbstractComsSetup implements ICANData{
+	protected CANMotorEncoderFixture me;
+	/**
+	 * Tests that CAN in a certain mode will rotate forwards. The implementation of this method is left up to the extending class because each will require difrent values.
+	 * Should call {@link AbstractCANTest#testRotateForward(double, double)}
+	 */
+	abstract public void testRotateForward();
+	
+	/**
+	 * Tests that CAN in a certain mode will rotate forwards. The implementation of this method is left up to the extending class because each will require difrent values.
+	 * Should call {@link AbstractCANTest#testRotateReverse(double, double)}
+	 */
+	abstract public void testRotateReverse();
+	
+	
+	@After
+	public final void tearDown() throws Exception {
+		me.teardown();
+	}
+	
+	/**
+	 * Tests that a CANMotorEncoderFixture can rotate forward.
+	 * Called by extending TestClasses
+	 * @param stoppedValue the value where the motor will not be spinning in the current mode
+	 * @param runningValue the value where the motor will be spinning in the current mode
+	 */
+	protected void testRotateForward(double stoppedValue, double runningValue){
+		double initialPosition = me.getMotor().getPosition();
+	    /* Drive the speed controller briefly to move the encoder */
+	    me.getMotor().set(runningValue);
+	    Timer.delay(kMotorTime);
+	    me.getMotor().set(stoppedValue);
+
+	    /* The position should have increased */
+	    assertThat("CAN Jaguar position should have increased after the motor moved", me.getMotor().getPosition(), is(greaterThan(initialPosition)));
+	}
+	
+	
+	/**
+	 * Tests that a CANMotorEncoderFixture can rotate in reverse.
+	 * Called by extending TestClasses
+	 * @param stoppedValue the value where the motor will not be spinning in the current mode
+	 * @param runningValue the value where the motor will be spinning in the current mode
+	 */
+	protected void testRotateReverse(double stoppedValue, double runningValue){
+		double initialPosition = me.getMotor().getPosition();
+	    /* Drive the speed controller briefly to move the encoder */
+	    me.getMotor().set(runningValue);
+	    Timer.delay(kMotorTime);
+	    me.getMotor().set(stoppedValue);
+
+	    /* The position should have decreased */
+	    assertThat( "CAN Jaguar position should have decreased after the motor moved", me.getMotor().getPosition(), is(lessThan(initialPosition)));
+	}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANTestSuite.java

@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.can;
+
+import org.junit.runner.RunWith;
+import org.junit.runners.Suite;
+import org.junit.runners.Suite.SuiteClasses;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+@RunWith(Suite.class)
+@SuiteClasses({ CurrentQuadEncoderModeTest.class,
+				PercentQuadEncoderModeTest.class,
+				PositionQuadEncoderModeTest.class,
+				SpeedQuadEncoderModeTest.class,
+				VoltageQuadEncoderModeTest.class
+			})
+public class CANTestSuite {
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CurrentQuadEncoderModeTest.java

@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.can;
+
+import static org.junit.Assert.*;
+
+import java.util.logging.Logger;
+
+import org.junit.After;
+import org.junit.Before;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public class CurrentQuadEncoderModeTest extends AbstractCANTest {
+	private static Logger logger = Logger.getLogger(CurrentQuadEncoderModeTest.class.getName());
+	@Override
+	protected Logger getClassLogger() {
+		return logger;
+	}
+	
+	@Before
+	public void setUp() throws Exception {
+		me = TestBench.getInstance().getCanJaguarPair();
+		me.setup();
+		me.getMotor().setCurrentMode(CANJaguar.kQuadEncoder, 360, 5.0, 0.1, 2.0);
+		me.getMotor().enableControl();
+		me.getMotor().set(0.0f);
+		/* The motor might still have momentum from the previous test. */
+		Timer.delay(kEncoderSettlingTime);
+	}
+
+	
+	@Test
+	@Override
+	public void testRotateForward() {
+		testRotateForward(0, 1.5);
+	}
+	
+	@Test
+	@Override
+	public void testRotateReverse() {
+		testRotateReverse(0, -1.5);
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/ICANData.java

@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.can;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public interface ICANData {
+	static final double kPotentiometerSettlingTime = 0.05;
+	static final double kMotorTime = 0.5;
+	static final double kEncoderSettlingTime = 0.25;
+	static final double kEncoderPositionTolerance = 5.0/360.0; // +/-5 degrees
+	static final double kPotentiometerPositionTolerance = 10.0/360.0; // +/-10 degrees
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/PercentQuadEncoderModeTest.java

@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.can;
+
+import static org.hamcrest.Matchers.greaterThan;
+import static org.hamcrest.Matchers.is;
+import static org.hamcrest.Matchers.lessThan;
+import static org.junit.Assert.*;
+
+import java.util.logging.Logger;
+
+import org.junit.After;
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.fixtures.CANMotorEncoderFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+import edu.wpi.first.wpilibj.test.TestBench.BaseCANMotorEncoderFixture;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public class PercentQuadEncoderModeTest extends AbstractCANTest implements ICANData{
+	private static final Logger logger = Logger.getLogger(PercentQuadEncoderModeTest.class.getName());
+	
+	@Override
+	protected Logger getClassLogger() {
+		return logger;
+	}
+	@Before
+	public void setUp() {
+		me = TestBench.getInstance().getCanJaguarPair();
+		me.setup();
+		me.getMotor().setPercentMode(CANJaguar.kQuadEncoder, 360);
+		me.getMotor().enableControl();
+		me.getMotor().set(0.0f);
+		/* The motor might still have momentum from the previous test. */
+		Timer.delay(kEncoderSettlingTime);
+	}
+
+	/**
+	 * Test if we can drive the motor forwards in percentage mode and get a
+	 * position back
+	 */
+	@Test
+	@Override
+	public void testRotateForward() {
+		testRotateForward(0, 1);
+	}
+	
+	/**
+	 * Test if we can drive the motor backwards in percentage mode and get a
+	 * position back
+	 */
+	@Test
+	@Override
+	public void testRotateReverse() {
+		testRotateReverse(0, -1);
+	}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/PositionQuadEncoderModeTest.java

@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.can;
+
+import static org.junit.Assert.*;
+
+import java.util.logging.Logger;
+
+import org.junit.After;
+import org.junit.Before;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public class PositionQuadEncoderModeTest extends AbstractCANTest {
+	private static final Logger logger = Logger.getLogger(PositionQuadEncoderModeTest.class.getName());
+	@Override
+	protected Logger getClassLogger() {
+		return logger;
+	}
+	
+	/**
+	 * @throws java.lang.Exception
+	 */
+	@Before
+	public void setUp() throws Exception {
+		me = TestBench.getInstance().getCanJaguarPair();
+		me.setup();
+		me.getMotor().setPositionMode(CANJaguar.kQuadEncoder, 360, 5.0, 0.1, 2.0);
+		me.getMotor().enableControl();
+		/* The motor might still have momentum from the previous test. */
+		Timer.delay(kEncoderSettlingTime);
+	}
+
+	@Test
+	@Override
+	public void testRotateForward() {
+		double initial = me.getMotor().getPosition();
+		testRotateForward(initial, initial + 50);
+	}
+	
+	@Test
+	@Override
+	public void testRotateReverse() {
+		double initial = me.getMotor().getPosition();
+		testRotateReverse(initial, initial - 50);
+	}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/SpeedQuadEncoderModeTest.java

@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.can;
+
+import static org.hamcrest.Matchers.greaterThan;
+import static org.hamcrest.Matchers.is;
+import static org.hamcrest.Matchers.lessThan;
+import static org.junit.Assert.*;
+
+import java.util.logging.Logger;
+
+import org.junit.After;
+import org.junit.Before;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.fixtures.CANMotorEncoderFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public class SpeedQuadEncoderModeTest extends AbstractCANTest implements ICANData {
+	private static final Logger logger = Logger.getLogger(PercentQuadEncoderModeTest.class.getName());
+	
+	@Override
+	protected Logger getClassLogger() {
+		return logger;
+	}
+	
+	@Before
+	public void setUp() throws Exception {
+		me = TestBench.getInstance().getCanJaguarPair();
+		me.setup();
+		me.getMotor().setSpeedMode(CANJaguar.kQuadEncoder, 360, 5.0, 0.1, 2.0);
+		me.getMotor().enableControl();
+		me.getMotor().set(0.0f);
+		/* The motor might still have momentum from the previous test. */
+		Timer.delay(kEncoderSettlingTime);
+	}
+	
+	/**
+	 * Test if we can drive the motor forward in Speed mode and get a
+	 * position back
+	 */
+	@Test
+	public void testRotateForward() {
+		//Speed is rev/min
+		testRotateForward(0, 1000);
+	}
+	
+	/**
+	 * Test if we can drive the motor backwards in Speed mode and get a
+	 * position back
+	 */
+	@Test
+	public void testRotateReverse() {
+		//Speed is rev/min
+		testRotateReverse(0, -1000);
+	}
+	
+	
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/VoltageQuadEncoderModeTest.java

@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.can;
+
+import static org.junit.Assert.*;
+
+import java.util.logging.Logger;
+
+import org.junit.After;
+import org.junit.Before;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.fixtures.CANMotorEncoderFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public class VoltageQuadEncoderModeTest extends AbstractCANTest implements ICANData {
+	private static final Logger logger = Logger.getLogger(VoltageQuadEncoderModeTest.class.getName());
+	
+	@Override
+	protected Logger getClassLogger() {
+		return logger;
+	}
+
+	@Before
+	public void setUp() throws Exception {
+		me = TestBench.getInstance().getCanJaguarPair();
+		me.setup();
+		me.getMotor().setPercentMode(CANJaguar.kQuadEncoder, 360);
+		me.getMotor().enableControl();
+		me.getMotor().set(0.0f);
+		/* The motor might still have momentum from the previous test. */
+		Timer.delay(kEncoderSettlingTime);
+	}
+
+	@Test
+	@Override
+	public void testRotateForward() {
+		testRotateForward(0, 14);
+	}
+
+	@Test
+	@Override
+	public void testRotateReverse() {
+		testRotateReverse(0, -14);
+	}
+
+	
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/CANMotorEncoderFixture.java

@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.fixtures;
+
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.mockhardware.FakeEncoderSource;
+import edu.wpi.first.wpilibj.mockhardware.FakePotentiometerSource;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJaguar> implements ITestFixture {
+	private FakePotentiometerSource potSource;
+	private DigitalOutput forwardLimit;
+	private DigitalOutput reverseLimit;
+	private boolean initialized = false;
+	
+	protected abstract FakePotentiometerSource giveFakePotentiometerSource();
+	protected abstract DigitalOutput giveFakeForwardLimit();
+	protected abstract DigitalOutput giveFakeReverseLimit();
+	
+	public CANMotorEncoderFixture(){}
+	
+	public void initialize(){
+		synchronized(this){
+			if(!initialized){
+				potSource = giveFakePotentiometerSource();
+				forwardLimit = giveFakeForwardLimit();
+				reverseLimit = giveFakeReverseLimit();
+				initialized = true;
+			}
+		}
+	}
+	
+
+	@Override
+	public boolean setup() {
+		initialize();
+		return super.setup();
+	}
+
+	@Override
+	public boolean reset() {
+		initialize();
+		potSource.reset();
+		forwardLimit.set(false);
+		reverseLimit.set(false);
+		getMotor().setPercentMode(); //Get the Jaguar into a mode where setting the speed means stop
+		return super.reset();
+	}
+	
+	@Override
+	public boolean teardown() {
+		potSource.free();
+		forwardLimit.free();
+		reverseLimit.free();
+		boolean superTornDown = super.teardown();
+		getMotor().free();
+		return superTornDown;
+	}
+	
+	public FakePotentiometerSource getFakePot(){
+		initialize();
+		return potSource;
+	}
+	
+	public DigitalOutput getForwardLimit(){
+		initialize();
+		return forwardLimit;
+	}
+	
+	public DigitalOutput getReverseLimit(){
+		initialize();
+		return reverseLimit;
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java

@@ -23,10 +23,10 @@ import edu.wpi.first.wpilibj.test.TestBench;
  * @author Jonathan Leitschuh
  *
  */
-public abstract class MotorEncoderFixture implements ITestFixture {
+public abstract class MotorEncoderFixture <T extends SpeedController> implements ITestFixture {
 	private boolean initialized = false;
 	private boolean tornDown = false;
-	protected SpeedController motor;
+	protected T motor;
 	private Encoder encoder;
 	private Counter counters[] = new Counter[2];
 	protected DigitalInput aSource; //Stored so it can be freed at tear down
@@ -34,9 +34,6 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 
 	/**
 	 * Default constructor for a MotorEncoderFixture
-	 * @param motor The SpeedControler for this MotorEncoder pair
-	 * @param aSource One of the inputs for the encoder
-	 * @param bSource The other input for the encoder
 	 */
 	public MotorEncoderFixture(){
 	}
@@ -47,7 +44,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 	 * is not also an implementation of PWM interface
 	 * @return
 	 */
-	abstract protected SpeedController giveSpeedController();
+	abstract protected T giveSpeedController();
 	/**
 	 * Where the implementer of this class should pass one of the digital inputs<br>
 	 * CONSTRUCTOR SHOULD NOT BE CALLED FROM OUTSIDE THIS CLASS!
@@ -64,10 +61,11 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 	final private void initialize(){
 		synchronized(this){
 			if(!initialized){
+				motor = giveSpeedController();
+				
 				aSource = giveDigitalInputA();
 				bSource = giveDigitalInputB();
 				
-				motor = giveSpeedController();
 				
 				encoder = new Encoder(aSource, bSource);
 				counters[0] = new Counter(aSource);
@@ -91,7 +89,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 	 * Gets the motor for this Object
 	 * @return the motor this object refers too
 	 */
-	public SpeedController getMotor(){
+	public T getMotor(){
 		initialize();
 		return motor;
 	}
@@ -154,27 +152,47 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 
 
 
+	/**
+	 * Safely tears down the MotorEncoder Fixture in a way that makes sure that even if an object fails
+	 * to initialize the reset of the fixture can still be torn down and the resources deallocated
+	 */
 	@Override
 	public boolean teardown() {
 		String type = getType();
 		if(!tornDown){
+			boolean wasNull = false;
 			initialize();
 			reset();
-			if(motor instanceof PWM){
+			if(motor instanceof PWM && motor != null){
 				((PWM) motor).free();
-			}
-			motor = null;
-			encoder.free();
-			counters[0].free();
-			counters[0] = null;
-			counters[1].free();
-			counters[1] = null;
-
-			aSource.free();
-			aSource = null;
-			bSource.free();
-			bSource = null;
+				motor = null;
+			} else if(motor == null) wasNull = true;
+			if(encoder != null){
+				encoder.free();
+				encoder = null;
+			} else wasNull = true;
+			if(counters[0] != null){
+				counters[0].free();
+				counters[0] = null;
+			} else wasNull = true;
+			if(counters[1] != null){
+				counters[1].free();
+				counters[1] = null;
+			} else wasNull = true;
+			if(aSource != null){
+				aSource.free();
+				aSource = null;
+			} else wasNull = true;
+			if(bSource != null){
+				bSource.free();
+				bSource = null;
+			} else wasNull = true;
+			
 			tornDown = true;
+			
+			if(wasNull){
+				throw new NullPointerException("MotorEncoderFixture had null params at teardown");
+			}
 		} else {
 			throw new RuntimeException(type + " Motor Encoder torn down multiple times");
 		}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java

@@ -49,7 +49,7 @@ public class TiltPanCameraFixture implements ITestFixture {
 		Timer.delay(RESET_TIME);
 		gyro.reset();
 		double startTime = Timer.getFPGATimestamp();
-		while(Math.abs(gyro.getAngle()) > 0.1){
+		for(int i = 0; i < 100 && Math.abs(gyro.getAngle()) > 0.1; i++){
 			Timer.delay(.0001);
 		}
 		double endTime = Timer.getFPGATimestamp();

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakePotentiometerSource.java

@@ -14,12 +14,19 @@ import edu.wpi.first.wpilibj.AnalogOutput;
  */
 public class FakePotentiometerSource {
 	private AnalogOutput output;
+	private boolean m_init_output;
 	private double potMaxAngle;
 	private final double defaultPotMaxAngle;
 	public FakePotentiometerSource(AnalogOutput output, double defaultPotMaxAngle){
 		this.defaultPotMaxAngle = defaultPotMaxAngle;
 		potMaxAngle = defaultPotMaxAngle;
 		this.output = output;
+		m_init_output = false;
+	}
+	
+	public FakePotentiometerSource(int port, double defaultPotMaxAngle){
+		this(new AnalogOutput(port), defaultPotMaxAngle);
+		m_init_output = true;
 	}
 	
 	public void setRange(double range){
@@ -34,4 +41,19 @@ public class FakePotentiometerSource {
 	public void setAngle(double angle){
 		output.setVoltage((5.0/potMaxAngle)*angle);
 	}
+	
+	public void setVoltage(double voltage){
+		output.setVoltage(voltage);
+	}
+	
+	public double getVoltage(){
+		return output.getVoltage();
+	}
+	
+	public void free(){
+		if(m_init_output){
+			output.free();
+			m_init_output = false;
+		}
+	}
 }

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java

@@ -67,12 +67,20 @@ public abstract class AbstractComsSetup {
 	/** This causes a stack trace to be printed as the test is running as well as at the end */
 	@Rule
 	public TestWatcher testWatcher = new TestWatcher() {
+		@Override
 		protected void failed(Throwable e, Description description) {
 			System.out.println();
 			getClassLogger().severe("" + description.getDisplayName() + " failed " + e.getMessage());
 			e.printStackTrace();
 			super.failed(e, description);
 		}
+		
+		@Override
+	    protected void starting( Description description ) {
+			System.out.println();
+	        getClassLogger().info( description.getDisplayName());
+	        super.starting(description);
+	    }
 	};
 
 }

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -26,10 +26,12 @@ import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.can.CANMessageNotFoundException;
 import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
+import edu.wpi.first.wpilibj.fixtures.CANMotorEncoderFixture;
 import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFxiture;
 import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
+import edu.wpi.first.wpilibj.mockhardware.FakePotentiometerSource;
 
 /**
  * This class provides access to all of the elements on the test bench, for use
@@ -47,11 +49,22 @@ public final class TestBench {
 	 * completely stopped
 	 */
 	public static final double MOTOR_STOP_TIME = 0.20;
+	
+	public static final int kTalonChannel = 10;
+	public static final int kVictorChannel = 1;
+	public static final int kJaguarChannel = 2;
+	
 
 	/* PowerDistributionPanel channels */
 	public static final int kJaguarPDPChannel = 7;
 	public static final int kVictorPDPChannel = 11;
 	public static final int kTalonPDPChannel = 12;
+	
+	/* CAN ASSOICATED CHANNELS */
+	public static final int kFakeJaguarPotentiometer = 1;
+	public static final int kFakeJaguarForwardLimit = 16;
+	public static final int kFakeJaguarReverseLimit = 17;
+	public static final int kCANJaguarID = 2;
 
 	//THESE MUST BE IN INCREMENTING ORDER
 	public static final int DIOCrossConnectB2 = 9;
@@ -62,14 +75,11 @@ public final class TestBench {
 	/** The Singleton instance of the Test Bench */
 	private static TestBench instance = null;
 
-	private CANJaguar canJag = null; // This is declared externally because it
-										// does not have a free method
-
 	/**
 	 * The single constructor for the TestBench. This method is private in order
 	 * to prevent multiple TestBench objects from being allocated
 	 */
-	private TestBench() {
+	protected TestBench() {
 	}
 
 	/**
@@ -78,12 +88,12 @@ public final class TestBench {
 	 *
 	 * @return a freshly allocated Talon, Encoder pair
 	 */
-	public MotorEncoderFixture getTalonPair() {
+	public MotorEncoderFixture<Talon> getTalonPair() {
 
-		MotorEncoderFixture talonPair = new MotorEncoderFixture(){
+		MotorEncoderFixture<Talon> talonPair = new MotorEncoderFixture<Talon>(){
 			@Override
-			protected SpeedController giveSpeedController() {
-				return new Talon(10);
+			protected Talon giveSpeedController() {
+				return new Talon(kTalonChannel);
 			}
 			@Override
 			protected DigitalInput giveDigitalInputA() {
@@ -103,12 +113,12 @@ public final class TestBench {
 	 *
 	 * @return a freshly allocated Victor, Encoder pair
 	 */
-	public MotorEncoderFixture getVictorPair() {
+	public MotorEncoderFixture<Victor> getVictorPair() {
 
-		MotorEncoderFixture vicPair = new MotorEncoderFixture(){
+		MotorEncoderFixture<Victor> vicPair = new MotorEncoderFixture<Victor>(){
 			@Override
-			protected SpeedController giveSpeedController() {
-				return new Victor(1);
+			protected Victor giveSpeedController() {
+				return new Victor(kVictorChannel);
 			}
 
 			@Override
@@ -130,11 +140,11 @@ public final class TestBench {
 	 *
 	 * @return a freshly allocated Jaguar, Encoder pair
 	 */
-	public MotorEncoderFixture getJaguarPair() {
-		MotorEncoderFixture jagPair = new MotorEncoderFixture(){
+	public MotorEncoderFixture<Jaguar> getJaguarPair() {
+		MotorEncoderFixture<Jaguar> jagPair = new MotorEncoderFixture<Jaguar>(){
 			@Override
-			protected SpeedController giveSpeedController() {
-				return new Jaguar(2);
+			protected Jaguar giveSpeedController() {
+				return new Jaguar(kJaguarChannel);
 			}
 
 			@Override
@@ -149,6 +159,33 @@ public final class TestBench {
 		};
 		return jagPair;
 	}
+	
+	public class BaseCANMotorEncoderFixture extends CANMotorEncoderFixture{
+		@Override
+		protected CANJaguar giveSpeedController() {
+			return new CANJaguar(kCANJaguarID);
+		}
+		@Override
+		protected DigitalInput giveDigitalInputA() {
+			return new DigitalInput(18);
+		}
+		@Override
+		protected DigitalInput giveDigitalInputB() {
+			return new DigitalInput(19);
+		}
+		@Override
+		protected FakePotentiometerSource giveFakePotentiometerSource() {
+			return new FakePotentiometerSource(kFakeJaguarPotentiometer, 360);
+		}
+		@Override
+		protected DigitalOutput giveFakeForwardLimit() {
+			return new DigitalOutput(kFakeJaguarForwardLimit);
+		}
+		@Override
+		protected DigitalOutput giveFakeReverseLimit() {
+			return new DigitalOutput(kFakeJaguarReverseLimit);
+		}
+	}
 
 	/**
 	 * Constructs a new set of objects representing a connected set of CANJaguar
@@ -158,31 +195,8 @@ public final class TestBench {
 	 *
 	 * @return an existing CANJaguar and a freshly allocated Encoder
 	 */
-	public MotorEncoderFixture getCanJaguarPair() {
-		MotorEncoderFixture canPair;
-		if (canJag == null) { // Again this is because the CanJaguar does not
-								// have a free method
-			try {
-				canJag = new CANJaguar(1);
-			} catch (CANMessageNotFoundException e) {
-				e.printStackTrace();
-			}
-		}
-		canPair = new MotorEncoderFixture(){
-			@Override
-			protected SpeedController giveSpeedController() {
-				return canJag;
-			}
-			@Override
-			protected DigitalInput giveDigitalInputA() {
-				return new DigitalInput(6);
-			}
-			@Override
-			protected DigitalInput giveDigitalInputB() {
-				return new DigitalInput(7);
-			}
-		};
-		assert canPair != null;
+	public CANMotorEncoderFixture getCanJaguarPair() {
+		CANMotorEncoderFixture canPair = new BaseCANMotorEncoderFixture();
 		return canPair;
 	}
 

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java

@@ -29,6 +29,7 @@ import edu.wpi.first.wpilibj.SampleTest;
 import edu.wpi.first.wpilibj.TiltPanCameraTest;
 import edu.wpi.first.wpilibj.TimerTest;
 import edu.wpi.first.wpilibj.WpiLibJTestSuite;
+import edu.wpi.first.wpilibj.can.CANTestSuite;
 import edu.wpi.first.wpilibj.command.ButtonTest;
 import edu.wpi.first.wpilibj.command.CommandParallelGroupTest;
 import edu.wpi.first.wpilibj.command.CommandScheduleTest;
@@ -49,6 +50,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboardTestSuite;
 @RunWith(Suite.class)
 @SuiteClasses({
 				WpiLibJTestSuite.class,
+				CANTestSuite.class,
 				CommandTestSuite.class,
 				SmartDashboardTestSuite.class
 				})