Merge "Increases the runtime of the PID test to improve stability."

Change-Id: I852ac6115f0dfe4d39940fbecc34f1b52e6cc12a

eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/feature.xml

@@ -6,12 +6,12 @@
       provider-name="Worcester Polytechnic Institute">
 
    <copyright>
-      * Copyright (c) 2013 FIRST and WPI
+      * Copyright (c) 2015 FIRST and WPI
 * All rights reserved.
    </copyright>
 
    <license>
-      * Copyright (c) 2013 FIRST and WPI
+      * Copyright (c) 2015 FIRST and WPI
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/META-INF/MANIFEST.MF

@@ -23,7 +23,7 @@ Require-Bundle: org.eclipse.ui,
  org.eclipse.ui.intro,
  org.eclipse.ui.intro.universal,
  org.eclipse.core.expressions;bundle-version="3.4.400",
- org.eclipse.core.variables;bundle-version="3.2.700"
+ org.eclipse.core.variables
 Bundle-ActivationPolicy: lazy
 Bundle-RequiredExecutionEnvironment: JavaSE-1.7
 Export-Package: edu.wpi.first.wpilib.plugins.core,

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/pom.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
-    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <modelVersion>4.0.0</modelVersion>
   <artifactId>edu.wpi.first.wpilib.plugins.core</artifactId>
   <packaging>eclipse-plugin</packaging>
@@ -11,4 +11,188 @@
     <version>0.1.0.qualifier</version>
     <relativePath>..</relativePath>
   </parent>
+  
+  <properties>
+	<build-number>DEVELOPMENT</build-number>
+	<tools-zip>${project.build.directory}/tools-zip</tools-zip>
+  </properties>
+
+  <repositories>
+    <repository>
+      <id>WPILib Maven Repository</id>
+      <url>http://first.wpi.edu/FRC/roborio/maven/</url>
+    </repository>
+  </repositories>
+
+  <build>
+	<resources>
+	  <resource>
+		<directory>.</directory>
+        <includes>
+          <include>resources/configuration.properties</include>
+        </includes>
+		<filtering>true</filtering>
+      </resource>
+	</resources>
+	<plugins>
+	  <plugin>
+        <artifactId>maven-resources-plugin</artifactId>
+        <version>2.6</version>
+        <executions>
+          <execution>
+            <id>copy-ant-resources-to-tools-zip</id>
+            <phase>generate-sources</phase>
+            <goals>
+              <goal>copy-resources</goal>
+            </goals>
+            <configuration>
+              <outputDirectory>${tools-zip}</outputDirectory>
+              <resources>          
+                <resource>
+                  <directory>src/main/resources/tools-zip</directory>
+                </resource>
+              </resources>              
+            </configuration>            
+          </execution>
+        </executions>
+      </plugin>
+	  <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-dependency-plugin</artifactId>
+        <version>2.8</version>
+        <executions>
+		  
+		  <!-- Fetch the dependencies needed to build the jar.zip file. -->
+          <execution>
+            <id>fetch-jar-zip-dependencies</id>
+            <phase>compile</phase>
+            <goals>
+              <goal>copy</goal>
+            </goals>
+            <configuration>
+              <artifactItems>
+	            <artifactItem>
+	              <groupId>edu.wpi.first.wpilib</groupId>
+	              <artifactId>RobotBuilder</artifactId>
+	              <version>2.0.0-SNAPSHOT</version>
+				  <outputDirectory>${tools-zip}</outputDirectory>
+				  <destFileName>RobotBuilder.jar</destFileName>
+	            </artifactItem>
+	            <artifactItem>
+	              <groupId>edu.wpi.first.wpilib</groupId>
+	              <artifactId>SmartDashboard</artifactId>
+	              <version>1.0.0-SNAPSHOT</version>
+				  <outputDirectory>${tools-zip}</outputDirectory>
+				  <destFileName>SmartDashboard.jar</destFileName>
+	            </artifactItem>
+              </artifactItems>
+                
+              <overWriteReleases>false</overWriteReleases>
+              <overWriteSnapshots>true</overWriteSnapshots>
+            </configuration>
+          </execution>
+        </executions>
+      </plugin>
+	  <plugin>
+	    <groupId>org.apache.maven.plugins</groupId>
+	    <artifactId>maven-antrun-plugin</artifactId>
+	    <version>1.7</version>
+	    <executions>
+		  
+		  <!-- Set time stamp and version properties. -->
+		  <execution>
+		    <id>set-version-info</id>
+		    <goals>
+			  <goal>run</goal>
+		    </goals>
+		    <phase>process-sources</phase>
+		    <configuration>
+			  <target>
+			    <tstamp>
+				  <format property="timestamp" pattern="yyyy/MM/dd HH:mm:ss z"/>
+			    </tstamp>
+			    <tstamp>
+				  <format property="version-info" pattern="yyyy.MM.dd.HH.mm.ss"/>
+			    </tstamp>
+			    <property name="version" value="${version-info}.${build-number}"/>
+			  </target>
+			  <exportAntProperties>true</exportAntProperties>
+		    </configuration>
+		  </execution>
+
+		  <!-- Generate zip file to unzip for the user. -->
+		  <execution>
+		    <id>generate-jar-zip</id>
+            <phase>compile</phase>
+            <goals>
+              <goal>run</goal>
+            </goals>
+		    <configuration>
+			  <target>
+			    <zip destfile="${project.build.directory}/classes/resources/tools.zip"
+				     basedir="${tools-zip}"
+				     update="true" />
+			  </target>
+		    </configuration>
+		  </execution>
+	    </executions>
+	  </plugin>
+    </plugins>
+    <pluginManagement>
+	  <plugins>
+	    <!--This plugin's configuration is used to store Eclipse m2e settings only. It has no influence on the Maven build itself.-->
+	    <plugin>
+		  <groupId>org.eclipse.m2e</groupId>
+		  <artifactId>lifecycle-mapping</artifactId>
+		  <version>1.0.0</version>
+		  <configuration>
+		    <lifecycleMappingMetadata>
+			  <pluginExecutions>
+			    <pluginExecution>
+				  <pluginExecutionFilter>
+				    <groupId>
+					  org.apache.maven.plugins
+				    </groupId>
+				    <artifactId>
+					  maven-dependency-plugin
+				    </artifactId>
+				    <versionRange>[2.8,)</versionRange>
+				    <goals>
+					  <goal>copy</goal>
+				    </goals>
+				  </pluginExecutionFilter>
+				  <action>
+				    <ignore/>
+				  </action>
+			    </pluginExecution>
+			  </pluginExecutions>
+		    </lifecycleMappingMetadata>
+		  </configuration>
+	    </plugin>
+	  </plugins>
+    </pluginManagement>
+  </build>
+
+  <dependencies>
+    <!-- Add fake dependencies to inform Maven of the correct
+         order it should build projects in during a multi-module build.
+         
+         This list should match the list in the invocation of
+         maven-dependency-plugin:copy above.
+         
+         It may be possible to avoid this duplication by using the 
+         maven-assembly-plugin instead.-->
+    
+    <!-- Library sources for debugging WPILib on the Athena -->
+    <dependency>
+	  <groupId>edu.wpi.first.wpilib</groupId>
+	  <artifactId>RobotBuilder</artifactId>
+	  <version>2.0.0-SNAPSHOT</version>
+    </dependency>
+    <dependency>
+	  <groupId>edu.wpi.first.wpilib</groupId>
+	  <artifactId>SmartDashboard</artifactId>
+	  <version>1.0.0-SNAPSHOT</version>
+    </dependency>
+  </dependencies>
 </project>

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/resources/configuration.properties

@@ -0,0 +1,2 @@
+timestamp=${timestamp}
+version=${version}

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/WPILibCore.java

@@ -134,7 +134,17 @@ public class WPILibCore extends AbstractUIPlugin {
 	}
 
 	public String getDefaultVersion() {
-		return "0.2";
+		try {
+			Properties props = new AntPropertiesParser(WPILibCore.class.getResourceAsStream("/resources/configuration.properties")).getProperties();
+			if (props.getProperty("version").startsWith("$")) {
+				return "DEVELOPMENT";
+			} else {
+				return props.getProperty("version");
+			}
+		} catch (CoreException e) {
+            WPILibCore.logError("Error getting properties.", e);
+			return "DEVELOPMENT";
+		}
 	}
 
 	public String getCurrentVersion() {

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/NewProjectMainPage.java

@@ -98,18 +98,19 @@ public class NewProjectMainPage extends WizardPage {
 			groupLayout.numColumns = 1;
 			projectTypeGroup.setLayout(groupLayout);
 
+			commandRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
+			commandRobot.setText("Command-Based Robot: A robot project that allows robots to be implemented using the command based model to allow complex functionality to be developed from simpler functionality.");
+			gd = new GridData(GridData.FILL_HORIZONTAL);
+			gd.widthHint = 300;
+			commandRobot.setLayoutData(gd);
+			commandRobot.setSelection(true);
+
 			iterativeRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
 			iterativeRobot.setText("Iterative Robot: A robot project that allows robots to be implemented in an iterative manner.");
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			gd.widthHint = 300;
 			iterativeRobot.setLayoutData(gd);
 
-			commandRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
-			commandRobot.setText("Command-Based Robot: A robot project that allows robots to be implemented using the command based model to allow complex functionality to be developed from simpler functionality.");
-			gd = new GridData(GridData.FILL_HORIZONTAL);
-			gd.widthHint = 300;
-			commandRobot.setLayoutData(gd);
-			
 			sampleRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
 			sampleRobot.setText("Sample Robot: A robot project used for small sample programs or for highly advanced programs with more complete control over program flow");
 			gd = new GridData(GridData.FILL_HORIZONTAL);

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ProjectCreationUtils.java

@@ -21,6 +21,8 @@ import org.eclipse.core.resources.ResourcesPlugin;
 import org.eclipse.core.runtime.CoreException;
 import org.eclipse.core.runtime.IPath;
 import org.eclipse.core.runtime.Path;
+import org.eclipse.jface.dialogs.MessageDialog;
+import org.eclipse.swt.widgets.Display;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 
@@ -79,8 +81,14 @@ public class ProjectCreationUtils {
 			} catch (CoreException e) {
                 WPILibCore.logError("Can't create new project.", e);
 			}
+		}else {
+			Display.getDefault().syncExec(new Runnable() {
+				@Override
+				public void run() {
+					MessageDialog.openError(Display.getDefault().getActiveShell(), "Error", "Error! A project of the same name already exists in the Workspace");
+				}
+			});
 		}
-		
 		return newProject;
 	}
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.feature/feature.xml

@@ -10,12 +10,12 @@
    </description>
 
    <copyright>
-      * Copyright (c) 2013 FIRST and WPI
+      * Copyright (c) 2015 FIRST and WPI
 * All rights reserved.
    </copyright>
 
    <license>
-      * Copyright (c) 2013 FIRST and WPI
+      * Copyright (c) 2015 FIRST and WPI
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/pom.xml

@@ -133,7 +133,7 @@
 									<format property="timestamp" pattern="yyyy/MM/dd HH:mm:ss z"/>
 								</tstamp>
 								<tstamp>
-									<format property="version-info" pattern="yyyy.MM"/>
+									<format property="version-info" pattern="yyyy.MM.dd.HH.mm.ss"/>
 								</tstamp>
 								<property name="version" value="${version-info}.${build-number}"/>
 							</target>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp

@@ -15,6 +15,11 @@ private:
 		autonomousCommand = new ExampleCommand();
 		lw = LiveWindow::GetInstance();
 	}
+	
+	void DisabledPeriodic()
+	{
+		Scheduler::GetInstance()->Run();
+	}
 
 	void AutonomousInit()
 	{

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/CANPDP/src/Robot.cpp

@@ -0,0 +1,47 @@
+#include "WPILib.h"
+
+/**
+ * This is a sample program showing how to retrieve information from
+ *   the Power Distribution Panel via CAN.
+ * The information will be displayed under variables through the SmartDashboard.
+ */
+class Robot: public SampleRobot
+{
+
+	// Object for dealing with the Power Distribution Panel (PDP).
+	PowerDistributionPanel m_pdp;
+
+	// Update every 5milliseconds/0.005 seconds.
+	const double kUpdatePeriod = 0.005;
+
+public:
+	Robot() {
+	}
+
+	/**
+	 * Retrieve information from the PDP over CAN and
+	 *   displays it on the SmartDashboard interface.
+	 * SmartDashboard::PutNumber takes a string (for a label) and a double;
+	 * GetCurrent takes a channel number and returns a double for current,
+	 *   in Amperes. Channel numbers are printed on the PDP and range from 0-15.
+	 */
+	void OperatorControl()
+	{
+		while (IsOperatorControl())
+		{
+			// Get the current going through channel 7, in Amperes.
+			// The PDP returns the current in increments of 0.125A.
+			// At low currents the current readings tend to be less accurate. 
+			SmartDashboard::PutNumber("Current Channel 7", m_pdp.GetCurrent(7));
+			// Get the voltage going into the PDP, in Volts.
+			// The PDP returns the voltage in increments of 0.05 Volts.
+			SmartDashboard::PutNumber("Voltage", m_pdp.GetVoltage());
+			// Retrieves the temperature of the PDP, in degrees Celsius.
+			SmartDashboard::PutNumber("Temperature", m_pdp.GetTemperature());
+			Wait(kUpdatePeriod);
+		}
+	}
+
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Encoder/src/Robot.cpp

@@ -0,0 +1,82 @@
+#include "WPILib.h"
+
+/**
+ * Sample program displaying the value of a quadrature encoder on the SmartDashboard.
+ * Quadrature Encoders are digital sensors which can detect the amount the encoder
+ *   has rotated since starting as well as the direction in which the encoder
+ *   shaft is rotating. However, encoders can not tell you the absolute
+ *   position of the encoder shaft (ie, it considers where it starts to be the
+ *   zero position, no matter where it starts), and so can only tell you how
+ *   much the encoder has rotated since starting.
+ * Depending on the precision of an encoder, it will have fewer or greater
+ *   ticks per revolution; the number of ticks per revolution will affect the
+ *   conversion between ticks and distance, as specified by DistancePerPulse.
+ * One of the most common uses of encoders is in the drivetrain, so that the
+ *   distance that the robot drives can be precisely controlled during the
+ *   autonomous mode.
+ */
+class Robot: public SampleRobot
+{
+	Encoder m_encoder;
+
+	/**
+	 * Time to wait between updating SmartDashboard values.
+	 * It is generally a good idea to stick a short wait in these loops
+	 *   to avoid hogging CPU power, especially as there will be no
+	 *   perceivable difference in the SmartDashboard display.
+	 */
+	const double kUpdatePeriod = 0.005; // 5milliseconds / 0.005 seconds.
+
+public:
+	/**
+	 * The Encoder object is constructed with 4 parameters, the last two being optional.
+	 * The first two parameters (1, 2 in this case) refer to the ports on the
+	 *   roboRIO which the encoder uses. Because a quadrature encoder has
+	 *   two signal wires, the signal from two DIO ports on the roboRIO are used.
+	 * The third (optional) parameter is a boolean which defaults to false.
+	 *   If you set this parameter to true, the direction of the encoder will
+	 *   be reversed, in case it makes more sense mechanically.
+	 * The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X)
+	 *   and defaults to k4X. Faster (k4X) encoding gives greater positional
+	 *   precision but more noise in the rate.
+	 */
+	Robot() : m_encoder(1, 2, false, Encoder::k4X)
+	{
+		// Defines the number of samples to average when determining the rate.
+		// On a quadrature encoder, values range from 1-255; larger values
+		//   result in smoother but potentially less accurate rates than lower values.
+		m_encoder.SetSamplesToAverage(5);
+
+		// Defines how far the mechanism attached to the encoder moves per pulse.
+		// In this case, we assume that a 360 count encoder is directly attached
+		//   to a 3 inch diameter (1.5inch radius) wheel, and that we want to
+		//   measure distance in inches.
+		m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+
+		// Defines the lowest rate at which the encoder will not be considered
+		//   stopped, for the purposes of the GetStopped() method.
+		// Units are in distance / second, where distance refers to the units
+		//   of distance that you are using, in this case inches.
+		m_encoder.SetMinRate(1.0);
+	}
+
+	/**
+	 * Retrieve various information from the encoder and display it
+	 *   on the SmartDashboard.
+	 */
+	void OperatorControl()
+	{
+		while (IsOperatorControl())
+		{
+			// Retrieve the net displacement of the Encoder since the lsat Reset.
+			SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());
+
+			// Retrieve the current rate of the encoder.
+			SmartDashboard::PutNumber("Encoder Rate", m_encoder.GetRate());
+
+			Wait(kUpdatePeriod); // Wait a short bit before updating again.
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MotorControl/src/Robot.cpp

@@ -0,0 +1,44 @@
+#include "WPILib.h"
+
+/**
+ * This sample program shows how to control a motor using a joystick. In the operator
+ * control part of the program, the joystick is read and the value is written to the motor.
+ *
+ * Joystick analog values range from -1 to 1 and speed controller inputs as range from
+ * -1 to 1 making it easy to work together. The program also delays a short time in the loop
+ * to allow other threads to run. This is generally a good idea, especially since the joystick
+ * values are only transmitted from the Driver Station once every 20ms.
+ */
+class Robot : public SampleRobot {
+	Joystick m_stick;
+
+	// The motor to control with the Joystick.
+	// This uses a Talon speed controller; use the Victor or Jaguar classes for
+	//   other speed controllers.
+	Talon m_motor;
+
+	// update every 0.005 seconds/5 milliseconds.
+	double kUpdatePeriod = 0.005;
+
+public:
+	Robot() :
+			m_stick(0), // Initialize Joystick on port 0.
+			m_motor(0) // Initialize the Talon on channel 0.
+	{
+	}
+
+	/**
+	 * Runs the motor from the output of a Joystick.
+	 */
+	void OperatorControl() {
+		while (IsOperatorControl()) {
+			// Set the motor controller's output.
+			// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
+			m_motor.Set(m_stick.GetY());
+
+			Wait(kUpdatePeriod); // Wait 5ms for the next update.
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MotorControlEncoder/src/Robot.cpp

@@ -0,0 +1,55 @@
+#include "WPILib.h"
+
+/**
+ * This sample program shows how to control a motor using a joystick. In the operator
+ * control part of the program, the joystick is read and the value is written to the motor.
+ * An Encoder is then used to read the total distance that the motor has turned and
+ *   to display it on the SmartDashboard.
+ *
+ * Joystick analog values range from -1 to 1 and speed controller inputs as range from
+ * -1 to 1 making it easy to work together. The program also delays a short time in the loop
+ * to allow other threads to run. This is generally a good idea, especially since the joystick
+ * values are only transmitted from the Driver Station once every 20ms.
+ */
+class Robot : public SampleRobot {
+	Joystick m_stick;
+
+	// The motor to control with the Joystick.
+	// This uses a Talon speed controller; use the Victor or Jaguar classes for
+	//   other speed controllers.
+	Talon m_motor;
+
+	// update every 0.005 seconds/5 milliseconds.
+	double kUpdatePeriod = 0.005;
+
+	Encoder m_encoder;
+
+public:
+	Robot() :
+			m_stick(0), // Initialize Joystick on port 0.
+			m_motor(2), // Initialize the Talon on channel 0.
+			m_encoder(1, 2) // Iniitialize encoder connected on DIO ports 1 and 2.
+	{
+		// Distance will give total rotations of the motor, assuming a 360 count encoder.
+		m_encoder.SetDistancePerPulse(1.0 / 360.0);
+	}
+
+	/**
+	 * Runs the motor from the output of a Joystick.
+	 * Simultaneously displays encoder values on the SmartDashboard.
+	 */
+	void OperatorControl() {
+		while (IsOperatorControl()) {
+			// Set the motor controller's output.
+			// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
+			m_motor.Set(m_stick.GetY());
+
+			// Display the total displacement of the encoder, in rotations.
+			SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());
+
+			Wait(kUpdatePeriod); // Wait 5ms for the next update.
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Relay/src/Robot.cpp

@@ -0,0 +1,69 @@
+#include "WPILib.h"
+
+/**
+ * This is a sample program which uses joystick buttons to control a relay.
+ * A Relay (generally a spike) has two outputs, each of which can be at either
+ *   0V or 12V and so can be used for actions such as turning a motor off,
+ *   full forwards, or full reverse, and is generally used on the compressor.
+ * This program uses two buttons on a joystick and each button corresponds to
+ *   one output; pressing the button sets the output to 12V and releasing sets
+ *   it to 0V.
+ * During Operator Control, the loop waits for a brief time before continuing
+ *   in order to allow other threads to run. This is generally a good idea,
+ *   especially as joystick values are only received every 20ms.
+ */
+class Robot: public SampleRobot
+{
+	// Joystick with which to control the relay.
+	Joystick m_stick;
+
+	// Relay to use for the
+	Relay m_relay;
+
+	// Numbers of the buttons to be used for controlling the Relay.
+	const int kRelayForwardButton = 1;
+	const int kRelayReverseButton = 2;
+
+	// Update every 5milliseconds/0.005 seconds.
+	const double kUpdatePeriod = 0.005;
+
+public:
+	Robot() :
+			m_stick(0), // Use joystick on port 0.
+			m_relay(0)  // Relay on port 0.
+	{
+	}
+
+	/**
+	 * Control a Relay using Joystick buttons.
+	 */
+	void OperatorControl()
+	{
+		while (IsOperatorControl())
+		{
+			// Retrieve the button values. GetRawButton will return
+			//   true if the button is pressed and false if not.
+			bool forward = m_stick.GetRawButton(kRelayForwardButton);
+			bool reverse = m_stick.GetRawButton(kRelayReverseButton);
+
+			// Depending on the button values, we want to use one of
+			//   kOn, kOff, kForward, or kReverse.
+			// kOn sets both outputs to 12V, kOff sets both to 0V,
+			//   kForward sets forward to 12V and reverse to 0V, and
+			//   kReverse sets reverse to 12V and forward to 0V.
+			if (forward && reverse)
+				m_relay.Set(Relay::kOn);
+			else if (forward)
+				m_relay.Set(Relay::kForward);
+			else if (reverse)
+				m_relay.Set(Relay::kReverse);
+			else
+				m_relay.Set(Relay::kOff);
+
+			// Insert 5ms delay in loop.
+			Wait(kUpdatePeriod);
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Solenoid/src/Robot.cpp

@@ -0,0 +1,77 @@
+#include "WPILib.h"
+
+/**
+ * This is a sample program showing the use of the solenoid classes during
+ *   operator control.
+ * Three buttons from a joystick will be used to control two solenoids:
+ *   One button to control the position of a single solenoid and the other
+ *   two buttons to control a double solenoid.
+ * Single solenoids can either be on or off, such that the air diverted through
+ *   them goes through either one channel or the other.
+ * Double solenoids have three states: Off, Forward, and Reverse. Forward and
+ *   Reverse divert the air through the two channels and correspond to the
+ *   on and off of a single solenoid, but a double solenoid can also be "off",
+ *   where both channels are diverted to exhaust such that there is no pressure
+ *   in either channel.
+ * Additionally, double solenoids take up two channels on your PCM whereas
+ *   single solenoids only take a single channel.
+ * During Operator Control, the loop waits for a brief time before continuing
+ *   in order to allow other threads to run. This is generally a good idea,
+ *   especially as joystick values are only received every 20ms.
+ */
+class Robot: public SampleRobot
+{
+	// Joystick with buttons to control solenoids with.
+	Joystick m_stick;
+	// Solenoids to control with the joystick.
+	// Solenoid corresponds to a single solenoid.
+	Solenoid m_solenoid;
+	// DoubleSolenoid corresponds to a double solenoid.
+	DoubleSolenoid m_doubleSolenoid;
+
+	// Update every 5milliseconds/0.005 seconds.
+	const double kUpdatePeriod = 0.005;
+
+	// Numbers of the buttons to use for triggering the solenoids.
+	const int kSolenoidButton = 1;
+	const int kDoubleSolenoidForward = 2;
+	const int kDoubleSolenoidReverse = 3;
+
+public:
+	Robot() :
+			m_stick(0), // Use joystick on port 0.
+			m_solenoid(0), // Use solenoid on channel 0.
+			// Use double solenoid with Forward Channel of 1 and Reverse of 2.
+			m_doubleSolenoid(1, 2)
+	{
+	}
+
+	/**
+	 * Sets the solenoids from the position of joystick buttons.
+	 */
+	void OperatorControl()
+	{
+		while (IsOperatorControl())
+		{
+			// The output of GetRawButton is true/false depending on whether
+			//   the button is pressed; Set takes a boolean for for whether to
+			//   use the default (false) channel or the other (true).
+			m_solenoid.Set(m_stick.GetRawButton(kSolenoidButton));
+
+			// In order to set the double solenoid, we will say that if neither
+			//   button is pressed, it is off, if just one button is pressed,
+			//   set the solenoid to correspond to that button, and if both
+			//   are pressed, set the solenoid to Forwards.
+			if (m_stick.GetRawButton(kDoubleSolenoidForward))
+				m_doubleSolenoid.Set(DoubleSolenoid::kForward);
+			else if (m_stick.GetRawButton(kDoubleSolenoidReverse))
+				m_doubleSolenoid.Set(DoubleSolenoid::kReverse);
+			else
+				m_doubleSolenoid.Set(DoubleSolenoid::kOff);
+
+			Wait(kUpdatePeriod);				// wait for a motor update time
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml

@@ -87,6 +87,107 @@
     <description>Example programs that demonstrate the use of the various commonly used sensors on FRC robots</description>
   </tagDescription>
 
+<example>
+  <name>Motor Controller</name>
+  <description>Demonstrate controlling a single motor with a Joystick.</description>
+  <tags>
+    <tag>Robot and Motor</tag>
+    <tag>Actuators</tag>
+    <tag>Joystick</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/MotorControl/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
+<example>
+  <name>Motor Control With Encoder</name>
+  <description>Demonstrate controlling a single motor with a Joystick and displaying the net movement of the motor using an encoder.</description>
+  <tags>
+    <tag>Robot and Motor</tag>
+    <tag>Digital</tag>
+    <tag>Sensors</tag>
+    <tag>Actuators</tag>
+    <tag>Joystick</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/MotorControl/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
+<example>
+  <name>Relay</name>
+  <description>Demonstrate controlling a Relay from Joystick buttons.</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Joystick</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/Relay/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
+<example>
+  <name>PDP CAN Monitoring</name>
+  <description>Demonstrate using CAN to monitor the voltage, current, and temperature in the Power Distribution Panel.</description>
+  <tags>
+    <tag>Complete List</tag>
+    <tag>CAN</tag>
+    <tag>Sensors</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/CANPDP/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
+<example>
+  <name>Solenoids</name>
+  <description>Demonstrate controlling a single and double solenoid from Joystick buttons.</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Joystick</tag>
+    <tag>Pneumatics</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/Solenoid/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
+<example>
+  <name>Encoder</name>
+  <description>Demonstrate displaying the value of a quadrature encoder on the SmartDashboard.</description>
+  <tags>
+    <tag>Complete List</tag>
+    <tag>Digital</tag>
+    <tag>Sensors</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/Encoder/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
 <example>
   <name>Arcade Drive</name>
   <description>An example program which the use of Arcade Drive with the RobotDrive class</description>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/examples/ExampleCPPWizard.java

@@ -41,7 +41,7 @@ public class ExampleCPPWizard extends ExampleWizard {
 	protected IWizardPage getDetailsPage() {
 		if (detailsPage != null) return detailsPage;
 		detailsPage = new NewProjectMainPage(selection, getTeamNumberPage());
-		detailsPage.setTitle("Create Example Robot Java Project");
+		detailsPage.setTitle("Create Example Robot C++ Project");
 		detailsPage.setDescription("This wizard creates a new example project based on your selection.");
 		detailsPage.setShowPackage(false);
 		return detailsPage;

eclipse-plugins/edu.wpi.first.wpilib.plugins.java.feature/feature.xml

@@ -10,12 +10,12 @@
    </description>
 
    <copyright>
-      * Copyright (c) 2013 FIRST and WPI
+      * Copyright (c) 2015 FIRST and WPI
 * All rights reserved.
    </copyright>
 
    <license>
-      * Copyright (c) 2013 FIRST and WPI
+      * Copyright (c) 2015 FIRST and WPI
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/pom.xml

@@ -102,14 +102,7 @@
 				<!-- Javadoc -->
                 <artifactItem>
 				  <groupId>edu.wpi.first.wpilibj</groupId>
-				  <artifactId>wpilibJavaDevices</artifactId>
-				  <version>0.1.0-SNAPSHOT</version>
-				  <type>javadoc</type>
-				  <outputDirectory>${java-zip}/javadoc-jar</outputDirectory>
-                </artifactItem>
-                <artifactItem>
-				  <groupId>edu.wpi.first.wpilibj</groupId>
-				  <artifactId>wpilibJava</artifactId>
+				  <artifactId>wpilibJavaFinal</artifactId>
 				  <version>0.1.0-SNAPSHOT</version>
 				  <type>javadoc</type>
 				  <outputDirectory>${java-zip}/javadoc-jar</outputDirectory>
@@ -212,7 +205,7 @@
 				  <format property="timestamp" pattern="yyyy/MM/dd HH:mm:ss z"/>
 				</tstamp>
 				<tstamp>
-				  <format property="version-info" pattern="yyyy.MM"/>
+				  <format property="version-info" pattern="yyyy.MM.dd.HH.mm.ss"/>
 				</tstamp>
 				<property name="version" value="${version-info}.${build-number}"/>
 			  </target>

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/command-based/Robot.java

@@ -31,6 +31,10 @@ public class Robot extends IterativeRobot {
         // instantiate the command used for the autonomous period
         autonomousCommand = new ExampleCommand();
     }
+	
+	public void disabledPeriodic() {
+		Scheduler.getInstance().run();
+	}
 
     public void autonomousInit() {
         // schedule the autonomous command (example)

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/command-based/RobotMap.java

@@ -8,11 +8,11 @@ package $package;
 public class RobotMap {
     // For example to map the left and right motors, you could define the
     // following variables to use with your drivetrain subsystem.
-    // public static final int leftMotor = 1;
-    // public static final int rightMotor = 2;
+    // public static int leftMotor = 1;
+    // public static int rightMotor = 2;
     
     // If you are using multiple modules, make sure to define both the port
     // number and the module. For example you with a rangefinder:
-    // public static final int rangefinderPort = 1;
-    // public static final int rangefinderModule = 1;
+    // public static int rangefinderPort = 1;
+    // public static int rangefinderModule = 1;
 }

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

@@ -1,5 +1,4 @@
-
-package org.usfirst.frc.team190.robot;
+package $package;
 
 
 import edu.wpi.first.wpilibj.Joystick;

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

@@ -1,5 +1,4 @@
-
-package org.usfirst.frc.team190.robot;
+package $package;
 
 
 import edu.wpi.first.wpilibj.Joystick;

hal/include/HAL/Errors.hpp

@@ -1,26 +1,47 @@
 #pragma once
 
-#define SAMPLE_RATE_TOO_HIGH 1
-#define SAMPLE_RATE_TOO_HIGH_MESSAGE "Analog module sample rate is too high"
-#define VOLTAGE_OUT_OF_RANGE 2
-#define VOLTAGE_OUT_OF_RANGE_MESSAGE "Voltage to convert to raw value is out of range [0; 5]"
-#define LOOP_TIMING_ERROR 4
-#define LOOP_TIMING_ERROR_MESSAGE "Digital module loop timing is not the expected value"
-#define SPI_WRITE_NO_MOSI 12
-#define SPI_WRITE_NO_MOSI_MESSAGE "Cannot write to SPI port with no MOSI output"
-#define SPI_READ_NO_MISO 13
-#define SPI_READ_NO_MISO_MESSAGE "Cannot read from SPI port with no MISO input"
-#define SPI_READ_NO_DATA 14
-#define SPI_READ_NO_DATA_MESSAGE "No data available to read from SPI"
-#define INCOMPATIBLE_STATE 15
-#define INCOMPATIBLE_STATE_MESSAGE "Incompatible State: The operation cannot be completed"
-#define NO_AVAILABLE_RESOURCES -4
-#define NO_AVAILABLE_RESOURCES_MESSAGE "No available resources to allocate"
-#define NULL_PARAMETER -5
-#define NULL_PARAMETER_MESSAGE "A pointer parameter to a method is NULL"
-#define ANALOG_TRIGGER_LIMIT_ORDER_ERROR -10
-#define ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE "AnalogTrigger limits error.  Lower limit > Upper Limit"
-#define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR -11
-#define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE "Attempted to read AnalogTrigger pulse output."
-#define PARAMETER_OUT_OF_RANGE -28
-#define PARAMETER_OUT_OF_RANGE_MESSAGE "A parameter is out of range."
+#define CTR_RxTimeout_MESSAGE "CTRE CAN Recieve Timeout"
+#define CTR_TxTimeout_MESSAGE "CTRE CAN Transmit Timeout"
+#define CTR_InvalidParamValue_MESSAGE "CTRE CAN Invalid Parameter"
+#define CTR_UnexpectedArbId_MESSAGE "CTRE Unexpected Arbitration ID (CAN Node ID)"
+
+#define NiFpga_Status_FifoTimeout_MESSAGE "NIFPGA: FIFO timeout error"
+#define NiFpga_Status_TransferAborted_MESSAGE "NIFPGA: Transfer aborted error"
+#define NiFpga_Status_MemoryFull_MESSAGE "NIFPGA: Memory Allocation failed, memory full"
+#define NiFpga_Status_SoftwareFault_MESSAGE "NIFPGA: Unexepected software error"
+#define NiFpga_Status_InvalidParameter_MESSAGE "NIFPGA: Invalid Parameter"
+#define NiFpga_Status_ResourceNotFound_MESSAGE "NIFPGA: Resource not found"
+#define NiFpga_Status_ResourceNotInitialized_MESSAGE "NIFPGA: Resource not initialized"
+#define NiFpga_Status_HardwareFault_MESSAGE "NIFPGA: Hardware Fault"
+#define NiFpga_Status_IrqTimeout_MESSAGE "NIFPGA: Interrupt timeout"
+
+#define ERR_CANSessionMux_InvalidBuffer_MESSAGE "CAN: Invalid Buffer"
+#define ERR_CANSessionMux_MessageNotFound_MESSAGE "CAN: Message not found"
+#define WARN_CANSessionMux_NoToken_MESSAGE "CAN: No token"
+#define ERR_CANSessionMux_NotAllowed_MESSAGE "CAN: Not allowed"
+#define ERR_CANSessionMux_NotInitialized_MESSAGE "CAN: Not initialized" 
+
+#define SAMPLE_RATE_TOO_HIGH 1001
+#define SAMPLE_RATE_TOO_HIGH_MESSAGE "HAL: Analog module sample rate is too high"
+#define VOLTAGE_OUT_OF_RANGE 1002
+#define VOLTAGE_OUT_OF_RANGE_MESSAGE "HAL: Voltage to convert to raw value is out of range [0; 5]"
+#define LOOP_TIMING_ERROR 1004
+#define LOOP_TIMING_ERROR_MESSAGE "HAL: Digital module loop timing is not the expected value"
+#define SPI_WRITE_NO_MOSI 1012
+#define SPI_WRITE_NO_MOSI_MESSAGE "HAL: Cannot write to SPI port with no MOSI output"
+#define SPI_READ_NO_MISO 1013
+#define SPI_READ_NO_MISO_MESSAGE "HAL: Cannot read from SPI port with no MISO input"
+#define SPI_READ_NO_DATA 1014
+#define SPI_READ_NO_DATA_MESSAGE "HAL: No data available to read from SPI"
+#define INCOMPATIBLE_STATE 1015
+#define INCOMPATIBLE_STATE_MESSAGE "HAL: Incompatible State: The operation cannot be completed"
+#define NO_AVAILABLE_RESOURCES -1004
+#define NO_AVAILABLE_RESOURCES_MESSAGE "HAL: No available resources to allocate"
+#define NULL_PARAMETER -1005
+#define NULL_PARAMETER_MESSAGE "HAL: A pointer parameter to a method is NULL"
+#define ANALOG_TRIGGER_LIMIT_ORDER_ERROR -1010
+#define ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE "HAL: AnalogTrigger limits error.  Lower limit > Upper Limit"
+#define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR -1011
+#define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE "HAL: Attempted to read AnalogTrigger pulse output."
+#define PARAMETER_OUT_OF_RANGE -1028
+#define PARAMETER_OUT_OF_RANGE_MESSAGE "HAL: A parameter is out of range."

hal/include/HAL/HAL.hpp

@@ -161,9 +161,20 @@ enum HALAllianceStationID {
 	kHALAllianceStationID_blue3,
 };
 
+/* The maximum number of axes that will be stored in a single HALJoystickAxes
+	struct. This is used for allocating buffers, not bounds checking, since
+	there are usually less axes in practice. */
+static constexpr size_t kMaxJoystickAxes = 12;
+static constexpr size_t kMaxJoystickPOVs = 12;
+
 struct HALJoystickAxes {
 	uint16_t count;
-	int16_t axes[6];
+	int16_t axes[kMaxJoystickAxes];
+};
+
+struct HALJoystickPOVs {
+	uint16_t count;
+	int16_t povs[kMaxJoystickPOVs];
 };
 
 typedef uint32_t HALJoystickButtons;
@@ -199,7 +210,8 @@ extern "C"
 
 	int HALGetControlWord(HALControlWord *data);
 	int HALGetAllianceStation(enum HALAllianceStationID *allianceStation);
-	int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes, uint8_t maxAxes);
+	int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes);
+	int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs);
 	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
 
 	void HALSetNewDataSem(pthread_mutex_t *);

hal/lib/Athena/Digital.cpp

@@ -256,7 +256,7 @@ void* allocatePWM(int32_t *status) {
  * @param pwmGenerator The pwmGen to free that was allocated with AllocateDO_PWM()
  */
 void freePWM(void* pwmGenerator, int32_t *status) {
-  uint32_t id = *((uint32_t*) pwmGenerator);
+  uint32_t id = (uint32_t) pwmGenerator;
   if (id == ~0ul) return;
   DO_PWMGenerators->Free(id);
 }
@@ -283,7 +283,7 @@ void setPWMRate(double rate, int32_t *status) {
  * @param dutyCycle The percent duty cycle to output [0..1].
  */
 void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
-  uint32_t id = *((uint32_t*) pwmGenerator);
+  uint32_t id = (uint32_t) pwmGenerator;
   if (id == ~0ul) return;
   if (dutyCycle > 1.0) dutyCycle = 1.0;
   if (dutyCycle < 0.0) dutyCycle = 0.0;
@@ -296,8 +296,10 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
 	  // The resolution of the duty cycle drops close to the highest frequencies.
 	  rawDutyCycle = rawDutyCycle / pow(2.0, 4 - pwmPeriodPower);
 	}
-    digitalSystem->writePWMDutyCycleA(id, (uint8_t)rawDutyCycle, status);
-    digitalSystem->writePWMDutyCycleB(id, (uint8_t)rawDutyCycle, status);
+	if(id < 4)
+		digitalSystem->writePWMDutyCycleA(id, (uint8_t)rawDutyCycle, status);
+	else 
+		digitalSystem->writePWMDutyCycleB(id - 3, (uint8_t)rawDutyCycle, status);
   }
 }
 
@@ -308,28 +310,9 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
  * @param channel The Digital Output channel to output on
  */
 void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status) {
-  uint32_t id = *((uint32_t*) pwmGenerator);
-  if (id == ~0ul) return;
-  switch(id) {
-  case 0:
-    digitalSystem->writePWMOutputSelect(0, pin, status);
-    break;
-  case 1:
-    digitalSystem->writePWMOutputSelect(1, pin, status);
-    break;
-  case 2:
-    digitalSystem->writePWMOutputSelect(2, pin, status);
-    break;
-  case 3:
-    digitalSystem->writePWMOutputSelect(3, pin, status);
-    break;
-  case 4:
-    digitalSystem->writePWMOutputSelect(4, pin, status);
-    break;
-  case 5:
-    digitalSystem->writePWMOutputSelect(5, pin, status);
-    break;
-  }
+  uint32_t id = (uint32_t) pwmGenerator;
+  if (id > 5) return;
+  digitalSystem->writePWMOutputSelect(id, pin, status);
 }
 
 /**

hal/lib/Athena/FRC_FPGA_ChipObject/tInterruptManager.h

@@ -32,7 +32,7 @@ public:
    void enable(tRioStatusCode *status);
    void disable(tRioStatusCode *status);
    bool isEnabled(tRioStatusCode *status);
-public:
+private:
    class tInterruptThread;
    friend class tInterruptThread;
    void handler();
@@ -58,3 +58,4 @@ public:
 
 
 #endif // __tInterruptManager_h__
+

hal/lib/Athena/HAL.cpp

@@ -2,6 +2,7 @@
 
 #include "Port.h"
 #include "HAL/Errors.hpp"
+#include "ctre/ctre.h"
 #include "ChipObject.h"
 #include "NetworkCommunication/FRCComm.h"
 #include "NetworkCommunication/UsageReporting.h"
@@ -38,34 +39,72 @@ void* getPortWithModule(uint8_t module, uint8_t pin)
 
 const char* getHALErrorMessage(int32_t code)
 {
-	if (code == 0)
-		return "";
-	else if (code == SAMPLE_RATE_TOO_HIGH)
-		return SAMPLE_RATE_TOO_HIGH_MESSAGE;
-	else if (code == VOLTAGE_OUT_OF_RANGE)
-		return VOLTAGE_OUT_OF_RANGE_MESSAGE;
-	else if (code == LOOP_TIMING_ERROR)
-		return LOOP_TIMING_ERROR_MESSAGE;
-	else if (code == SPI_WRITE_NO_MOSI)
-		return SPI_WRITE_NO_MOSI_MESSAGE;
-	else if (code == SPI_READ_NO_MISO)
-		return SPI_READ_NO_MISO_MESSAGE;
-	else if (code == SPI_READ_NO_DATA)
-		return SPI_READ_NO_DATA_MESSAGE;
-	else if (code == INCOMPATIBLE_STATE)
-		return INCOMPATIBLE_STATE_MESSAGE;
-	else if (code == NO_AVAILABLE_RESOURCES)
-		return NO_AVAILABLE_RESOURCES_MESSAGE;
-	else if (code == NULL_PARAMETER)
-		return NULL_PARAMETER_MESSAGE;
-	else if (code == ANALOG_TRIGGER_LIMIT_ORDER_ERROR)
-		return ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE;
-	else if (code == ANALOG_TRIGGER_PULSE_OUTPUT_ERROR)
-		return ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE;
-	else if (code == PARAMETER_OUT_OF_RANGE)
-		return PARAMETER_OUT_OF_RANGE_MESSAGE;
-	else
-		return "";
+	switch(code) {
+		case 0:
+			return "";
+		case CTR_RxTimeout:
+			return CTR_RxTimeout_MESSAGE;
+		case CTR_TxTimeout:
+			return CTR_TxTimeout_MESSAGE;
+		case CTR_InvalidParamValue:
+			return CTR_InvalidParamValue_MESSAGE;
+		case CTR_UnexpectedArbId:
+			return CTR_UnexpectedArbId_MESSAGE;
+		case NiFpga_Status_FifoTimeout:
+			return NiFpga_Status_FifoTimeout_MESSAGE;
+		case NiFpga_Status_TransferAborted:
+			return NiFpga_Status_TransferAborted_MESSAGE;
+		case NiFpga_Status_MemoryFull: 
+			return NiFpga_Status_MemoryFull_MESSAGE;
+		case NiFpga_Status_SoftwareFault:
+			return NiFpga_Status_SoftwareFault_MESSAGE;
+		case NiFpga_Status_InvalidParameter:
+			return NiFpga_Status_InvalidParameter_MESSAGE;
+		case NiFpga_Status_ResourceNotFound:
+			return NiFpga_Status_ResourceNotFound_MESSAGE; 
+		case NiFpga_Status_ResourceNotInitialized:
+			return NiFpga_Status_ResourceNotInitialized_MESSAGE; 
+		case NiFpga_Status_HardwareFault:
+			return NiFpga_Status_HardwareFault_MESSAGE;
+		case NiFpga_Status_IrqTimeout:
+			return NiFpga_Status_IrqTimeout_MESSAGE;
+		case SAMPLE_RATE_TOO_HIGH:
+			return SAMPLE_RATE_TOO_HIGH_MESSAGE;
+		case VOLTAGE_OUT_OF_RANGE:
+			return VOLTAGE_OUT_OF_RANGE_MESSAGE;
+		case LOOP_TIMING_ERROR:
+			return LOOP_TIMING_ERROR_MESSAGE;
+		case SPI_WRITE_NO_MOSI:
+			return SPI_WRITE_NO_MOSI_MESSAGE;
+		case SPI_READ_NO_MISO:
+			return SPI_READ_NO_MISO_MESSAGE;
+		case SPI_READ_NO_DATA:
+			return SPI_READ_NO_DATA_MESSAGE;
+		case INCOMPATIBLE_STATE:
+			return INCOMPATIBLE_STATE_MESSAGE;
+		case NO_AVAILABLE_RESOURCES:
+			return NO_AVAILABLE_RESOURCES_MESSAGE;
+		case NULL_PARAMETER:
+			return NULL_PARAMETER_MESSAGE;
+		case ANALOG_TRIGGER_LIMIT_ORDER_ERROR:
+			return ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE;
+		case ANALOG_TRIGGER_PULSE_OUTPUT_ERROR:
+			return ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE;
+		case PARAMETER_OUT_OF_RANGE:
+			return PARAMETER_OUT_OF_RANGE_MESSAGE;
+		case ERR_CANSessionMux_InvalidBuffer:
+			return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
+		case ERR_CANSessionMux_MessageNotFound:
+			return ERR_CANSessionMux_MessageNotFound_MESSAGE;
+		case WARN_CANSessionMux_NoToken:
+			return WARN_CANSessionMux_NoToken_MESSAGE;
+		case ERR_CANSessionMux_NotAllowed:
+			return ERR_CANSessionMux_NotAllowed_MESSAGE;
+		case ERR_CANSessionMux_NotInitialized:
+			return ERR_CANSessionMux_NotInitialized_MESSAGE; 	
+		default:
+			return "Unknown error status";
+	}
 }
 
 /**
@@ -125,9 +164,14 @@ int HALGetAllianceStation(enum HALAllianceStationID *allianceStation)
 	return FRC_NetworkCommunication_getAllianceStation((AllianceStationID_t*) allianceStation);
 }
 
-int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes, uint8_t maxAxes)
+int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes)
 {
-	return FRC_NetworkCommunication_getJoystickAxes(joystickNum, (JoystickAxes_t*) axes, maxAxes);
+	return FRC_NetworkCommunication_getJoystickAxes(joystickNum, (JoystickAxes_t*) axes, kMaxJoystickAxes);
+}
+
+int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs)
+{
+	return FRC_NetworkCommunication_getJoystickPOVs(joystickNum, (JoystickPOV_t*) povs, kMaxJoystickPOVs);
 }
 
 int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count)

hal/lib/Athena/Utilities.cpp

@@ -9,7 +9,12 @@ void delayTicks(int32_t ticks)
 	struct timespec test, remaining;
 	test.tv_sec = 0;
 	test.tv_nsec = ticks * 3;
-	nanosleep(&test, &remaining);
+
+	/* Sleep until the requested number of ticks has passed, with additional
+		time added if nanosleep is interrupted. */
+	while(nanosleep(&test, &remaining) == -1) {
+		test = remaining;
+	}
 }
 
 void delayMillis(double ms)
@@ -17,7 +22,12 @@ void delayMillis(double ms)
 	struct timespec test, remaining;
 	test.tv_sec = ms / 1000;
 	test.tv_nsec = 1000 * (((uint64_t)ms) % 1000000);
-	nanosleep(&test, &remaining);
+
+	/* Sleep until the requested number of milliseconds has passed, with
+		additional time added if nanosleep is interrupted. */
+	while(nanosleep(&test, &remaining) == -1) {
+		test = remaining;
+	}
 }
 
 void delaySeconds(double s)
@@ -25,5 +35,10 @@ void delaySeconds(double s)
 	struct timespec test, remaining;
 	test.tv_sec = (int)s;
 	test.tv_nsec = (s - (int)s) * 1000000000.0;
-	nanosleep(&test, &remaining);
+
+	/* Sleep until the requested number of seconds has passed, with additional
+		time added if nanosleep is interrupted. */
+	while(nanosleep(&test, &remaining) == -1) {
+		test = remaining;
+	}
 }

networktables/java/Athena/pom.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
-	 xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+	     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <modelVersion>4.0.0</modelVersion>
   <groupId>edu.wpi.first.wpilib.networktables.java</groupId>
   <artifactId>NetworkTables</artifactId>
@@ -38,11 +38,19 @@
     <profile>
       <id>docline-java8-disable</id>
       <activation>
-	<jdk>[1.8,</jdk>
+	    <jdk>[1.8,</jdk>
       </activation>
 
+      <distributionManagement>
+        <repository>
+          <id>filesystem.repo</id>
+          <name>Temporary Staging Repository</name>
+          <url>file://${user.home}/releases/maven</url>
+        </repository>
+      </distributionManagement>
+
       <build>
-	<plugins>
+	    <plugins>
           <plugin>
             <groupId>org.apache.maven.plugins</groupId>
             <artifactId>maven-javadoc-plugin</artifactId>
@@ -50,7 +58,7 @@
               <additionalparam>-Xdoclint:none</additionalparam>
             </configuration>
           </plugin>
-	</plugins>
+	    </plugins>
       </build>
     </profile>
   </profiles>
@@ -63,9 +71,9 @@
         <configuration>
           <source>1.6</source>
           <target>1.6</target>
-	  <testExcludes>
-	    <exclude>edu/wpi/first/wpilibj/networktables2/system/SystemTest.java</exclude>
-	  </testExcludes>
+	      <testExcludes>
+	        <exclude>edu/wpi/first/wpilibj/networktables2/system/SystemTest.java</exclude>
+	      </testExcludes>
         </configuration>
       </plugin>
       <plugin>
@@ -92,8 +100,8 @@
         <artifactId>maven-source-plugin</artifactId>
       </plugin>
       <plugin>
-	<groupId>org.apache.maven.plugins</groupId>
-	<artifactId>maven-javadoc-plugin</artifactId>
+	    <groupId>org.apache.maven.plugins</groupId>
+	    <artifactId>maven-javadoc-plugin</artifactId>
       </plugin>
     </plugins>
   </build>

networktables/java/pom.xml

@@ -1,25 +1,90 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
-	 xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+	     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <modelVersion>4.0.0</modelVersion>
-  <groupId>edu.wpi.first.wpilib.networktables</groupId>
-  <artifactId>java</artifactId>
-  <packaging>pom</packaging>
-  <version>0.1.0-SNAPSHOT</version>
-  
-  <modules>
-    <module>Athena</module>
-  </modules>
+  <groupId>edu.wpi.first.wpilib.networktables.java</groupId>
+  <artifactId>NetworkTables</artifactId>
+  <packaging>jar</packaging>
 
+  <parent>
+    <groupId>edu.wpi.first.wpilib.templates.athena</groupId>
+    <artifactId>library-jar</artifactId>
+    <version>0.1.0-SNAPSHOT</version>
+    <relativePath>../../maven-utilities/athena/library-jar</relativePath>
+  </parent>
+
+  <dependencies>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>4.11</version>
+      <scope>test</scope>
+    </dependency>
+    <dependency>
+      <groupId>org.jmock</groupId>
+      <artifactId>jmock-junit4</artifactId>
+      <version>2.6.0</version>
+      <scope>test</scope>
+    </dependency>
+    <dependency>
+      <groupId>org.jmock</groupId>
+      <artifactId>jmock-legacy</artifactId>
+      <version>2.6.0</version>
+      <scope>test</scope>
+    </dependency>
+  </dependencies>
+
+
+  <distributionManagement>
+    <repository>
+      <id>filesystem.repo</id>
+      <name>Temporary Staging Repository</name>
+      <url>file://${user.home}/releases/maven</url>
+    </repository>
+  </distributionManagement>
+  
   <profiles>
     <profile>
-      <id>desktop</id>
+      <id>docline-java8-disable</id>
       <activation>
-	<activeByDefault>true</activeByDefault>
+	    <jdk>[1.8,</jdk>
       </activation>
-      <modules>
-	<module>Athena</module>
-      </modules>
+
+      <build>
+	    <plugins>
+          <plugin>
+            <groupId>org.apache.maven.plugins</groupId>
+            <artifactId>maven-javadoc-plugin</artifactId>
+            <configuration>
+              <additionalparam>-Xdoclint:none</additionalparam>
+            </configuration>
+          </plugin>
+	    </plugins>
+      </build>
     </profile>
   </profiles>
+  
+  <build>
+    <plugins>
+      <plugin>
+        <artifactId>maven-compiler-plugin</artifactId>
+        <version>3.1</version>
+        <configuration>
+          <source>1.6</source>
+          <target>1.6</target>
+	      <testExcludes>
+	        <exclude>edu/wpi/first/wpilibj/networktables2/system/SystemTest.java</exclude>
+	      </testExcludes>
+        </configuration>
+      </plugin>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-source-plugin</artifactId>
+      </plugin>
+      <plugin>
+	    <groupId>org.apache.maven.plugins</groupId>
+	    <artifactId>maven-javadoc-plugin</artifactId>
+      </plugin>
+    </plugins>
+  </build>
 </project>

networktables/java/src/test/java/edu/wpi/first/wpilibj/networktables2/stream/SocketTest.java

@@ -19,9 +19,9 @@ public class SocketTest {
 	}};
 
 
-	@Test(timeout=1000)
+	@Test(timeout=1500)
 	public void testSingleSocketConnection() throws Throwable {
-		doSocketTest(1, 500, 1000, SocketStreams.newStreamProvider(10111), SocketStreams.newStreamFactory("localhost", 10111));
+		doSocketTest(1, 500, 1500, SocketStreams.newStreamProvider(10111), SocketStreams.newStreamFactory("localhost", 10111));
 	}
 	@Test(timeout=2500)
 	public void testManySocketConnection() throws Throwable {

networktables/java/src/test/java/edu/wpi/first/wpilibj/networktables2/thread/DefaultThreadManagerTest.java

@@ -10,7 +10,7 @@ import org.junit.*;
 
 public class DefaultThreadManagerTest {
 	volatile Throwable exception = null;
-	@Test(timeout=300)
+	@Test(timeout=400)
 	public void testConcurrentThreads() throws Throwable {
 		final int numCounts = 10;
 		final int numThreads = 10;

ni-libraries/libni_emb.so

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libni_emb.so.7 )

ni-libraries/libni_emb.so.7

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libni_emb.so.7.0 )

ni-libraries/libni_emb.so.7.0

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libni_emb.so.7.0.0 )

ni-libraries/libni_rtlog.so

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libni_rtlog.so.2 )

ni-libraries/libni_rtlog.so.2

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libni_rtlog.so.2.3 )

ni-libraries/libni_rtlog.so.2.3

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libni_rtlog.so.2.3.0 )

ni-libraries/libnirio_emb_can.so

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnirio_emb_can.so.14 )

ni-libraries/libnirio_emb_can.so.14

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnirio_emb_can.so.14.0 )

ni-libraries/libnirio_emb_can.so.14.0

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnirio_emb_can.so.14.0.0 )

test-scripts/deploy-and-run-test-on-robot.sh

@@ -17,11 +17,12 @@ DEFAULT_DESTINATION_CPP_TEST_FILE=${DEFAULT_TEST_SCP_DIR}/${DEFAULT_CPP_TEST_NAM
 
 DEFAULT_DESTINATION_RUN_TEST_SCRIPT=${DEFAULT_DESTINATION_DIR}/${DEFAULT_LOCAL_RUN_TEST_SCRIPT}
 
-usage="$(basename "$0") [-h] (java|cpp) [-A] [arg] [arg]...
+usage="$(basename "$0") [-h] (java|cpp) [-m] [-A] [arg] [arg]...
 A script designed to run the integration tests.
 This script should only be run on the roborio.
 Where:
     -h    Show this help text.
+    -m    The driver station mutex will be handled manually.
     -A    Disable language recomended arguments.
     arg   Additional arguments to be passed to test."
 
@@ -60,14 +61,20 @@ if [[ ! -e ${LOCAL_TEST_FILE} ]]; then
 	exit 1
 fi
 
-TEST_RUN_ARGS="${@:2}"
+MUTEX_OVERRIDE_PARAM_TEXT=""
+if [[ "$2" = "-m" ]]; then
+	MUTEX_OVERRIDE_PARAM_TEXT="-m "
+	TEST_RUN_ARGS="${@:3}"
+else
+	TEST_RUN_ARGS="${@:2}"
+fi
 
 shopt -s huponexit
 
 SCP_TEST_SCRIPT="scp config.sh ${DEFAULT_LOCAL_RUN_TEST_SCRIPT} ${ROBOT_ADDRESS}:/${DEFAULT_DESTINATION_DIR}"
 SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR="ssh -t ${ROBOT_ADDRESS} chmod a+x ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT}; mkdir ${DEFAULT_TEST_SCP_DIR} 2>/dev/null"
 SCP_TEST_PROGRAM="scp ${LOCAL_TEST_FILE} ${ROBOT_ADDRESS}:/${DESTINATION_TEST_FILE}"
-SSH_RUN_TESTS="ssh -t ${ROBOT_ADDRESS} ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT} ${LANGUAGE} $(whoami) -d ${DEFAULT_TEST_SCP_DIR} ${TEST_RUN_ARGS}"
+SSH_RUN_TESTS="ssh -t ${ROBOT_ADDRESS} ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT} ${LANGUAGE} $(whoami) ${MUTEX_OVERRIDE_PARAM_TEXT}-d ${DEFAULT_TEST_SCP_DIR} ${TEST_RUN_ARGS}"
 
 if [ $(which sshpass) ]; then
 	sshpass -p "" ${SCP_TEST_SCRIPT}

test-scripts/jenkins-run-tests-get-results.sh

@@ -9,6 +9,34 @@
 # Configurable variables
 source config.sh
 
+# Setup the mutex release before we grab it
+mutexTaken=false
+# This function should run even if the script exits abnormally
+function finish {
+	if [ "$mutexTaken" == true ]; then
+		SSH_GIVE_MUTEX="ssh -t ${ROBOT_ADDRESS} /usr/local/frc/bin/teststand give --name=$(whoami)"
+		if [ $(which sshpass) ]; then
+			sshpass -p "" ${SSH_GIVE_MUTEX}
+		else
+			printf "WARNING!!! THIS IS HOW THE MUTEX IS RELEASED!\nIF YOU CHOOSE TO 'ctr+c' NOW YOU WILL HAVE TO HAND BACK THE MUTEX MANUALLY ON THE ROBOT.\n"
+			eval ${SSH_GIVE_MUTEX}
+		fi
+		mutexTaken=false
+	fi
+}
+trap finish EXIT SIGINT
+
+
+
+# Take the mutex from the driver station
+mutexTaken=true
+SSH_TAKE_MUTEX="ssh -t ${ROBOT_ADDRESS} /usr/local/frc/bin/teststand take --name=$(whoami)"
+if [ $(which sshpass) ]; then
+	sshpass -p "" ${SSH_TAKE_MUTEX}
+else
+	eval ${SSH_TAKE_MUTEX}
+fi
+
 # If there are already test results in the repository then remove them
 if [[ -e ${DEFAULT_LOCAL_TEST_RESULTS_DIR} ]]; then
 	rm -R ${DEFAULT_LOCAL_TEST_RESULTS_DIR}
@@ -28,7 +56,7 @@ fi
 printf "Running cpp test\n"
 
 # Run the C++ Tests
-./deploy-and-run-test-on-robot.sh cpp -A "--gtest_output=xml:${DEFAULT_DESTINATION_CPP_TEST_RESULTS}"
+./deploy-and-run-test-on-robot.sh cpp -m -A "--gtest_output=xml:${DEFAULT_DESTINATION_CPP_TEST_RESULTS}"
 
 # Retrive the C++ Test Results
 SCP_GET_CPP_TEST_RESULT="scp ${ROBOT_ADDRESS}:${DEFAULT_DESTINATION_CPP_TEST_RESULTS} ${DEFAULT_LOCAL_CPP_TEST_RESULT}"
@@ -39,7 +67,7 @@ else
 fi
 
 # Run the Java Tests
-./deploy-and-run-test-on-robot.sh java
+./deploy-and-run-test-on-robot.sh java -m
 
 # Retrive the Java Test Results
 SCP_GET_JAVA_TEST_RESULT="scp ${ROBOT_ADDRESS}:${DEFAULT_DESTINATION_JAVA_TEST_RESULTS} ${DEFAULT_LOCAL_JAVA_TEST_RESULT}"
@@ -48,3 +76,5 @@ if [ $(which sshpass) ]; then
 else
 	eval ${SCP_GET_JAVA_TEST_RESULT}
 fi
+
+# The mutex is released when this program exits

test-scripts/run-tests-on-robot.sh

@@ -17,7 +17,7 @@ source config.sh
 DEFAULT_TEST_DIR=${DEFAULT_DESTINATION_DIR}
 DEFAULT_PATH_TO_JRE=/usr/local/frc/JRE/bin/java
 
-usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-A] [arg] [arg]...
+usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-m] [-A] [arg] [arg]...
 A script designed to run the integration tests.
 This script should only be run on the roborio.
 Where:
@@ -29,14 +29,19 @@ Where:
           This scrip will automatically move the test into the ${DEFAULT_TEST_DIR}
           directory when the driver station mutex is released.
           Default: Assumes the test is in the same directory as this scrip.
+    -m    The driver station mutex will be handled manually.
     -A    Do not use the default arguments for the given language.
     arg   The arguments to be passed to test."
 
 mutexTaken=false
+driverStationEnabled=false
 # This function should run even if the script exits abnormally
 function finish {
-	if [ "$mutexTaken" == true ]; then
+	if [ "$driverStationEnabled" == true ]; then
 		/usr/local/frc/bin/teststand ds --name="${NAME}" disable
+		driverStationEnabled=false
+	fi
+	if [ "$mutexTaken" == true ]; then
 		/usr/local/frc/bin/teststand give --name="${NAME}"
 		mutexTaken=false
 	fi
@@ -46,6 +51,8 @@ trap finish EXIT SIGINT
 # This function should be run asynchronysly to enable the tests 10
 # seconds after they have been run.
 function enableIn10Seconds {
+	/usr/local/frc/bin/teststand ds --name="${NAME}" disable
+	driverStationEnabled=true
 	sleep 10
 	/usr/local/frc/bin/teststand ds --name="${NAME}" enable
 }
@@ -68,6 +75,7 @@ PARAM_ARGS=${@:3}
 TEST_RUN_ARGS=${@:3}
 RUN_WITH_DEFAULT_ARGS=true
 DEFAULT_ARGS=""
+MUTEX_OVERRIDE=false
 
 # Determine the language that we are attempting to run
 if [[ "$1" = java ]]; then
@@ -92,7 +100,7 @@ PARAM_COUNTER=2
 printf "Param Args ${PARAM_ARGS}\n"
 
 # Check for optional paramaters
-while  getopts ':hd:A' option $PARAM_ARGS ; do
+while  getopts ':hmd:A' option $PARAM_ARGS ; do
 	case "$option" in
 	h)
 		# Print the help message
@@ -105,6 +113,10 @@ while  getopts ':hd:A' option $PARAM_ARGS ; do
 		RUN_WITH_DEFAULT_ARGS=false
 		PARAM_COUNTER=$[$PARAM_COUNTER +1]
 		;;
+	m)
+		MUTEX_OVERRIDE=true
+		PARAM_COUNTER=$[$PARAM_COUNTER +1]
+		;;
 	d)
 		TEST_DIR=$OPTARG
 		# Since we are selecting the directory the run args start from the 5th argument
@@ -130,9 +142,14 @@ if [[ $# -lt $PARAM_COUNTER ]]; then
 	exit 1
 fi
 
-# Attempt to take the mutex for the driver station
-mutexTaken=true
-/usr/local/frc/bin/teststand take --name="${NAME}"
+# If the mutex has been retrived a higher level in the tree
+if [ "$MUTEX_OVERRIDE" == false ]; then
+	# Attempt to take the mutex for the driver station
+	mutexTaken=true
+	/usr/local/frc/bin/teststand take --name="${NAME}"
+else
+	printf "Override driver station control enabled.\n"
+fi
 
 # Kill all running robot programs
 killall java FRCUserProgram

test-scripts/spawn_driver_station.sh

@@ -8,7 +8,7 @@
 
 source config.sh
 
-TESTSTAND_SERVE_COMMAND=".scratch/teststand serve"
+TESTSTAND_SERVE_COMMAND="/usr/local/frc/bin/teststand serve"
 
 #Checks to see if the mutex driver station is running. If it isn't then start it.
 

wpilibc/wpilibC++/include/Error.h

@@ -29,7 +29,7 @@ public:
 	const char *GetFunction() const;
 	uint32_t GetLineNumber() const;
 	const ErrorBase* GetOriginatingObject() const;
-	double GetTime() const;
+	double GetTimestamp() const;
 	void Clear();
 	void Set(Code code, const char* contextMessage, const char* filename, const char *function,
 			uint32_t lineNumber, const ErrorBase* originatingObject);

wpilibc/wpilibC++/include/GenericHID.h

@@ -33,4 +33,6 @@ public:
 	virtual bool GetTop(JoystickHand hand = kRightHand) = 0;
 	virtual bool GetBumper(JoystickHand hand = kRightHand) = 0;
 	virtual bool GetRawButton(uint32_t button) = 0;
+
+	virtual int GetPOV(uint32_t pov = 0) = 0;
 };

wpilibc/wpilibC++/include/SmartDashboard/SmartDashboard.h

@@ -26,13 +26,16 @@ public:
 
 	static void PutBoolean(std::string keyName, bool value);
 	static bool GetBoolean(std::string keyName);
+	static bool GetBoolean(std::string keyName, bool defaultValue);
 
 	static void PutNumber(std::string keyName, double value);
 	static double GetNumber(std::string keyName);
+	static double GetNumber(std::string keyName, double defaultValue);
 
 	static void PutString(std::string keyName, std::string value);
 	static int GetString(std::string keyName, char *value, unsigned int valueLen);
 	static std::string GetString(std::string keyName);
+	static std::string GetString(std::string keyName, std::string defaultValue);
 
 	static void PutValue(std::string keyName, ComplexData& value);
 	static void RetrieveValue(std::string keyName, ComplexData& value);

wpilibc/wpilibC++/include/Timer.h

@@ -35,6 +35,9 @@ public:
 	static double GetFPGATimestamp();
 	static double GetPPCTimestamp();
     static double GetMatchTime();
+	
+	// The time, in seconds, at which the 32-bit FPGA timestamp rolls over to 0
+	static constexpr double kRolloverTime = (1ll << 32) / 1e6;
 
 private:
 	double m_startTime;

wpilibc/wpilibC++/include/WPIErrors.h

@@ -65,8 +65,8 @@ S(CompressorTaskError, 3, "Compressor task won't start");
 S(LoopTimingError, 4, "Digital module loop timing is not the expected value");
 S(NonBinaryDigitalValue, 5, "Digital output value is not 0 or 1");
 S(IncorrectBatteryChannel, 6, "Battery measurement channel is not correct value");
-S(BadJoystickIndex, 7, "Joystick index is out of range, should be 1-4");
-S(BadJoystickAxis, 8, "Joystick axis is out of range");
+S(BadJoystickIndex, 7, "Joystick index is out of range, should be 0-3");
+S(BadJoystickAxis, 8, "Joystick axis or POV is out of range");
 S(InvalidMotorIndex, 9, "Motor index is out of range, should be 0-3");
 S(DriverStationTaskError, 10, "Driver Station task won't start");
 S(EnhancedIOPWMPeriodOutOfRange, 11, "Driver Station Enhanced IO PWM Output period out of range.");

wpilibc/wpilibC++/src/Error.cpp

@@ -8,13 +8,12 @@
 
 #include <iostream>
 #include <sstream>
-#include <cstdio>
 #include <cstring>
 #include <cstdlib>
 #include <stdint.h>
 #include "HAL/Task.hpp"
 
-//#include "NetworkCommunication/FRCComm.h"
+#include "DriverStation.h"
 #include "Timer.h"
 #include "Utility.h"
 bool Error::m_suspendOnErrorEnabled = false;
@@ -58,20 +57,30 @@ uint32_t Error::GetLineNumber() const
 const ErrorBase* Error::GetOriginatingObject() const
 {	return m_originatingObject;  }
 
-double Error::GetTime() const
+double Error::GetTimestamp() const
 {	return m_timestamp;  }
 
 void Error::Set(Code code, const char* contextMessage, const char* filename, const char* function, uint32_t lineNumber, const ErrorBase* originatingObject)
 {
+	bool report = true;
+
+	if(code == m_code && GetTime() - m_timestamp < 1)
+	{
+		report = false;
+	}
+
 	m_code = code;
 	m_message = contextMessage;
 	m_filename = filename;
 	m_function = function;
 	m_lineNumber = lineNumber;
 	m_originatingObject = originatingObject;
-	m_timestamp = GetTime();
 
-	Report();
+	if(report)
+	{
+		m_timestamp = GetTime();
+		Report();
+	}
 
     if (m_suspendOnErrorEnabled) suspendTask(0);
 }
@@ -87,9 +96,7 @@ void Error::Report()
 
 	std::string error = errorStream.str();
 
-	// Print the error and send it to the DriverStation
-	std::cout << error << std::endl;
-    // TODO: Better logging HALSetErrorData(error.c_str(), error.size(), 100);
+	DriverStation::ReportError(error);
 }
 
 void Error::Clear()

wpilibc/wpilibC++/src/SmartDashboard/SmartDashboard.cpp

@@ -110,7 +110,7 @@ void SmartDashboard::PutBoolean(std::string keyName, bool value)
 }
 
 /**
- * Returns the value at the specified key.
+ * Returns the value at the specified key. Throws an exception if the key is not found in the table
  * @param keyName the key
  * @return the value
  */
@@ -119,6 +119,16 @@ bool SmartDashboard::GetBoolean(std::string keyName)
 	return m_table->GetBoolean(keyName);
 }
 
+/**
+ * Returns the value at the specified key. If the key is not found, returns the default value.
+ * @param keyName the key
+ * @return the value
+ */
+bool SmartDashboard::GetBoolean(std::string keyName, bool defaultValue)
+{
+	return m_table->GetBoolean(keyName, defaultValue);
+}
+
 /**
  * Maps the specified key to the specified value in this table.
  * The key can not be NULL.
@@ -131,7 +141,7 @@ void SmartDashboard::PutNumber(std::string keyName, double value){
 }
 
 /**
- * Returns the value at the specified key.
+ * Returns the value at the specified key. Throws an exception if the key is not found in the table.
  * @param keyName the key
  * @return the value
  */
@@ -140,6 +150,16 @@ double SmartDashboard::GetNumber(std::string keyName)
 	return m_table->GetNumber(keyName);
 }
 
+/**
+ * Returns the value at the specified key. If the key is not found, returns the default value.
+ * @param keyName the key
+ * @return the value
+ */
+double SmartDashboard::GetNumber(std::string keyName, double defaultValue)
+{
+	return m_table->GetNumber(keyName, defaultValue);
+}
+
 /**
  * Maps the specified key to the specified value in this table.
  * Neither the key nor the value can be NULL.
@@ -170,7 +190,7 @@ int SmartDashboard::GetString(std::string keyName, char *outBuffer, unsigned int
 
 
 /**
- * Returns the value at the specified key.
+ * Returns the value at the specified key. Throws an exception if the key is not found in the table
  * @param keyName the key
  * @return the value
  */
@@ -178,3 +198,13 @@ std::string SmartDashboard::GetString(std::string keyName)
 {
 	return m_table->GetString(keyName);
 }
+
+/**
+ * Returns the value at the specified key. If the key is not found, returns the default value.
+ * @param keyName the key
+ * @return the value
+ */
+std::string SmartDashboard::GetString(std::string keyName, std::string defaultValue)
+{
+	return m_table->GetString(keyName, defaultValue);
+}

wpilibc/wpilibC++Devices/include/CANJaguar.h

@@ -41,6 +41,7 @@ public:
 	/** Sets a potentiometer as the position reference only. <br> Passed as the "tag" when setting the control mode. */
 	static const struct PotentiometerStruct {} Potentiometer;
 
+	typedef enum {kPercentVbus, kCurrent, kSpeed, kPosition, kVoltage} ControlMode;
 	typedef enum {kCurrentFault = 1, kTemperatureFault = 2, kBusVoltageFault = 4, kGateDriverFault = 8} Faults;
 	typedef enum {kForwardLimit = 1, kReverseLimit = 2} Limits;
 	typedef enum {
@@ -133,6 +134,7 @@ public:
 	void ConfigReverseLimit(double reverseLimitPosition);
 	void ConfigMaxOutputVoltage(double voltage);
 	void ConfigFaultTime(float faultTime);
+	ControlMode GetControlMode();
 
 	static void UpdateSyncGroup(uint8_t syncGroup);
 
@@ -143,13 +145,12 @@ public:
 	bool IsSafetyEnabled();
 	void SetSafetyEnabled(bool enabled);
 	void GetDescription(char *desc);
+	uint8_t GetDeviceID();
 
 protected:
 	// Control mode helpers
-	typedef enum {kPercentVbus, kCurrent, kSpeed, kPosition, kVoltage} ControlMode;
 
 	void ChangeControlMode(ControlMode controlMode);
-	ControlMode GetControlMode();
 
 	void SetSpeedReference(uint8_t reference);
 	uint8_t GetSpeedReference();