Adding SFX to tools zip

Change-Id: I09a04506682a5d0ccbe8e556285de587915f7383

.gitignore

@@ -10,6 +10,11 @@ bin/
 .project
 .classpath
 **/dependency-reduced-pom.xml
+wpilibj/wpilibJavaJNI/nivision/*.c
+wpilibj/wpilibJavaJNI/nivision/*.cpp
+wpilibj/wpilibJavaJNI/nivision/*.s
+wpilibj/wpilibJavaJNI/nivision/*_arm.ini
+wpilibj/wpilibJavaJNI/nivision/*.java
 
 # Created by the jenkins test script
 test-reports
@@ -155,6 +160,10 @@ local.properties
 .settings/
 .loadpath
 
+### Python ###
+*.pyc
+__pycache__
+
 # External tool builders
 .externalToolBuilders/
 

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

@@ -85,6 +85,14 @@
 				  <outputDirectory>${tools-zip}</outputDirectory>
 				  <destFileName>SmartDashboard.jar</destFileName>
 	            </artifactItem>
+	            <artifactItem>
+	              <groupId>edu.wpi.first.wpilib</groupId>
+	              <artifactId>sfx</artifactId>
+	              <type>zip</type>
+	              <classifier>zip</classifier>
+				  <outputDirectory>${tools-zip}/../</outputDirectory>
+				  <destFileName>sfx.zip</destFileName>
+	            </artifactItem>
 	            <artifactItem>
 	              <groupId>edu.wpi.first.wpilib.networktables</groupId>
 	              <artifactId>OutlineViewer</artifactId>
@@ -92,6 +100,13 @@
 				  <outputDirectory>${tools-zip}</outputDirectory>
 				  <destFileName>OutlineViewer.jar</destFileName>
 	            </artifactItem>
+		    <artifactItem>
+		      <groupId>edu.wpi.first.wpilib</groupId>
+		      <artifactId>java-installer</artifactId>
+		      <version>1.0-SNAPSHOT</version>
+		      <outputDirectory>${tools-zip}</outputDirectory>
+		      <destFileName>java-installer.jar</destFileName>
+		    </artifactItem>
               </artifactItems>
                 
               <overWriteReleases>false</overWriteReleases>
@@ -136,6 +151,7 @@
             </goals>
 		    <configuration>
 			  <target>
+				<unzip src="${tools-zip}/../sfx.zip" dest="${tools-zip}"/>
 			    <zip destfile="${project.build.directory}/classes/resources/tools.zip"
 				     basedir="${tools-zip}"
 				     update="true" />
@@ -201,6 +217,12 @@
 	  <artifactId>SmartDashboard</artifactId>
 	  <version>1.0.0-SNAPSHOT</version>
     </dependency>
+    <dependency>
+	  <groupId>edu.wpi.first.wpilib</groupId>
+	  <artifactId>sfx</artifactId>
+	              <type>zip</type>
+	  <version>LATEST</version>
+    </dependency>
     <dependency>
 	  <groupId>edu.wpi.first.wpilib.networktables</groupId>
 	  <artifactId>OutlineViewer</artifactId>

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

@@ -0,0 +1,77 @@
+package edu.wpi.first.wpilib.plugins.core.actions;
+
+import java.io.File;
+import java.io.FilenameFilter;
+
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.jface.action.IAction;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.ui.IWorkbenchWindow;
+import org.eclipse.ui.IWorkbenchWindowActionDelegate;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * Our sample action implements workbench action delegate.
+ * The action proxy will be created by the workbench and
+ * shown in the UI. When the user tries to use the action,
+ * this delegate will be created and execution will be 
+ * delegated to it.
+ * @see IWorkbenchWindowActionDelegate
+ */
+public class RunSimulationSmartDashboardAction implements IWorkbenchWindowActionDelegate {
+	/**
+	 * The constructor.
+	 */
+	public RunSimulationSmartDashboardAction() {
+	}
+
+	/**
+	 * The action has been activated. The argument of the
+	 * method represents the 'real' action sitting
+	 * in the workbench UI.
+	 * @see IWorkbenchWindowActionDelegate#run
+	 */
+	public void run(IAction action) {
+		File dir = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools");
+		File[] files = dir.listFiles(new FilenameFilter() {
+			@Override public boolean accept(File dir, String name) {
+				return name.startsWith("SmartDashboard") && name.endsWith(".jar");
+			}
+		});
+		if (files == null || files.length < 1) return;
+		String[] cmd = {"java", "-jar", files[0].getAbsolutePath(), "-ip", "localhost"};
+		try {
+			DebugPlugin.exec(cmd, new File(System.getProperty("user.home")));
+		} catch (CoreException e) {
+            WPILibCore.logError("Error running SmartDashboard.", e);
+		}
+	}
+
+	/**
+	 * Selection in the workbench has been changed. We 
+	 * can change the state of the 'real' action here
+	 * if we want, but this can only happen after 
+	 * the delegate has been created.
+	 * @see IWorkbenchWindowActionDelegate#selectionChanged
+	 */
+	public void selectionChanged(IAction action, ISelection selection) {
+	}
+
+	/**
+	 * We can use this method to dispose of any system
+	 * resources we previously allocated.
+	 * @see IWorkbenchWindowActionDelegate#dispose
+	 */
+	public void dispose() {
+	}
+
+	/**
+	 * We will cache window object in order to
+	 * be able to provide parent shell for the message dialog.
+	 * @see IWorkbenchWindowActionDelegate#init
+	 */
+	public void init(IWorkbenchWindow window) {
+	}
+}

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

@@ -8,8 +8,6 @@ import java.io.OutputStream;
 import java.util.zip.ZipEntry;
 import java.util.zip.ZipInputStream;
 
-import javax.swing.JOptionPane;
-
 import org.eclipse.core.resources.ResourcesPlugin;
 import org.eclipse.core.runtime.CoreException;
 import org.eclipse.core.runtime.IProgressMonitor;
@@ -17,6 +15,7 @@ import org.eclipse.core.runtime.IStatus;
 import org.eclipse.core.runtime.Status;
 import org.eclipse.core.runtime.jobs.Job;
 import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.jface.dialogs.MessageDialog;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 
@@ -117,7 +116,7 @@ public abstract class AbstractInstaller {
 	protected void install() throws InstallException {
 		if(installLocation.exists()) {
 			if(!removeFileHandler(installLocation, true)) {
-				JOptionPane.showMessageDialog(null,
+				MessageDialog.openError(null, "Error",
 					String.format("Could not update the old wpilib folder.%n"
 							+ "Please close any WPILib tools and restart Eclipse."));
 			}

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

@@ -6,10 +6,9 @@ import java.io.IOException;
 import java.net.URI;
 import java.net.URISyntaxException;
 
-import javax.swing.JOptionPane;
-
 import org.eclipse.core.runtime.CoreException;
 import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.jface.dialogs.MessageDialog;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 
@@ -21,8 +20,8 @@ public class SimulationNotification {
 	
 	public static void showUnsupported() {
 		String title = "Simulation Unsupported";
-		String message = SIMULATION_UNSUPPORTED_MSG; 
-		JOptionPane.showMessageDialog(null, message, title, JOptionPane.OK_OPTION);
+		String message = SIMULATION_UNSUPPORTED_MSG;
+		MessageDialog.openError(null, title, message);
 		try {
 			Desktop.getDesktop().browse(new URI(URL));
 		} catch (IOException e) {

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

@@ -5,6 +5,7 @@ import java.util.Arrays;
 import org.eclipse.core.resources.IProject;
 import org.eclipse.core.resources.ResourcesPlugin;
 import org.eclipse.swt.events.ModifyListener;
+import org.eclipse.swt.events.SelectionListener;
 import org.eclipse.swt.layout.GridData;
 import org.eclipse.swt.widgets.Combo;
 import org.eclipse.swt.widgets.Composite;
@@ -48,4 +49,8 @@ public class ProjectComboField {
 		combo.addModifyListener(modifyListener);
 	}
 	
+	public void addSelectionListener(SelectionListener selectionListener) {
+		combo.addSelectionListener(selectionListener);
+	}
+
 }

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

@@ -82,7 +82,7 @@
 									<listOptionValue builtIn="false" value="${WPILIB}/cpp/current/sim/include"/>
 									<listOptionValue builtIn="false" value="/usr/include"/>
 									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.1"/>
-									<listOptionValue builtIn="false" value="/usr/include/sdformat-2.0"/>
+									<listOptionValue builtIn="false" value="/usr/include/sdformat-2.2"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.optimization.level.1648211502" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.937474733" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>

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

@@ -23,7 +23,8 @@ private:
 
 	void AutonomousInit()
 	{
-		autonomousCommand->Start();
+		if (autonomousCommand != NULL)
+			autonomousCommand->Start();
 	}
 
 	void AutonomousPeriodic()
@@ -37,7 +38,8 @@ private:
 		// teleop starts running. If you want the autonomous to 
 		// continue until interrupted by another command, remove
 		// this line or comment it out.
-		autonomousCommand->Cancel();
+		if (autonomousCommand != NULL)
+			autonomousCommand->Cancel();
 	}
 
 	void TeleopPeriodic()

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

@@ -0,0 +1,38 @@
+#include "WPILib.h"
+
+/**
+ * This sample shows how to use the new CANTalon to just run a motor in a basic
+ *   throttle mode, in the same manner as you might control a traditional PWM
+ *   controlled motor.
+ *
+ */
+class Robot : public SampleRobot {
+	CANTalon m_motor;
+
+  Joystick m_stick;
+
+	// update every 0.01 seconds/10 milliseconds.
+  // The talon only receives control packets every 10ms.
+	double kUpdatePeriod = 0.010;
+
+public:
+ Robot()
+     : m_motor(1),   // Initialize the Talon as device 1. Use the roboRIO web
+                    // interface to change the device number on the talons.
+       m_stick(0)
+ {}
+
+	/**
+	 * Runs the motor from the output of a Joystick.
+	 */
+	void OperatorControl() {
+		while (IsOperatorControl() && IsEnabled()) {
+      // Takes a number from -1.0 (full reverse) to +1.0 (full forwards).
+			m_motor.Set(m_stick.GetY());
+
+			Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

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

@@ -0,0 +1,63 @@
+#include "WPILib.h"
+
+/**
+ * This is a quick sample program to show how to use the new Talon SRX over CAN.
+ * This particular sample demonstrates running a basic PID control loop with an
+ *   analog potentiometer.
+ *
+ */
+class Robot : public SampleRobot {
+	CANTalon m_motor;
+
+public:
+ Robot()
+     : m_motor(1)   // Initialize the Talon as device 1. Use the roboRIO web
+                    // interface to change the device number on the m_motors.
+ {
+   // This sets the mode of the m_motor. The options are:
+   // kPercentVbus: basic throttle; no closed-loop.
+   // kCurrent: Runs the motor with the specified current if possible.
+   // kSpeed: Runs a PID control loop to keep the motor going at a constant
+   //   speed using the specified sensor.
+   // kPosition: Runs a PID control loop to move the motor to a specified move
+   //   the motor to a specified sensor position.
+   // kVoltage: Runs the m_motor at a constant voltage, if possible.
+   // kFollower: The m_motor will run at the same throttle as the specified other talon.
+   m_motor.SetControlMode(CANSpeedController::kPosition);
+   // This command allows you to specify which feedback device to use when doing
+   // closed-loop control. The options are:
+   // AnalogPot: Basic analog potentiometer
+   // QuadEncoder: Quadrature Encoder
+   // AnalogEncoder: Analog Encoder
+   // EncRising: Counts the rising edges of the QuadA pin (allows use of a
+   //   non-quadrature encoder)
+   // EncFalling: Same as EncRising, but counts on falling edges.
+   m_motor.SetFeedbackDevice(CANTalon::AnalogPot);
+   // This sets the basic P, I , and D values (F, Izone, and rampRate can also
+   //   be set, but are ignored here).
+   // These must all be positive floating point numbers (SetSensorDirection will
+   //   multiply the sensor values by negative one in case your sensor is flipped
+   //   relative to your motor).
+   // These values are in units of throttle / sensor_units where throttle ranges
+   //   from -1023 to +1023 and sensor units are from 0 - 1023 for analog
+   //   potentiometers, encoder ticks for encoders, and position / 10ms for
+   //   speeds.
+   m_motor.SetPID(1.0, 0.0, 0.0);
+ }
+
+	/**
+	 * Runs the motor from the output of a Joystick.
+	 */
+	void OperatorControl() {
+		while (IsOperatorControl() && IsEnabled()) {
+      // In closed loop mode, this sets the goal in the units mentioned above.
+      // Since we are using an analog potentiometer, this will try to go to
+      //   the middle of the potentiometer range.
+			m_motor.Set(512);
+
+			Wait(5.0);
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

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

@@ -8,14 +8,21 @@ class IntermediateVisionRobot : public SampleRobot
 {
 	IMAQdxSession session;
 	Image *frame;
+	IMAQdxError imaqError;
 
 public:
 	void RobotInit() override {
 	    // create an image
 		frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
 		// open the camera
-		IMAQdxOpenCamera("cam1", IMAQdxCameraControlModeController, &session);
-		IMAQdxConfigureGrab(session);
+		imaqError = IMAQdxOpenCamera("cam0", IMAQdxCameraControlModeController, &session);
+		if(imaqError != IMAQdxErrorSuccess) {
+			DriverStation::ReportError("IMAQdxOpenCamera error: " + std::to_string((long)imaqError) + "\n");
+		}
+		imaqError = IMAQdxConfigureGrab(session);
+		if(imaqError != IMAQdxErrorSuccess) {
+			DriverStation::ReportError("IMAQdxConfigureGrab error: " + std::to_string((long)imaqError) + "\n");
+		}
 	}
 
 	void OperatorControl() override {
@@ -26,10 +33,12 @@ public:
         // in turn send it to the dashboard.
 		while(IsOperatorControl() && IsEnabled()) {
 			IMAQdxGrab(session, frame, true, NULL);
-
-			imaqDrawShapeOnImage(frame, frame, { 10, 10, 100, 100 }, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
-
-			CameraServer::GetInstance()->SetImage(frame);
+			if(imaqError != IMAQdxErrorSuccess) {
+				DriverStation::ReportError("IMAQdxGrab error: " + std::to_string((long)imaqError) + "\n");
+			} else {
+				imaqDrawShapeOnImage(frame, frame, { 10, 10, 100, 100 }, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
+				CameraServer::GetInstance()->SetImage(frame);
+			}
 		}
         // stop image acquisition
 		IMAQdxStopAcquisition(session);

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

@@ -128,6 +128,40 @@
   </files>
 </example>
 
+<example>
+  <name>CAN Talon SRX</name>
+  <description>Quick demo of running the SRX at a given throttle value.</description>
+  <tags>
+    <tag>Robot and Motor</tag>
+    <tag>Digital</tag>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalon/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
+<example>
+  <name>CAN Talon SRX PID</name>
+  <description>Quick demo of running the SRX with a PID loop.</description>
+  <tags>
+    <tag>Robot and Motor</tag>
+    <tag>Digital</tag>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalonPID/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
 <example>
   <name>Relay</name>
   <description>Demonstrate controlling a Relay from Joystick buttons.</description>
@@ -264,7 +298,7 @@
     </example>
 
     <example>
-        <name>Getting Started</name>
+        <name>Intermediate vision</name>
         <description>An example program that acquires images from an attached USB camera and adds some
             annotation to the image as you might do for showing operators the result of some image
             recognition, and sends it to the dashboard for display.

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/RSEUtils.java

@@ -43,8 +43,8 @@ public class RSEUtils {
             			RSECorePlugin.getTheCoreRegistry().getSystemTypeById("org.eclipse.rse.systemtype.ssh");
             	host = registry.createHost(profile.getName(), systemType, connectionName, hostName,
             			"The remote target for debugging the robot for team "+teamNumber+".");
-            	host.setDefaultUserId("admin");
-            	SystemSignonInformation info = new SystemSignonInformation(hostName, "admin",
+            	host.setDefaultUserId("lvuser");
+            	SystemSignonInformation info = new SystemSignonInformation(hostName, "lvuser",
             			"", systemType);
     			PasswordPersistenceManager.getInstance().add(info, true, false);
             } catch (Exception e) {

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

@@ -1,5 +1,5 @@
 # Deployment information
-username=admin
+username=lvuser
 password=
 deploy.dir=/home/lvuser
 deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
@@ -8,7 +8,7 @@ command.dir=/home/lvuser/
 # Libraries to use
 wpilib=${user.home}/wpilib/cpp/${cpp-version}
 wpilib.lib=${wpilib}/lib
-roboRIOAllowedImages=18
+roboRIOAllowedImages=23
 
 # Ant support
 wpilib.ant.dir=${wpilib}/ant

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

@@ -19,21 +19,37 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
+    <property name="ant.enable.asserts" value="true"/>
     <property name="target" value="roboRIO-${team-number}.local" />
 	<echo>Trying Target: ${target}</echo>
 	 <if>
-		<isreachable host="${target}"/>
+		<isreachable host="${target}" timeout="5"/>
 	  <then>
 		<echo>roboRIO found via mDNS</echo>
 	  </then>
 	  <else>
-		<math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
-		<math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
-		<property name="target" value="10.${ip-upper}.${ip.lower}.2"/>
-		<echo>roboRIO not found via mDNS, falling back to static address of ${target}</echo>
-		<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
-			<isreachable host="${target}"/>
-		</assert>
+		<var name="target" unset="true"/>
+		<echo> roboRIO not found via mDNS, falling back to static USB</echo>
+		<property name="target" value="172.22.11.2"/>
+		<if>
+			<isreachable host="${target}" timeout="5"/>
+		  <then>
+			<echo>roboRIO found via static USB</echo>
+		  </then>
+		  <else>
+			<var name="target" unset="true"/>
+			<math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
+			<math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
+			<property name="target" value="10.${ip.upper}.${ip.lower}.2"/>
+			<echo>roboRIO not found via USB, falling back to static address of ${target}</echo>
+			<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
+				<bool>
+					<isreachable host="${target}" timeout="5"/>
+				</bool>
+			</assert>
+			<echo>roboRIO found via Ethernet static</echo>
+		  </else>
+		</if>
 	  </else>
 	 </if>
   </target>
@@ -93,7 +109,7 @@
   
   <target name="dependencies" depends="get-target-ip">
     <property name="ant.enable.asserts" value="true"/>
-	<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE">
+	<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE" append="false">
 		<prop name="Function" value="GetPropertiesOfItem"/>
 		<prop name="Plugins" value="nisyscfg"/>
 		<prop name="Items" value="system"/>
@@ -105,5 +121,6 @@
 			<contains string="${roboRIOAllowedImages}" substring="${roboRIOImage}"/>
 		</bool>
 	</assert>
+	<echo>roboRIO image version validated</echo>
   </target>
 </project>

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

@@ -38,7 +38,7 @@ public class Robot extends IterativeRobot {
 
     public void autonomousInit() {
         // schedule the autonomous command (example)
-        autonomousCommand.start();
+        if (autonomousCommand != null) autonomousCommand.start();
     }
 
     /**
@@ -53,7 +53,15 @@ public class Robot extends IterativeRobot {
         // teleop starts running. If you want the autonomous to 
         // continue until interrupted by another command, remove
         // this line or comment it out.
-        autonomousCommand.cancel();
+        if (autonomousCommand != null) autonomousCommand.cancel();
+    }
+
+    /**
+     * This function is called when the disabled button is hit.
+     * You can use it to reset subsystems before shutting down.
+     */
+    public void disabledInit(){
+
     }
 
     /**

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

@@ -0,0 +1,53 @@
+package $package;
+
+import com.ni.vision.NIVision;
+import com.ni.vision.NIVision.DrawMode;
+import com.ni.vision.NIVision.Image;
+import com.ni.vision.NIVision.ShapeMode;
+import edu.wpi.first.wpilibj.SampleRobot;
+
+/**
+ * This is a demo program showing the use of the NIVision class to do vision processing. 
+ * The image is acquired from the USB Webcam, then a circle is overlayed on it. 
+ * The NIVision class supplies dozens of methods for different types of processing. 
+ * The resulting image can then be sent to the FRC PC Dashboard with setImage()
+ */
+public class Robot extends SampleRobot {
+    int session;
+    Image frame;
+
+    public void robotInit() {
+
+        frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
+
+        /**
+         * the camera name (ex "cam1") can be found through the roborio web interface
+         */
+        session = NIVision.IMAQdxOpenCamera("cam1",
+                NIVision.IMAQdxCameraControlMode.CameraControlModeController);
+        NIVision.IMAQdxConfigureGrab(session);
+    }
+
+    public void operatorControl() {
+        NIVision.IMAQdxStartAcquisition(session);
+
+        /**
+         * grab an image, draw the circle, and provide it for the camera server
+         * which will in turn send it to the dashboard.
+         */
+        NIVision.Rect rect = new NIVision.Rect(10, 10, 100, 100);
+
+        while (isOperatorControl() && isEnabled()) {
+
+            NIVision.IMAQdxGrab(session, frame, 1);
+            NIVision.imaqDrawShapeOnImage(frame, frame, rect,
+                    DrawMode.DRAW_VALUE, ShapeMode.SHAPE_OVAL, 0.0f);
+            
+            CameraServer.getInstance().setImage(frame);
+        }
+        NIVision.IMAQdxStopAcquisition(session);
+    }
+
+    public void test() {
+    }
+}

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

@@ -0,0 +1,37 @@
+package $package;
+
+
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a short sample program demonstrating how to use the basic throttle
+ * mode of the new CAN Talon.
+ */
+public class Robot extends SampleRobot {
+
+  CANTalon motor;
+
+  public Robot() {
+      motor = new CANTalon(1); // Initialize the CanTalonSRX on device 1.
+  }
+
+  /**
+    * Runs the motor.
+    */
+  public void operatorControl() {
+    while (isOperatorControl() && isEnabled()) {
+      // Set the motor's output to half power.
+      // This takes a number from -1 (100% speed in reverse) to +1 (100% speed
+      // going forward)
+      motor.set(0.5);
+
+      Timer.delay(0.01);  // Note that the CANTalon only receives updates every
+                          // 10ms, so updating more quickly would not gain you
+                          // anything.
+    }
+    motor.disable();
+  }
+}

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

@@ -0,0 +1,62 @@
+package $package;
+
+
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a short sample program demonstrating how to use the Talon SRX over
+ * CAN to run a closed-loop PID controller with an analog potentiometer.
+ */
+public class Robot extends SampleRobot {
+
+  CANTalon motor;
+
+  public Robot() {
+      motor = new CANTalon(1); // Initialize the CanTalonSRX on device 1.
+
+      // This sets the mode of the m_motor. The options are:
+      // PercentVbus: basic throttle; no closed-loop.
+      // Current: Runs the motor with the specified current if possible.
+      // Speed: Runs a PID control loop to keep the motor going at a constant
+      //   speed using the specified sensor.
+      // Position: Runs a PID control loop to move the motor to a specified move
+      //   the motor to a specified sensor position.
+      // Voltage: Runs the m_motor at a constant voltage, if possible.
+      // Follower: The m_motor will run at the same throttle as the specified
+      //   other talon.
+      motor.changeControlMode(CANTalon.ControlMode.Position);
+      // This command allows you to specify which feedback device to use when doing
+      // closed-loop control. The options are:
+      // AnalogPot: Basic analog potentiometer
+      // QuadEncoder: Quadrature Encoder
+      // AnalogEncoder: Analog Encoder
+      // EncRising: Counts the rising edges of the QuadA pin (allows use of a
+      //   non-quadrature encoder)
+      // EncFalling: Same as EncRising, but counts on falling edges.
+      motor.setFeedbackDevice(CANTalon.FeedbackDevice.AnalogPot);
+      // This sets the basic P, I , and D values (F, Izone, and rampRate can also
+      //   be set, but are ignored here).
+      // These must all be positive floating point numbers (reverseSensor will
+      //   multiply the sensor values by negative one in case your sensor is flipped
+      //   relative to your motor).
+      // These values are in units of throttle / sensor_units where throttle ranges
+      //   from -1023 to +1023 and sensor units are from 0 - 1023 for analog
+      //   potentiometers, encoder ticks for encoders, and position / 10ms for
+      //   speeds.
+      motor.setPID(1.0, 0.0, 0.0);
+  }
+
+  public void operatorControl() {
+    while (isOperatorControl() && isEnabled()) {
+      // In closed loop mode, this sets the goal in the units mentioned above.
+      // Since we are using an analog potentiometer, this will try to go to
+      //   the middle of the potentiometer range.
+			motor.set(512);
+
+      Timer.delay(5.0);
+    }
+  }
+}

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

@@ -0,0 +1,35 @@
+package $package;
+
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a demo program showing the use of the CameraServer class.
+ * With start automatic capture, there is no opertunity to process the image.
+ * Look at the AdvancedVision sample for how to process the image before sending it to the FRC PC Dashboard.
+ */
+public class Robot extends SampleRobot {
+
+    CameraServer server;
+
+    public Robot() {
+        server = CameraServer.getInstance();
+        server.setQuality(50);
+    }
+
+    /**
+     * start up automatic capture you should see the video stream from the
+     * webcam in your FRC PC Dashboard.
+     */
+    public void operatorControl() {
+
+        server.startAutomaticCapture("cam1");
+
+        while (isOperatorControl() && isEnabled()) {
+            /** robot code here! **/
+        }
+    }
+
+}

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

@@ -81,6 +81,11 @@
     <description>Example programs that demonstrate the use of the various commonly used sensors on FRC robots</description>
   </tagDescription>
 
+  <tagDescription>
+    <name>Vision</name>
+    <description>Example programs that demonstrate the use of USB Cameras and image processing</description>
+  </tagDescription>
+
   <example>
 	<name>Getting Started</name>
 	<description>An example program which demonstrates the simplest autonomous and
@@ -154,6 +159,40 @@
   </files>
   </example>
 
+ <example>
+  <name>CAN Talon SRX</name>
+  <description>Demonstrate running a Talon SRX with the basic throttle mode.</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+    <tag>Robot and Motor</tag>
+  </tags>
+  <packages>
+    <package>src/$package-dir</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalon/src/org/usfirst/frc/team190/robot/Robot.java"
+      destination="src/$package-dir/Robot.java"></file>
+  </files>
+  </example>
+
+ <example>
+  <name>CAN Talon SRX PID</name>
+  <description>Demonstrate running a Talon SRX with PID Closed Loop control.</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+    <tag>Robot and Motor</tag>
+  </tags>
+  <packages>
+    <package>src/$package-dir</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalonPID/src/org/usfirst/frc/team190/robot/Robot.java"
+      destination="src/$package-dir/Robot.java"></file>
+  </files>
+  </example>
+
 
   <tagDescription>
     <name>CommandBased Robot</name>
@@ -253,4 +292,35 @@
             destination="src/$package-dir/triggers/DoubleButton.java"></file>
     </files>
   </example>
+
+  <example>
+    <name>Quick Vision</name>
+    <description>Demonstrate the use of the CameraServer class to stream from a USB Webcam without processing the images.</description>
+    <tags>
+      <tag>Vision</tag>
+    </tags>
+    <packages>
+      <package>src/$package-dir</package>
+    </packages>
+    <files>
+      <file source="examples/QuickVision/src/org/usfirst/frc/team190/robot/Robot.java"
+        destination="src/$package-dir/Robot.java"></file>
+    </files>
+  </example>
+
+  <example>
+    <name>Advanced Vision</name>
+    <description>Demonstrate the use of the NIVision class to capture image from a Webcam, process them, and then send them to the dashboard.</description>
+    <tags>
+      <tag>Vision</tag>
+    </tags>
+    <packages>
+      <package>src/$package-dir</package>
+    </packages>
+    <files>
+      <file source="examples/AdvancedVision/src/org/usfirst/frc/team190/robot/Robot.java"
+        destination="src/$package-dir/Robot.java"></file>
+    </files>
+  </example>
+
 </examples>

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/launching/JavaLaunchShortcut.java

@@ -2,6 +2,7 @@ package edu.wpi.first.wpilib.plugins.java.launching;
 
 import java.io.File;
 import java.lang.reflect.Method;
+import java.text.MessageFormat;
 import java.util.HashMap;
 import java.util.Map;
 import java.util.Vector;
@@ -15,8 +16,6 @@ import org.eclipse.debug.core.ILaunch;
 import org.eclipse.debug.core.ILaunchConfigurationType;
 import org.eclipse.debug.core.ILaunchConfigurationWorkingCopy;
 import org.eclipse.debug.core.ILaunchManager;
-import org.eclipse.debug.core.IStreamListener;
-import org.eclipse.debug.core.model.IStreamMonitor;
 import org.eclipse.debug.ui.IDebugUIConstants;
 import org.eclipse.debug.ui.ILaunchShortcut;
 import org.eclipse.jdt.core.IJavaElement;
@@ -37,13 +36,13 @@ import edu.wpi.first.wpilib.plugins.java.WPILibJavaPlugin;
 
 @SuppressWarnings("restriction")
 public abstract class JavaLaunchShortcut implements ILaunchShortcut {
+	private static final int DEBUG_ATTACH_ATTEMPTS = 20;
+	private static final int DEBUG_ATTACH_RETRY_DELAY_SEC = 2;
+	
 	//Class constants - used to delineate types for launch shortcuts
 	public static final String DEPLOY_TYPE = "edu.wpi.first.wpilib.plugins.core.deploy";
 	private static final String ANT_SERVER_THREAD_NAME = "Ant Build Server Connection";
 	
-	// NOTE: This string must be changed if the port is changed. 
-	private static final String DEBUG_START_TEXT = "Listening for transport dt_socket at address: 8348";
-	
 	private static ILaunch lastDeploy = null;
 	
 	/**
@@ -155,11 +154,9 @@ public abstract class JavaLaunchShortcut implements ILaunchShortcut {
 		lastDeploy = AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), targets, null, mode);
 		
 		if((mode.equals(ILaunchManager.DEBUG_MODE))&&(getLaunchType().equals(DEPLOY_TYPE))) {
-			ILaunchConfigurationWorkingCopy config;
 			try {
-				config = getRemoteDebugConfig(activeProj);
-				startDebugConfig(config, lastDeploy);
-			} catch (CoreException e) {
+				startDebugConfig(getRemoteDebugConfig(activeProj));
+			} catch (CoreException | InterruptedException e) {
                 WPILibJavaPlugin.logError("Debug attach failed", e);
 			}
 		}
@@ -190,20 +187,28 @@ public abstract class JavaLaunchShortcut implements ILaunchShortcut {
 		return WPILibCore.getDefault().getTargetIP(proj);
 	}
 
-	private void startDebugConfig(final ILaunchConfigurationWorkingCopy config, ILaunch deploy) throws CoreException {
-		IStreamListener listener = new IStreamListener() {
-			@Override
-			public void streamAppended(String text, IStreamMonitor monitor) {
-				if (text.contains(DEBUG_START_TEXT)) {
-					try {
-						config.launch(ILaunchManager.DEBUG_MODE, null);
-					} catch (CoreException e) {
-                        WPILibJavaPlugin.logError("Error starting debug config..", e);
-					}
-					monitor.removeListener(this);
+	private void startDebugConfig(final ILaunchConfigurationWorkingCopy config) 
+			throws CoreException, InterruptedException {
+		int remainingAttempts = DEBUG_ATTACH_ATTEMPTS;
+		
+		// Retry until success or rethrow of exception on failure
+		while (true) {
+			try {
+				WPILibJavaPlugin.logInfo("Attemping to attach debugger...");
+				config.launch(ILaunchManager.DEBUG_MODE, null);
+				WPILibJavaPlugin.logInfo("Debugger attached.");
+				break;
+			} catch (CoreException e) {
+				if (--remainingAttempts > 0) {
+					String errorMsg = MessageFormat.format("Unable to attach debugger. "
+							+ "{0} attempts remain - waiting {1} second(s) before retrying...", 
+							remainingAttempts, DEBUG_ATTACH_RETRY_DELAY_SEC);
+					WPILibJavaPlugin.logError(errorMsg, null);
+					Thread.sleep(DEBUG_ATTACH_RETRY_DELAY_SEC * 1000);
+				} else {
+					throw e;
 				}
 			}
-		};
-		deploy.getProcesses()[0].getStreamsProxy().getOutputStreamMonitor().addListener(listener);
+		}
 	}
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/wizards/file_template/FileTemplateWizardMainPage.java

@@ -11,7 +11,9 @@ import org.eclipse.jface.viewers.ISelection;
 import org.eclipse.jface.wizard.WizardPage;
 import org.eclipse.swt.SWT;
 import org.eclipse.swt.events.ModifyEvent;
+import org.eclipse.swt.events.SelectionEvent;
 import org.eclipse.swt.events.ModifyListener;
+import org.eclipse.swt.events.SelectionListener;
 import org.eclipse.swt.layout.GridData;
 import org.eclipse.swt.layout.GridLayout;
 import org.eclipse.swt.widgets.Composite;
@@ -76,6 +78,15 @@ public class FileTemplateWizardMainPage extends WizardPage {
 				});
 		GridData gd = new GridData(GridData.FILL_HORIZONTAL);
 		projectsCombo.setLayoutData(gd);
+		projectsCombo.addSelectionListener(new SelectionListener() {
+			public void widgetSelected(SelectionEvent e){
+				if (project == null){
+					project = projectsCombo.getProject();
+				}
+				packageText.setText(getDefaultPackage());
+			}
+			public void widgetDefaultSelected(SelectionEvent e){}
+		});
 		projectsCombo.addModifyListener(new ModifyListener() {
 			public void modifyText(ModifyEvent e) {
 				dialogChanged();
@@ -116,6 +127,7 @@ public class FileTemplateWizardMainPage extends WizardPage {
 	 */
 
 	private void initialize() {
+		WPILibJavaPlugin.logInfo("initialize");
 		projectsCombo.setProject(project);
 		packageText.setText(getDefaultPackage());
 	}
@@ -130,7 +142,7 @@ public class FileTemplateWizardMainPage extends WizardPage {
 
 		// Update the default package if necessary
 		if (project == null || !project.equals(projectsCombo.getProject())) {
-			String oldDefault = getDefaultPackage();
+			String oldDefault = getDefaultPackage();	
 			project = projectsCombo.getProject();
 			if (packageString.equals(oldDefault)) {
 				packageText.setText(getDefaultPackage());
@@ -200,4 +212,4 @@ public class FileTemplateWizardMainPage extends WizardPage {
 		if (defaultPackage != null) return defaultPackage;
 		else return "";
 	}
-}
+}

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

@@ -1,5 +1,5 @@
 # Deployment information
-username=admin
+username=lvuser
 password=
 deploy.dir=/home/lvuser
 deploy.kill.command=. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r
@@ -20,7 +20,7 @@ networktables.sources=${wpilib.lib}/NetworkTables-sources.jar
 #jnaerator.jar=${wpilib.lib}/jnaerator-runtime.jar
 #classpath=${wpilib.jar}:${networktables.jar}:${jna.jar}:${jnaerator.jar}
 classpath=${wpilib.jar}:${networktables.jar}
-roboRIOAllowedImages=18
+roboRIOAllowedImages=23
 
 # Ant support
 wpilib.ant.dir=${wpilib}/ant

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

@@ -19,21 +19,37 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
+    <property name="ant.enable.asserts" value="true"/>
     <property name="target" value="roboRIO-${team-number}.local" />
 	<echo>Trying Target: ${target}</echo>
 	 <if>
-		<isreachable host="${target}"/>
+		<isreachable host="${target}" timeout="5"/>
 	  <then>
 		<echo>roboRIO found via mDNS</echo>
 	  </then>
 	  <else>
-		<math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
-		<math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
-		<property name="target" value="10.${ip-upper}.${ip.lower}.2"/>
-		<echo>roboRIO not found via mDNS, falling back to static address of ${target}</echo>
-		<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
-			<isreachable host="${target}"/>
-		</assert>
+		<var name="target" unset="true"/>
+		<echo> roboRIO not found via mDNS, falling back to static USB</echo>
+		<property name="target" value="172.22.11.2"/>
+		<if>
+			<isreachable host="${target}" timeout="5"/>
+		  <then>
+			<echo>roboRIO found via static USB</echo>
+		  </then>
+		  <else>
+			<var name="target" unset="true"/>
+			<math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
+			<math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
+			<property name="target" value="10.${ip.upper}.${ip.lower}.2"/>
+			<echo>roboRIO not found via USB, falling back to static address of ${target}</echo>
+			<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
+				<bool>
+					<isreachable host="${target}" timeout="5"/>
+				</bool>
+			</assert>
+			<echo>roboRIO found via Ethernet static</echo>
+		  </else>
+		</if>
 	  </else>
 	 </if>
   </target>
@@ -192,7 +208,7 @@
   
   <target name="dependencies" depends="get-target-ip">
     <property name="ant.enable.asserts" value="true"/>
-	<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE">
+	<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE" append="false">
 		<prop name="Function" value="GetPropertiesOfItem"/>
 		<prop name="Plugins" value="nisyscfg"/>
 		<prop name="Items" value="system"/>
@@ -204,6 +220,7 @@
 			<contains string="${roboRIOAllowedImages}" substring="${roboRIOImage}"/>
 		</bool>
 	</assert>
+	<echo>roboRIO image version validated</echo>
 	<echo>Checking for JRE. If this fails install the JRE using these instructions: http://wpilib.screenstepslive.com/s/4485/m/13809/l/243933-installing-java-8-on-the-roborio-java-only</echo>
 	<sshexec host="${target}"
         username="${username}"

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

@@ -1,2 +1,2 @@
-/usr/local/frc/JRE/bin/java -jar /home/lvuser/FRCUserProgram.jar
+env LD_PRELOAD=/lib/libstdc++.so.6.0.20 /usr/local/frc/bin/netconsole-host /usr/local/frc/JRE/bin/java -jar /home/lvuser/FRCUserProgram.jar
 

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

@@ -1,2 +1,2 @@
-/usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar /home/lvuser/FRCUserProgram.jar
+env LD_PRELOAD=/lib/libstdc++.so.6.0.20 /usr/local/frc/bin/netconsole-host /usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar /home/lvuser/FRCUserProgram.jar
 

hal/include/HAL/Errors.hpp

@@ -4,6 +4,8 @@
 #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 CTR_TxFailed_MESSAGE "CTRE CAN Transmit Error"
+#define CTR_SigNotUpdated_MESSAGE "CTRE CAN Signal Not Updated"
 
 #define NiFpga_Status_FifoTimeout_MESSAGE "NIFPGA: FIFO timeout error"
 #define NiFpga_Status_TransferAborted_MESSAGE "NIFPGA: Transfer aborted error"
@@ -45,6 +47,8 @@
 #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."
+#define RESOURCE_IS_ALLOCATED -1029
+#define RESOURCE_IS_ALLOCATED_MESSAGE "HAL: Resource already allocated"
 
 #define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
 #define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"

hal/include/HAL/HAL.hpp

@@ -14,7 +14,6 @@
 
 #include "Accelerometer.hpp"
 #include "Analog.hpp"
-#include "CAN.hpp"
 #include "Compressor.hpp"
 #include "Digital.hpp"
 #include "Solenoid.hpp"
@@ -178,7 +177,20 @@ struct HALJoystickPOVs {
 	int16_t povs[kMaxJoystickPOVs];
 };
 
-typedef uint32_t HALJoystickButtons;
+struct HALJoystickButtons {
+	uint32_t buttons;
+	uint8_t count;
+};
+
+struct HALJoystickDescriptor {
+	uint8_t isXbox;
+	uint8_t type;
+	char name[256];
+	uint8_t axisCount;
+	uint8_t axisTypes;
+	uint8_t buttonCount;
+	uint8_t povCount;
+};
 
 inline float intToFloat(int value)
 {
@@ -213,9 +225,12 @@ extern "C"
 	int HALGetAllianceStation(enum HALAllianceStationID *allianceStation);
 	int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes);
 	int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs);
-	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
+	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons);
+	int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc);
+	int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble);
+	int HALGetMatchTime(float *matchTime);
 
-	void HALSetNewDataSem(pthread_cond_t *);
+	void HALSetNewDataSem(MULTIWAIT_ID sem);
 	
 	bool HALGetSystemActive(int32_t *status);
 	bool HALGetBrownedOut(int32_t *status);

hal/include/HAL/PDP.hpp

@@ -11,4 +11,9 @@ extern "C"
 	double getPDPTemperature(int32_t *status);
 	double getPDPVoltage(int32_t *status);
 	double getPDPChannelCurrent(uint8_t channel, int32_t *status);
+	double getPDPTotalCurrent(int32_t *status);
+	double getPDPTotalPower(int32_t *status);
+	double getPDPTotalEnergy(int32_t *status);
+	void resetPDPTotalEnergy(int32_t *status);
+	void clearPDPStickyFaults(int32_t *status);
 }

hal/lib/Athena/CAN.cpp

@@ -1,232 +0,0 @@
-#include "HAL/CAN.hpp"
-#include <map>
-
-struct CANMessage
-{
-	uint8_t data[8];
-};
-
-static std::map<uint32_t, CANMessage> outgoingMessages;
-static std::map<uint32_t, CANMessage> incomingMessages;
-
-static const uint32_t kFullMessageIDMask = 0x1fffffff;
-
-/**
- * Gets the data from the outgoing hashmap and calls
- * CANSessionMux...sendMessage.
- */
-void canTxSend(uint32_t arbID, uint8_t length, int32_t period)
-{
-	CANMessage &message = outgoingMessages[arbID];
-
-	int32_t status;
-
-	FRC_NetworkCommunication_CANSessionMux_sendMessage(
-		arbID, message.data, length, period, &status);
-}
-
-/**
- * Updates a field in the outgoing hashmap.
- *
- * This is called every time an single byte field changes in a message.data,
- * such as when a setter on a CAN device is called.
- */
-void canTxPackInt8(uint32_t arbID, uint8_t offset, uint8_t value)
-{
-	CANMessage &message = outgoingMessages[arbID];
-
-	message.data[offset] = value;
-}
-
-/**
- * Updates a field in the outgoing hashmap.
- *
- * This is called every time a short integer field changes in a message.data,
- * such as when a setter on a CAN device is called.
- */
-void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value)
-{
-	CANMessage &message = outgoingMessages[arbID];
-
-	*(uint16_t *)(message.data + offset) = value;
-}
-
-/**
- * Updates a field in the outgoing hashmap.
- *
- * This is called every time a long integer field changes in a message.data,
- * such as when a setter on a CAN device is called.
- */
-void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value)
-{
-	CANMessage &message = outgoingMessages[arbID];
-
-	*(uint32_t *)(message.data + offset) = value;
-}
-
-/**
- * Updates a field in the outgoing hashmap.
- *
- * This is called every time an 8.8 fixed point field changes in a message,
- * such as when a setter on a CAN device is called.
- */
-void canTxPackFXP16(uint32_t arbID, uint8_t offset, double value)
-{
-	int16_t raw = value * 255.0;
-
-	canTxPackInt16(arbID, offset, raw);
-}
-
-/**
- * Updates a field in the outgoing hashmap.
- *
- * This is called every time a 16.16 fixed point field changes in a message,
- * such as when a setter on a CAN device is called.
- */
-void canTxPackFXP32(uint32_t arbID, uint8_t offset, double value)
-{
-	int32_t raw = value * 65535.0;
-
-	canTxPackInt32(arbID, offset, raw);
-}
-
-/**
- * Unpack a field from the outgoing hashmap.
- *
- * This is called in getters for configuration data.
- */
-uint8_t canTxUnpackInt8(uint32_t arbID, uint8_t offset)
-{
-	CANMessage &message = outgoingMessages[arbID];
-
-	return message.data[offset];
-}
-
-/**
- * Unpack a field from the outgoing hashmap.
- *
- * This is called in getters for configuration data.
- */
-uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset)
-{
-	CANMessage &message = outgoingMessages[arbID];
-
-	return *reinterpret_cast<uint16_t *>(message.data + offset);
-}
-
-/**
- * Unpack a field from the outgoing hashmap.
- *
- * This is called in getters for configuration data.
- */
-uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset)
-{
-	CANMessage &message = outgoingMessages[arbID];
-
-	return *reinterpret_cast<uint32_t *>(message.data + offset);
-}
-
-/**
- * Unpack a field from the outgoing hashmap.
- *
- * This is called in getters for configuration data.
- */
-double canTxUnpackFXP16(uint32_t arbID, uint8_t offset)
-{
-	int16_t raw = canTxUnpackInt16(arbID, offset);
-
-	return raw / 255.0;
-}
-
-/**
- * Unpack a field from the outgoing hashmap.
- *
- * This is called in getters for configuration data.
- */
-double canTxUnpackFXP32(uint32_t arbID, uint8_t offset)
-{
-	int32_t raw = canTxUnpackInt32(arbID, offset);
-
-	return raw / 65535.0;
-}
-
-/**
- * Get data from CANSessionMux (if it's available) and put it in the incoming
- * hashmap.
- *
- * @return true if there's new data.  Otherwise, the last received value should
- * still be in the hashmap.
- */
-bool canRxReceive(uint32_t arbID)
-{
-	CANMessage &message = incomingMessages[arbID];
-
-	uint8_t length;
-	uint32_t timestamp;
-	int32_t status;
-
-	FRC_NetworkCommunication_CANSessionMux_receiveMessage(
-		&arbID, kFullMessageIDMask, message.data, &length, &timestamp, &status);
-
-	return status != ERR_CANSessionMux_MessageNotFound;
-}
-
-/**
- * Unpack a field from the incoming hashmap.
- *
- * This is called in getters for status data.
- */
-uint8_t canRxUnpackInt8(uint32_t arbID, uint8_t offset)
-{
-	CANMessage &message = incomingMessages[arbID];
-
-	return message.data[offset];
-}
-
-/**
- * Unpack a field from the incoming hashmap.
- *
- * This is called in getters for status data.
- */
-uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset)
-{
-	CANMessage &message = incomingMessages[arbID];
-
-	return *reinterpret_cast<uint16_t *>(message.data + offset);
-}
-
-/**
- * Unpack a field from the incoming hashmap.
- *
- * This is called in getters for status data.
- */
-uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset)
-{
-	CANMessage &message = incomingMessages[arbID];
-
-	return *reinterpret_cast<uint32_t *>(message.data + offset);
-}
-
-/**
- * Unpack a field from the incoming hashmap.
- *
- * This is called in getters for status data.
- */
-double canRxUnpackFXP16(uint32_t arbID, uint8_t offset)
-{
-	int16_t raw = canRxUnpackInt16(arbID, offset);
-
-	return raw / 255.0;
-}
-
-/**
- * Unpack a field from the incoming hashmap.
- *
- * This is called in getters for status data.
- */
-double canRxUnpackFXP32(uint32_t arbID, uint8_t offset)
-{
-	int32_t raw = canRxUnpackInt32(arbID, offset);
-
-	return raw / 65535.0;
-}

hal/lib/Athena/Digital.cpp

@@ -384,7 +384,11 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
   DigitalPort* port = (DigitalPort*) digital_port_pointer;
   char buf[64];
   snprintf(buf, 64, "DIO %d", port->port.pin);
-  if (DIOChannels->Allocate(port->port.pin, buf) == ~0ul) return false;
+  if (DIOChannels->Allocate(port->port.pin, buf) == ~0ul) {
+    *status = RESOURCE_IS_ALLOCATED;
+    return false;
+  }
+
   {
     Synchronized sync(digitalDIOSemaphore);
 
@@ -420,7 +424,11 @@ bool allocatePWMChannel(void* digital_port_pointer, int32_t *status) {
 		DigitalPort* port = (DigitalPort*) digital_port_pointer;
 		char buf[64];
 		snprintf(buf, 64, "PWM %d", port->port.pin);
-		if (PWMChannels->Allocate(port->port.pin, buf) == ~0ul) return false;
+		if (PWMChannels->Allocate(port->port.pin, buf) == ~0ul) {
+      *status = RESOURCE_IS_ALLOCATED;
+      return false;
+    }
+
 		if (port->port.pin > tPWM::kNumHdrRegisters-1) {
 			snprintf(buf, 64, "PWM %d and DIO %d", port->port.pin, remapMXPPWMChannel(port->port.pin) + 10);
 			if (DIOChannels->Allocate(remapMXPPWMChannel(port->port.pin) + 10, buf) == ~0ul) return false;

hal/lib/Athena/HAL.cpp

@@ -8,6 +8,7 @@
 #include "NetworkCommunication/FRCComm.h"
 #include "NetworkCommunication/UsageReporting.h"
 #include "NetworkCommunication/LoadOut.h"
+#include "NetworkCommunication/CANSessionMux.h"
 #include <fstream>
 #include <iostream>
 #include <unistd.h>
@@ -53,6 +54,10 @@ const char* getHALErrorMessage(int32_t code)
 			return CTR_InvalidParamValue_MESSAGE;
 		case CTR_UnexpectedArbId:
 			return CTR_UnexpectedArbId_MESSAGE;
+                case CTR_TxFailed:
+			return CTR_TxFailed_MESSAGE;
+                case CTR_SigNotUpdated:
+			return CTR_SigNotUpdated_MESSAGE;
 		case NiFpga_Status_FifoTimeout:
 			return NiFpga_Status_FifoTimeout_MESSAGE;
 		case NiFpga_Status_TransferAborted:
@@ -201,14 +206,30 @@ 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)
+int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons)
 {
-	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, buttons, count);
+	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, &buttons->buttons, &buttons->count);
 }
 
-void HALSetNewDataSem(pthread_cond_t * param)
+int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc)
 {
-	setNewDataSem(param);
+	return FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name), 
+		&desc->axisCount, &desc->axisTypes, &desc->buttonCount, &desc->povCount);
+}
+
+int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble)
+{
+	return FRC_NetworkCommunication_setJoystickOutputs(joystickNum, outputs, leftRumble, rightRumble);
+}
+
+int HALGetMatchTime(float *matchTime)
+{
+	return FRC_NetworkCommunication_getMatchTime(matchTime);
+}
+
+void HALSetNewDataSem(MULTIWAIT_ID sem)
+{
+	setNewDataSem(sem);
 }
 
 bool HALGetSystemActive(int32_t *status)

hal/lib/Athena/NetworkCommunication/CANSessionMux.h

@@ -26,6 +26,7 @@
 #define WARN_CANSessionMux_NoToken         44087
 #define ERR_CANSessionMux_NotAllowed      -44088
 #define ERR_CANSessionMux_NotInitialized  -44089
+#define ERR_CANSessionMux_SessionOverrun   44050
 
 struct tCANStreamMessage{
 	uint32_t messageID;

hal/lib/Athena/NetworkCommunication/FRCComm.h

@@ -33,6 +33,7 @@
 #endif
 
 #define ERR_FRCSystem_NetCommNotResponding -44049
+#define ERR_FRCSystem_NoDSConnection -44018
 
 enum AllianceStationID_t {
 	kAllianceStationID_red1,
@@ -43,6 +44,13 @@ enum AllianceStationID_t {
 	kAllianceStationID_blue3,
 };
 
+enum MatchType_t {
+	kMatchType_none,
+	kMatchType_practice,
+	kMatchType_qualification,
+	kMatchType_elimination,
+};
+
 struct ControlWord_t {
 #ifndef __vxworks
 	uint32_t enabled : 1;

hal/lib/Athena/PDP.cpp

@@ -26,3 +26,36 @@ double getPDPChannelCurrent(uint8_t channel, int32_t *status) {
 	return current;
 }
 
+double getPDPTotalCurrent(int32_t *status) {
+	double current;
+	
+	*status = pdp.GetTotalCurrent(current);
+	
+	return current;
+}
+
+double getPDPTotalPower(int32_t *status) {
+	double power;
+	
+	*status = pdp.GetTotalPower(power);
+	
+	return power;
+}
+
+double getPDPTotalEnergy(int32_t *status) {
+	double energy;
+	
+	*status = pdp.GetTotalEnergy(energy);
+	
+	return energy;
+}
+
+void resetPDPTotalEnergy(int32_t *status) {
+	*status = pdp.ResetEnergy();
+}
+
+void clearPDPStickyFaults(int32_t *status) {
+	*status = pdp.ClearStickyFaults();
+}
+
+

hal/lib/Athena/SerialPort.cpp

@@ -13,8 +13,10 @@ void serialInitializePort(uint8_t port, int32_t *status) {
 	
 	if(port == 0)
 		portName = "ASRL1::INSTR";
-	else
+	else if (port == 1)
 		portName = "ASRL2::INSTR";
+	else
+		portName = "ASRL3::INSTR";
 
 	*status = viOpen(m_resourceManagerHandle, const_cast<char*>(portName), VI_NULL, VI_NULL, (ViSession*)&m_portHandle[port]);
 	if(*status > 0)

hal/lib/Athena/ctre/CanTalonSRX.h

@@ -0,0 +1,374 @@
+/**
+ * @brief CAN TALON SRX driver.
+ *
+ * The TALON SRX is designed to instrument all runtime signals periodically.  The default periods are chosen to support 16 TALONs
+ * with 10ms update rate for control (throttle or setpoint).  However these can be overridden with SetStatusFrameRate. @see SetStatusFrameRate
+ * The getters for these unsolicited signals are auto generated at the bottom of this module.
+ *
+ * Likewise most control signals are sent periodically using the fire-and-forget CAN API.
+ * The setters for these unsolicited signals are auto generated at the bottom of this module.
+ *
+ * Signals that are not available in an unsolicited fashion are the Close Loop gains.
+ * For teams that have a single profile for their TALON close loop they can use either the webpage to configure their TALONs once
+ * 	or set the PIDF,Izone,CloseLoopRampRate,etc... once in the robot application.  These parameters are saved to flash so once they are
+ * 	loaded in the TALON, they will persist through power cycles and mode changes.
+ *
+ * For teams that have one or two profiles to switch between, they can use the same strategy since there are two slots to choose from
+ * and the ProfileSlotSelect is periodically sent in the 10 ms control frame.
+ *
+ * For teams that require changing gains frequently, they can use the soliciting API to get and set those parameters.  Most likely
+ * they will only need to set them in a periodic fashion as a function of what motion the application is attempting.
+ * If this API is used, be mindful of the CAN utilization reported in the driver station.
+ *
+ * Encoder position is measured in encoder edges.  Every edge is counted (similar to roboRIO 4X mode).
+ * Analog position is 10 bits, meaning 1024 ticks per rotation (0V => 3.3V).
+ * Use SetFeedbackDeviceSelect to select which sensor type you need.  Once you do that you can use GetSensorPosition()
+ * and GetSensorVelocity().  These signals are updated on CANBus every 20ms (by default).
+ * If a relative sensor is selected, you can zero (or change the current value) using SetSensorPosition.
+ *
+ * Analog Input and quadrature position (and velocity) are also explicitly reported in GetEncPosition, GetEncVel, GetAnalogInWithOv, GetAnalogInVel.
+ * These signals are available all the time, regardless of what sensor is selected at a rate of 100ms.  This allows easy instrumentation
+ * for "in the pits" checking of all sensors regardless of modeselect.  The 100ms rate is overridable for teams who want to acquire sensor
+ * data for processing, not just instrumentation.  Or just select the sensor using SetFeedbackDeviceSelect to get it at 20ms.
+ *
+ * Velocity is in position ticks / 100ms.
+ *
+ * All output units are in respect to duty cycle (throttle) which is -1023(full reverse) to +1023 (full forward).
+ *  This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 10ms (if nonzero).
+ *
+ * Pos and velocity close loops are calc'd as
+ * 		err = target - posOrVel.
+ * 		iErr += err;
+ * 		if(   (IZone!=0)  and  abs(err) > IZone)
+ * 			ClearIaccum()
+ * 		output = P X err + I X iErr + D X dErr + F X target
+ * 		dErr = err - lastErr
+ *	P, I,and D gains are always positive. F can be negative.
+ *	Motor direction can be reversed using SetRevMotDuringCloseLoopEn if sensor and motor are out of phase.
+ *	Similarly feedback sensor can also be reversed (multiplied by -1) if you prefer the sensor to be inverted.
+ *
+ * P gain is specified in throttle per error tick.  For example, a value of 102 is ~9.9% (which is 102/1023) throttle per 1
+ * 		ADC unit(10bit) or 1 quadrature encoder edge depending on selected sensor.
+ *
+ * I gain is specified in throttle per integrated error. For example, a value of 10 equates to ~0.99% (which is 10/1023)
+ *  	for each accumulated ADC unit(10bit) or 1 quadrature encoder edge depending on selected sensor.
+ *  	Close loop and integral accumulator runs every 1ms.
+ *
+ * D gain is specified in throttle per derivative error. For example a value of 102 equates to ~9.9% (which is 102/1023)
+ * 	per change of 1 unit (ADC or encoder) per ms.
+ *
+ * I Zone is specified in the same units as sensor position (ADC units or quadrature edges).  If pos/vel error is outside of
+ * 		this value, the integrated error will auto-clear...
+ * 		if(   (IZone!=0)  and  abs(err) > IZone)
+ * 			ClearIaccum()
+ * 		...this is very useful in preventing integral windup and is highly recommended if using full PID to keep stability low.
+ *
+ * CloseLoopRampRate is in throttle units per 1ms.  Set to zero to disable ramping.
+ * 		Works the same as RampThrottle but only is in effect when a close loop mode and profile slot is selected.
+ *
+ * auto generated using spreadsheet and WpiClassGen.csproj
+ * @link https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967
+ */
+#ifndef CanTalonSRX_H_
+#define CanTalonSRX_H_
+#include "ctre.h"				//BIT Defines + Typedefs
+#include "CtreCanNode.h"
+#include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
+#include <map>
+class CanTalonSRX : public CtreCanNode
+{
+private:
+
+	/** just in case user wants to modify periods of certain status frames.
+	 * 	Default the vars to match the firmware default. */
+	uint32_t _statusRateMs[4];
+	//---------------------- Vars for opening a CAN stream if caller needs signals that require soliciting */
+	uint32_t _can_h; 	//!< Session handle for catching response params.
+	int32_t _can_stat; //!< Session handle status.
+	struct tCANStreamMessage _msgBuff[20];
+	static int const kMsgCapacity	= 20;
+	typedef std::map<uint32_t, uint32_t> sigs_t;
+	sigs_t _sigs; //!< Catches signal updates that are solicited.  Expect this to be very few.
+	void OpenSessionIfNeedBe();
+	void ProcessStreamMessages();
+	/**
+	 * Send a one shot frame to set an arbitrary signal.
+	 * Most signals are in the control frame so avoid using this API unless you have to.
+	 * Use this api for...
+	 * -A motor controller profile signal eProfileParam_XXXs.  These are backed up in flash.  If you are gain-scheduling then call this periodically.
+	 * -Default brake and limit switch signals... eOnBoot_XXXs.  Avoid doing this, use the override signals in the control frame.
+	 * Talon will automatically send a PARAM_RESPONSE after the set, so GetParamResponse will catch the latest value after a couple ms.
+	 */
+	CTR_Code SetParamRaw(uint32_t paramEnum, int32_t rawBits);
+	/**
+	 * Checks cached CAN frames and updating solicited signals.
+	 */
+	CTR_Code GetParamResponseRaw(uint32_t paramEnum, int32_t & rawBits);
+public:
+	static const int kDefaultControlPeriodMs = 10; //!< default control update rate is 10ms.
+	CanTalonSRX(int deviceNumber = 0,int controlPeriodMs = kDefaultControlPeriodMs);
+	~CanTalonSRX();
+	void Set(double value);
+	/* mode select enumerations */
+	static const int kMode_DutyCycle = 0; //!< Demand is 11bit signed duty cycle [-1023,1023].
+	static const int kMode_PositionCloseLoop = 1; //!< Position PIDF.
+	static const int kMode_VelocityCloseLoop = 2; //!< Velocity PIDF.
+	static const int kMode_CurrentCloseLoop = 3; //!< Current close loop - not done.
+	static const int kMode_VoltCompen = 4; //!< Voltage Compensation Mode - not done.  Demand is fixed pt target 8.8 volts.
+	static const int kMode_SlaveFollower = 5; //!< Demand is the 6 bit Device ID of the 'master' TALON SRX.
+	static const int kMode_NoDrive = 15; //!< Zero the output (honors brake/coast) regardless of demand.  Might be useful if we need to change modes but can't atomically change all the signals we want in between.
+	/* limit switch enumerations */
+	static const int kLimitSwitchOverride_UseDefaultsFromFlash = 1;
+	static const int kLimitSwitchOverride_DisableFwd_DisableRev = 4;
+	static const int kLimitSwitchOverride_DisableFwd_EnableRev = 5;
+	static const int kLimitSwitchOverride_EnableFwd_DisableRev = 6;
+	static const int kLimitSwitchOverride_EnableFwd_EnableRev = 7;
+	/* brake override enumerations */
+	static const int kBrakeOverride_UseDefaultsFromFlash = 0;
+	static const int kBrakeOverride_OverrideCoast = 1;
+	static const int kBrakeOverride_OverrideBrake = 2;
+	/* feedback device enumerations */
+	static const int kFeedbackDev_DigitalQuadEnc=0;
+	static const int kFeedbackDev_AnalogPot=2;
+	static const int kFeedbackDev_AnalogEncoder=3;
+	static const int kFeedbackDev_CountEveryRisingEdge=4;
+	static const int kFeedbackDev_CountEveryFallingEdge=5;
+	static const int kFeedbackDev_PosIsPulseWidth=8;
+	/* ProfileSlotSelect enumerations*/
+	static const int kProfileSlotSelect_Slot0 = 0;
+	static const int kProfileSlotSelect_Slot1 = 1;
+    /* status frame rate types */
+    static const int kStatusFrame_General = 0;
+    static const int kStatusFrame_Feedback = 1;
+    static const int kStatusFrame_Encoder = 2;
+    static const int kStatusFrame_AnalogTempVbat = 3;
+	/**
+	 * Signal enumeration for generic signal access.
+	 * Although every signal is enumerated, only use this for traffic that must be solicited.
+	 * Use the auto generated getters/setters at bottom of this header as much as possible.
+	 */
+	typedef enum _param_t{
+		eProfileParamSlot0_P=1,
+		eProfileParamSlot0_I=2,
+		eProfileParamSlot0_D=3,
+		eProfileParamSlot0_F=4,
+		eProfileParamSlot0_IZone=5,
+		eProfileParamSlot0_CloseLoopRampRate=6,
+		eProfileParamSlot1_P=11,
+		eProfileParamSlot1_I=12,
+		eProfileParamSlot1_D=13,
+		eProfileParamSlot1_F=14,
+		eProfileParamSlot1_IZone=15,
+		eProfileParamSlot1_CloseLoopRampRate=16,
+		eProfileParamSoftLimitForThreshold=21,
+		eProfileParamSoftLimitRevThreshold=22,
+		eProfileParamSoftLimitForEnable=23,
+		eProfileParamSoftLimitRevEnable=24,
+		eOnBoot_BrakeMode=31,
+		eOnBoot_LimitSwitch_Forward_NormallyClosed=32,
+		eOnBoot_LimitSwitch_Reverse_NormallyClosed=33,
+		eOnBoot_LimitSwitch_Forward_Disable=34,
+		eOnBoot_LimitSwitch_Reverse_Disable=35,
+		eFault_OverTemp=41,
+		eFault_UnderVoltage=42,
+		eFault_ForLim=43,
+		eFault_RevLim=44,
+		eFault_HardwareFailure=45,
+		eFault_ForSoftLim=46,
+		eFault_RevSoftLim=47,
+		eStckyFault_OverTemp=48,
+		eStckyFault_UnderVoltage=49,
+		eStckyFault_ForLim=50,
+		eStckyFault_RevLim=51,
+		eStckyFault_ForSoftLim=52,
+		eStckyFault_RevSoftLim=53,
+		eAppliedThrottle=61,
+		eCloseLoopErr=62,
+		eFeedbackDeviceSelect=63,
+		eRevMotDuringCloseLoopEn=64,
+		eModeSelect=65,
+		eProfileSlotSelect=66,
+		eRampThrottle=67,
+		eRevFeedbackSensor=68,
+		eLimitSwitchEn=69,
+		eLimitSwitchClosedFor=70,
+		eLimitSwitchClosedRev=71,
+		eSensorPosition=73,
+		eSensorVelocity=74,
+		eCurrent=75,
+		eBrakeIsEnabled=76,
+		eEncPosition=77,
+		eEncVel=78,
+		eEncIndexRiseEvents=79,
+		eQuadApin=80,
+		eQuadBpin=81,
+		eQuadIdxpin=82,
+		eAnalogInWithOv=83,
+		eAnalogInVel=84,
+		eTemp=85,
+		eBatteryV=86,
+		eResetCount=87,
+		eResetFlags=88,
+		eFirmVers=89,
+		eSettingsChanged=90,
+		eQuadFilterEn=91,	
+		ePidIaccum=93,
+	}param_t;
+    /*---------------------setters and getters that use the solicated param request/response-------------*//**
+     * Send a one shot frame to set an arbitrary signal.
+     * Most signals are in the control frame so avoid using this API unless you have to.
+     * Use this api for...
+     * -A motor controller profile signal eProfileParam_XXXs.  These are backed up in flash.  If you are gain-scheduling then call this periodically.
+     * -Default brake and limit switch signals... eOnBoot_XXXs.  Avoid doing this, use the override signals in the control frame.
+     * Talon will automatically send a PARAM_RESPONSE after the set, so GetParamResponse will catch the latest value after a couple ms.
+     */
+	CTR_Code SetParam(param_t paramEnum, double value);
+	/**
+	 * Asks TALON to immedietely respond with signal value.  This API is only used for signals that are not sent periodically.
+	 * This can be useful for reading params that rarely change like Limit Switch settings and PIDF values.
+	  * @param param to request.
+	 */
+	CTR_Code RequestParam(param_t paramEnum);
+	CTR_Code GetParamResponse(param_t paramEnum, double & value);
+	CTR_Code GetParamResponseInt32(param_t paramEnum, int & value);
+    /*----- getters and setters that use param request/response. These signals are backed up in flash and will survive a power cycle. ---------*/
+	/*----- If your application requires changing these values consider using both slots and switch between slot0 <=> slot1. ------------------*/
+	/*----- If your application requires changing these signals frequently then it makes sense to leverage this API. --------------------------*/
+	/*----- Getters don't block, so it may require several calls to get the latest value. --------------------------*/
+	CTR_Code SetPgain(unsigned slotIdx,double gain);
+	CTR_Code SetIgain(unsigned slotIdx,double gain);
+	CTR_Code SetDgain(unsigned slotIdx,double gain);
+	CTR_Code SetFgain(unsigned slotIdx,double gain);
+	CTR_Code SetIzone(unsigned slotIdx,int zone);
+	CTR_Code SetCloseLoopRampRate(unsigned slotIdx,int closeLoopRampRate);
+	CTR_Code SetSensorPosition(int pos);
+	CTR_Code SetForwardSoftLimit(int forwardLimit);
+	CTR_Code SetReverseSoftLimit(int reverseLimit);
+	CTR_Code SetForwardSoftEnable(int enable);
+	CTR_Code SetReverseSoftEnable(int enable);
+	CTR_Code GetPgain(unsigned slotIdx,double & gain);
+	CTR_Code GetIgain(unsigned slotIdx,double & gain);
+	CTR_Code GetDgain(unsigned slotIdx,double & gain);
+	CTR_Code GetFgain(unsigned slotIdx,double & gain);
+	CTR_Code GetIzone(unsigned slotIdx,int & zone);
+	CTR_Code GetCloseLoopRampRate(unsigned slotIdx,int & closeLoopRampRate);
+	CTR_Code GetForwardSoftLimit(int & forwardLimit);
+	CTR_Code GetReverseSoftLimit(int & reverseLimit);
+	CTR_Code GetForwardSoftEnable(int & enable);
+	CTR_Code GetReverseSoftEnable(int & enable);
+	/**
+	 * Change the periodMs of a TALON's status frame.  See kStatusFrame_* enums for what's available.
+	 */
+	CTR_Code SetStatusFrameRate(unsigned frameEnum, unsigned periodMs);
+	/**
+	 * Clear all sticky faults in TALON.
+	 */
+	CTR_Code ClearStickyFaults();
+    /*------------------------ auto generated.  This API is optimal since it uses the fire-and-forget CAN interface ----------------------*/
+    /*------------------------ These signals should cover the majority of all use cases. ----------------------------------*/
+	CTR_Code GetFault_OverTemp(int &param);
+	CTR_Code GetFault_UnderVoltage(int &param);
+	CTR_Code GetFault_ForLim(int &param);
+	CTR_Code GetFault_RevLim(int &param);
+	CTR_Code GetFault_HardwareFailure(int &param);
+	CTR_Code GetFault_ForSoftLim(int &param);
+	CTR_Code GetFault_RevSoftLim(int &param);
+	CTR_Code GetStckyFault_OverTemp(int &param);
+	CTR_Code GetStckyFault_UnderVoltage(int &param);
+	CTR_Code GetStckyFault_ForLim(int &param);
+	CTR_Code GetStckyFault_RevLim(int &param);
+	CTR_Code GetStckyFault_ForSoftLim(int &param);
+	CTR_Code GetStckyFault_RevSoftLim(int &param);
+	CTR_Code GetAppliedThrottle(int &param);
+	CTR_Code GetCloseLoopErr(int &param);
+	CTR_Code GetFeedbackDeviceSelect(int &param);
+	CTR_Code GetModeSelect(int &param);
+	CTR_Code GetLimitSwitchEn(int &param);
+	CTR_Code GetLimitSwitchClosedFor(int &param);
+	CTR_Code GetLimitSwitchClosedRev(int &param);
+	CTR_Code GetSensorPosition(int &param);
+	CTR_Code GetSensorVelocity(int &param);
+	CTR_Code GetCurrent(double &param);
+	CTR_Code GetBrakeIsEnabled(int &param);
+	CTR_Code GetEncPosition(int &param);
+	CTR_Code GetEncVel(int &param);
+	CTR_Code GetEncIndexRiseEvents(int &param);
+	CTR_Code GetQuadApin(int &param);
+	CTR_Code GetQuadBpin(int &param);
+	CTR_Code GetQuadIdxpin(int &param);
+	CTR_Code GetAnalogInWithOv(int &param);
+	CTR_Code GetAnalogInVel(int &param);
+	CTR_Code GetTemp(double &param);
+	CTR_Code GetBatteryV(double &param);
+	CTR_Code GetResetCount(int &param);
+	CTR_Code GetResetFlags(int &param);
+	CTR_Code GetFirmVers(int &param);
+	CTR_Code SetDemand(int param);
+	CTR_Code SetOverrideLimitSwitchEn(int param);
+	CTR_Code SetFeedbackDeviceSelect(int param);
+	CTR_Code SetRevMotDuringCloseLoopEn(int param);
+	CTR_Code SetOverrideBrakeType(int param);
+	CTR_Code SetModeSelect(int param);
+	CTR_Code SetModeSelect(int modeSelect,int demand);
+	CTR_Code SetProfileSlotSelect(int param);
+	CTR_Code SetRampThrottle(int param);
+	CTR_Code SetRevFeedbackSensor(int param);
+};
+extern "C" {
+	void *c_TalonSRX_Create(int deviceNumber, int controlPeriodMs);
+	void c_TalonSRX_Destroy(void *handle);
+	CTR_Code c_TalonSRX_SetParam(void *handle, int paramEnum, double value);
+	CTR_Code c_TalonSRX_RequestParam(void *handle, int paramEnum);
+	CTR_Code c_TalonSRX_GetParamResponse(void *handle, int paramEnum, double *value);
+	CTR_Code c_TalonSRX_GetParamResponseInt32(void *handle, int paramEnum, int *value);
+	CTR_Code c_TalonSRX_SetStatusFrameRate(void *handle, unsigned frameEnum, unsigned periodMs);
+	CTR_Code c_TalonSRX_ClearStickyFaults(void *handle);
+	CTR_Code c_TalonSRX_GetFault_OverTemp(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_UnderVoltage(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_ForLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_RevLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_HardwareFailure(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_ForSoftLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_RevSoftLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_OverTemp(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_UnderVoltage(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_ForLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_RevLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_ForSoftLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_RevSoftLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetAppliedThrottle(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetCloseLoopErr(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFeedbackDeviceSelect(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetModeSelect(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetLimitSwitchEn(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetLimitSwitchClosedFor(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetLimitSwitchClosedRev(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetSensorPosition(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetSensorVelocity(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetCurrent(void *handle, double *param);
+	CTR_Code c_TalonSRX_GetBrakeIsEnabled(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetEncPosition(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetEncVel(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetEncIndexRiseEvents(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetQuadApin(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetQuadBpin(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetQuadIdxpin(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetAnalogInWithOv(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetAnalogInVel(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetTemp(void *handle, double *param);
+	CTR_Code c_TalonSRX_GetBatteryV(void *handle, double *param);
+	CTR_Code c_TalonSRX_GetResetCount(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetResetFlags(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFirmVers(void *handle, int *param);
+	CTR_Code c_TalonSRX_SetDemand(void *handle, int param);
+	CTR_Code c_TalonSRX_SetOverrideLimitSwitchEn(void *handle, int param);
+	CTR_Code c_TalonSRX_SetFeedbackDeviceSelect(void *handle, int param);
+	CTR_Code c_TalonSRX_SetRevMotDuringCloseLoopEn(void *handle, int param);
+	CTR_Code c_TalonSRX_SetOverrideBrakeType(void *handle, int param);
+	CTR_Code c_TalonSRX_SetModeSelect(void *handle, int param);
+	CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param);
+	CTR_Code c_TalonSRX_SetRampThrottle(void *handle, int param);
+	CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param);
+}
+#endif
+

hal/lib/Athena/ctre/CtreCanNode.cpp

@@ -1,98 +1,101 @@
-#include "CtreCanNode.h"
-#include "NetworkCommunication/CANSessionMux.h"
-#include <string.h> // memset
-#include <unistd.h> // usleep
-
-static const UINT32 kFullMessageIDMask = 0x1fffffff;
-
-CtreCanNode::CtreCanNode(UINT8 deviceNumber)
-{
-	_deviceNumber = deviceNumber;
-}
-CtreCanNode::~CtreCanNode()
-{
-}
-void CtreCanNode::RegisterRx(uint32_t arbId)
-{
-	/* no need to do anything, we just use new API to poll last received message */
-}
-void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
-{
-	int32_t status = 0;
-
-	txJob_t job;
-	job.arbId = arbId;
-	job.periodMs = periodMs;
-	_txJobs[arbId] = job;
-	FRC_NetworkCommunication_CANSessionMux_sendMessage(	job.arbId,
-														job.toSend,
-														8,
-														job.periodMs,
-														&status);
-}
-timespec diff(const timespec & start, const timespec & end)
-{
-	timespec temp;
-	if ((end.tv_nsec-start.tv_nsec)<0) {
-		temp.tv_sec = end.tv_sec-start.tv_sec-1;
-		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
-	} else {
-		temp.tv_sec = end.tv_sec-start.tv_sec;
-		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
-	}
-	return temp;
-}
-CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
-{
-	CTR_Code retval = CTR_OKAY;
-	int32_t status = 0;
-	uint8_t len = 0;
-	uint32_t timeStamp;
-	/* cap timeout at 999ms */
-	if(timeoutMs > 999)
-		timeoutMs = 999;
-	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
-	if(status == 0){
-		/* fresh update */
-		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
-		clock_gettime(2,&r.time); 			/* fill in time */
-		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
-	}else{
-		/* did not get the message */
-		rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
-		if(i == _rxRxEvents.end()){
-			/* we've never gotten this mesage */
-			retval = CTR_RxTimeout;
-			/* fill caller's buffer with zeros */
-			memset(dataBytes,0,8);
-		}else{
-			/* we've gotten this message before but not recently */
-			memcpy(dataBytes,i->second.bytes,8);
-			/* get the time now */
-			struct timespec temp;
-			clock_gettime(2,&temp); /* get now */
-			/* how long has it been? */
-			temp = diff(i->second.time,temp); /* temp = now - last */
-			if(temp.tv_sec > 0){
-				retval = CTR_RxTimeout;
-			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
-				retval = CTR_RxTimeout;
-			}else {
-				/* our last update was recent enough */
-			}
-		}
-	}
-
-	return retval;
-}
-void CtreCanNode::FlushTx(uint32_t arbId)
-{
-	int32_t status = 0;
-	txJobs_t::iterator iter = _txJobs.find(arbId);
-	if(iter != _txJobs.end())
-		FRC_NetworkCommunication_CANSessionMux_sendMessage(	iter->second.arbId,
-															iter->second.toSend,
-															8,
-															iter->second.periodMs,
-															&status);
-}
+#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
+
+#include "CtreCanNode.h"
+#include "NetworkCommunication/CANSessionMux.h"
+#include <string.h> // memset
+#include <unistd.h> // usleep
+
+static const UINT32 kFullMessageIDMask = 0x1fffffff;
+
+CtreCanNode::CtreCanNode(UINT8 deviceNumber)
+{
+	_deviceNumber = deviceNumber;
+}
+CtreCanNode::~CtreCanNode()
+{
+}
+void CtreCanNode::RegisterRx(uint32_t arbId)
+{
+	/* no need to do anything, we just use new API to poll last received message */
+}
+void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
+{
+	int32_t status = 0;
+
+	txJob_t job = {0};
+	job.arbId = arbId;
+	job.periodMs = periodMs;
+	_txJobs[arbId] = job;
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(	job.arbId,
+														job.toSend,
+														8,
+														job.periodMs,
+														&status);
+}
+timespec diff(const timespec & start, const timespec & end)
+{
+	timespec temp;
+	if ((end.tv_nsec-start.tv_nsec)<0) {
+		temp.tv_sec = end.tv_sec-start.tv_sec-1;
+		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
+	} else {
+		temp.tv_sec = end.tv_sec-start.tv_sec;
+		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
+	}
+	return temp;
+}
+CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
+{
+	CTR_Code retval = CTR_OKAY;
+	int32_t status = 0;
+	uint8_t len = 0;
+	uint32_t timeStamp;
+	/* cap timeout at 999ms */
+	if(timeoutMs > 999)
+		timeoutMs = 999;
+	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
+	if(status == 0){
+		/* fresh update */
+		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
+		clock_gettime(2,&r.time); 			/* fill in time */
+		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
+	}else{
+		/* did not get the message */
+		rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
+		if(i == _rxRxEvents.end()){
+			/* we've never gotten this mesage */
+			retval = CTR_RxTimeout;
+			/* fill caller's buffer with zeros */
+			memset(dataBytes,0,8);
+		}else{
+			/* we've gotten this message before but not recently */
+			memcpy(dataBytes,i->second.bytes,8);
+			/* get the time now */
+			struct timespec temp;
+			clock_gettime(2,&temp); /* get now */
+			/* how long has it been? */
+			temp = diff(i->second.time,temp); /* temp = now - last */
+			if(temp.tv_sec > 0){
+				retval = CTR_RxTimeout;
+			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
+				retval = CTR_RxTimeout;
+			}else {
+				/* our last update was recent enough */
+			}
+		}
+	}
+
+	return retval;
+}
+void CtreCanNode::FlushTx(uint32_t arbId)
+{
+	int32_t status = 0;
+	txJobs_t::iterator iter = _txJobs.find(arbId);
+	if(iter != _txJobs.end())
+		FRC_NetworkCommunication_CANSessionMux_sendMessage(	iter->second.arbId,
+															iter->second.toSend,
+															8,
+															iter->second.periodMs,
+															&status);
+}
+

hal/lib/Athena/ctre/CtreCanNode.h

@@ -1,121 +1,116 @@
-#ifndef CtreCanNode_H_
-#define CtreCanNode_H_
-#include "ctre.h"				//BIT Defines + Typedefs
-#include "NetworkCommunication/CANSessionMux.h" 	//CAN Comm
-#include <pthread.h>
-#include <map>
-#include <string.h> // memcpy
-#include <sys/time.h>
-class CtreCanNode
-{
-public:
-	CtreCanNode(UINT8 deviceNumber);
-    ~CtreCanNode();
-
-	UINT8 GetDeviceNumber()
-	{
-		return _deviceNumber;
-	}
-protected:
-
-
-	template <typename T> class txTask{
-		public:
-			uint32_t arbId;
-			T * toSend;
-			T * operator -> ()
-			{
-				return toSend;
-			}
-			T & operator*()
-			{
-				return *toSend;
-			}
-			bool IsEmpty()
-			{
-				if(toSend == 0)
-					return true;
-				return false;
-			}
-	};
-	template <typename T> class recMsg{
-		public:
-			uint32_t arbId;
-			uint8_t bytes[8];
-			CTR_Code err;
-			T * operator -> ()
-			{
-				return (T *)bytes;
-			}
-			T & operator*()
-			{
-				return *(T *)bytes;
-			}
-	};
-	UINT8 _deviceNumber;
-	void RegisterRx(uint32_t arbId);
-	void RegisterTx(uint32_t arbId, uint32_t periodMs);
-
-	CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
-	void FlushTx(uint32_t arbId);
-
-	template<typename T> txTask<T> GetTx(uint32_t arbId)
-	{
-		txTask<T> retval = {0};
-		txJobs_t::iterator i = _txJobs.find(arbId);
-		if(i != _txJobs.end()){
-			retval.arbId = i->second.arbId;
-			retval.toSend = (T*)i->second.toSend;
-		}
-		return retval;
-	}
-	template<class T> void FlushTx(T & par)
-	{
-		FlushTx(par.arbId);
-	}
-
-	template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
-	{
-		recMsg<T> retval;
-		retval.err = GetRx(arbId,retval.bytes, timeoutMs);
-		return retval;
-	}
-
-private:
-
-	class txJob_t {
-		public:
-			uint32_t arbId;
-			uint8_t toSend[8];
-			uint32_t periodMs;
-			txJob_t() : arbId(0),periodMs(0)
-			{
-				for(unsigned i=0;i<sizeof(toSend);++i)
-					toSend[i] = 0;
-			}
-	};
-
-	class rxEvent_t{
-		public:
-			uint8_t bytes[8];
-			struct timespec time;
-			rxEvent_t()
-			{
-				bytes[0] = 0;
-				bytes[1] = 0;
-				bytes[2] = 0;
-				bytes[3] = 0;
-				bytes[4] = 0;
-				bytes[5] = 0;
-				bytes[6] = 0;
-				bytes[7] = 0;
-			}
-	};
-
-	typedef std::map<uint32_t,txJob_t> txJobs_t;
-	txJobs_t _txJobs;
-
-	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
-	rxRxEvents_t _rxRxEvents;
-};
-#endif
+#ifndef CtreCanNode_H_
+#define CtreCanNode_H_
+#include "ctre.h"				//BIT Defines + Typedefs
+#include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
+#include <pthread.h>
+#include <map>
+#include <string.h> // memcpy
+#include <sys/time.h>
+class CtreCanNode
+{
+public:
+	CtreCanNode(UINT8 deviceNumber);
+    ~CtreCanNode();
+
+	UINT8 GetDeviceNumber()
+	{
+		return _deviceNumber;
+	}
+protected:
+
+
+	template <typename T> class txTask{
+		public:
+			uint32_t arbId;
+			T * toSend;
+			T * operator -> ()
+			{
+				return toSend;
+			}
+			T & operator*()
+			{
+				return *toSend;
+			}
+			bool IsEmpty()
+			{
+				if(toSend == 0)
+					return true;
+				return false;
+			}
+	};
+	template <typename T> class recMsg{
+		public:
+			uint32_t arbId;
+			uint8_t bytes[8];
+			CTR_Code err;
+			T * operator -> ()
+			{
+				return (T *)bytes;
+			}
+			T & operator*()
+			{
+				return *(T *)bytes;
+			}
+	};
+	UINT8 _deviceNumber;
+	void RegisterRx(uint32_t arbId);
+	void RegisterTx(uint32_t arbId, uint32_t periodMs);
+
+	CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
+	void FlushTx(uint32_t arbId);
+
+	template<typename T> txTask<T> GetTx(uint32_t arbId)
+	{
+		txTask<T> retval = {0, nullptr};
+		txJobs_t::iterator i = _txJobs.find(arbId);
+		if(i != _txJobs.end()){
+			retval.arbId = i->second.arbId;
+			retval.toSend = (T*)i->second.toSend;
+		}
+		return retval;
+	}
+	template<class T> void FlushTx(T & par)
+	{
+		FlushTx(par.arbId);
+	}
+
+	template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
+	{
+		recMsg<T> retval;
+		retval.err = GetRx(arbId,retval.bytes, timeoutMs);
+		return retval;
+	}
+
+private:
+
+	class txJob_t {
+		public:
+			uint32_t arbId;
+			uint8_t toSend[8];
+			uint32_t periodMs;
+	};
+
+	class rxEvent_t{
+		public:
+			uint8_t bytes[8];
+			struct timespec time;
+			rxEvent_t()
+			{
+				bytes[0] = 0;
+				bytes[1] = 0;
+				bytes[2] = 0;
+				bytes[3] = 0;
+				bytes[4] = 0;
+				bytes[5] = 0;
+				bytes[6] = 0;
+				bytes[7] = 0;
+			}
+	};
+
+	typedef std::map<uint32_t,txJob_t> txJobs_t;
+	txJobs_t _txJobs;
+
+	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
+	rxRxEvents_t _rxRxEvents;
+};
+#endif

hal/lib/Athena/ctre/PDP.cpp

@@ -6,11 +6,15 @@
 #define STATUS_1  		0x8041400
 #define STATUS_2  		0x8041440
 #define STATUS_3  		0x8041480
+#define STATUS_ENERGY	0x8041740
+
+#define CONTROL_1		0x08041C00	/* PDP_Control_ClearStats */
 
 #define EXPECTED_RESPONSE_TIMEOUT_MS	(50)
 #define GET_STATUS1()		CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1,EXPECTED_RESPONSE_TIMEOUT_MS)
 #define GET_STATUS2()		CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2,EXPECTED_RESPONSE_TIMEOUT_MS)
 #define GET_STATUS3()		CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3,EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS_ENERGY()	CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY,EXPECTED_RESPONSE_TIMEOUT_MS)
 
 /* encoder/decoders */
 typedef struct _PdpStatus1_t{
@@ -56,6 +60,18 @@ typedef struct _PdpStatus3_t{
 	unsigned busVoltage:8;
 	unsigned temp:8;
 }PdpStatus3_t;
+typedef struct _PDP_Status_Energy_t {
+	unsigned TmeasMs_likelywillbe20ms_:8;
+	unsigned TotalCurrent_125mAperunit_h8:8;
+	unsigned Power_125mWperunit_h4:4;
+	unsigned TotalCurrent_125mAperunit_l4:4;
+	unsigned Power_125mWperunit_m8:8;
+	unsigned Energy_125mWPerUnitXTmeas_h4:4;
+	unsigned Power_125mWperunit_l4:4;
+	unsigned Energy_125mWPerUnitXTmeas_mh8:8;
+	unsigned Energy_125mWPerUnitXTmeas_ml8:8;
+	unsigned Energy_125mWPerUnitXTmeas_l8:8;
+} PDP_Status_Energy_t ;
 
 PDP::PDP(UINT8 deviceNumber): CtreCanNode(deviceNumber)
 {
@@ -128,6 +144,68 @@ CTR_Code PDP::GetTemperature(double &tempC)
 	tempC =	(double)raw * 1.03250836957542 - 67.8564500484966;
 	return rx.err;
 }
+CTR_Code PDP::GetTotalCurrent(double &currentAmps)
+{
+	GET_STATUS_ENERGY();
+	uint32_t raw;
+	raw = rx->TotalCurrent_125mAperunit_h8;
+	raw <<= 4;
+	raw |=  rx->TotalCurrent_125mAperunit_l4;
+	currentAmps = 0.125 * raw;
+	return rx.err;
+}
+CTR_Code PDP::GetTotalPower(double &powerWatts)
+{
+	GET_STATUS_ENERGY();
+	uint32_t raw;
+	raw = rx->Power_125mWperunit_h4;
+	raw <<= 8;
+	raw |=  rx->Power_125mWperunit_m8;
+	raw <<= 4;
+	raw |=  rx->Power_125mWperunit_l4;
+	powerWatts = 0.125 * raw;
+	return rx.err;
+}
+CTR_Code PDP::GetTotalEnergy(double &energyJoules)
+{
+	GET_STATUS_ENERGY();
+	uint32_t raw;
+	raw = rx->Energy_125mWPerUnitXTmeas_h4;
+	raw <<= 8;
+	raw |=  rx->Energy_125mWPerUnitXTmeas_mh8;
+	raw <<= 8;
+	raw |=  rx->Energy_125mWPerUnitXTmeas_ml8;
+	raw <<= 8;
+	raw |=  rx->Energy_125mWPerUnitXTmeas_l8;
+	energyJoules = 0.125 * raw; 						/* mW integrated every TmeasMs */
+	energyJoules *= rx->TmeasMs_likelywillbe20ms_;	/* multiplied by TmeasMs = joules */
+	return rx.err;
+}
+/* Clear sticky faults.
+ * @Return	-	CTR_Code	-	Error code (if any)
+ */
+CTR_Code PDP::ClearStickyFaults()
+{
+	int32_t status = 0;
+	uint8_t pdpControl[] = { 0x80 }; /* only bit set is ClearStickyFaults */
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1  | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
+	if(status)
+		return CTR_TxFailed;
+	return CTR_OKAY;
+}
+
+/* Reset Energy Signals
+ * @Return	-	CTR_Code	-	Error code (if any)
+ */
+CTR_Code PDP::ResetEnergy()
+{
+	int32_t status = 0;
+	uint8_t pdpControl[] = { 0x40 }; /* only bit set is ResetEnergy */
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1  | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
+	if(status)
+		return CTR_TxFailed;
+	return CTR_OKAY;
+}
 //------------------ C interface --------------------------------------------//
 extern "C" {
 	void * c_PDP_Init(void)

hal/lib/Athena/ctre/PDP.h

@@ -38,6 +38,19 @@ public:
      * @Param	-	status		-	Temperature of PDP in Centigrade / Celcius (C)
      */
     CTR_Code GetTemperature(double &status);
+
+	CTR_Code GetTotalCurrent(double &currentAmps);
+	CTR_Code GetTotalPower(double &powerWatts);
+	CTR_Code GetTotalEnergy(double &energyJoules);
+    /* Clear sticky faults.
+     * @Return	-	CTR_Code	-	Error code (if any)
+     */
+	CTR_Code ClearStickyFaults();
+
+	/* Reset Energy Signals
+	 * @Return	-	CTR_Code	-	Error code (if any)
+	 */
+	CTR_Code ResetEnergy();
 private:
     uint64_t ReadCurrents(uint8_t api);
 };

hal/lib/Athena/ctre/ctre.h

@@ -38,23 +38,13 @@ typedef	unsigned int	UINT;
 typedef unsigned long	ULONG;
 
 typedef enum {
-		CTR_OKAY,				//No Error - Function executed as expected
-		CTR_RxTimeout,			/*
-								 *	Receive Timeout
-								 *
-								 *		No module-specific CAN frames have been received in
-								 *	the last 50ms. Function returns the latest received data
-								 *	but may be STALE DATA.
-								 */
-		CTR_TxTimeout,			/*
-								 *	Transmission Timeout
-								 *
-								 *		No module-specific CAN frames were transmitted in
-								 *	the last 50ms. Parameters passed in by the user are loaded
-								 *	for next transmission but have not sent.
-								 */
-		CTR_InvalidParamValue,
-		CTR_UnexpectedArbId,
+		CTR_OKAY,				//!< No Error - Function executed as expected
+		CTR_RxTimeout,			//!< CAN frame has not been received within specified period of time.
+		CTR_TxTimeout,			//!< Not used.
+		CTR_InvalidParamValue, 	//!< Caller passed an invalid param
+		CTR_UnexpectedArbId,	//!< Specified CAN Id is invalid.
+		CTR_TxFailed,			//!< Could not transmit the CAN frame.
+		CTR_SigNotUpdated,		//!< Have not received an value response for signal.
 }CTR_Code;
 
 #endif

hal/lib/Athena/i2clib/i2c-lib.h

@@ -1,16 +1,16 @@
-#pragma once
+#ifndef __I2C_LIB_H__
+#define __I2C_LIB_H__
 
 #ifdef __cplusplus
 extern "C" {
 #endif
-
 int i2clib_open(const char *device);
 void i2clib_close(int handle);
 int i2clib_read(int handle, uint8_t dev_addr, char *recv_buf, int32_t recv_size);
 int i2clib_write(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size);
 int i2clib_writeread(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size, char *recv_buf, int32_t recv_size);
-
 #ifdef __cplusplus
 }
 #endif
 
+#endif /* __I2C_LIB_H__ */

hal/lib/Athena/spilib/spi-lib.h

@@ -1,12 +1,9 @@
 #ifndef __SPI_LIB_H__
 #define __SPI_LIB_H__
 
-#pragma once
-
 #ifdef __cplusplus
 extern "C" {
 #endif
-
 int spilib_open(const char *device);
 void spilib_close(int handle);
 int spilib_setspeed(int handle, uint32_t speed);
@@ -15,11 +12,8 @@ int spilib_setopts(int handle, int msb_first, int sample_on_trailing, int clk_id
 int spilib_read(int handle, char *recv_buf, int32_t size);
 int spilib_write(int handle, const char *send_buf, int32_t size);
 int spilib_writeread(int handle, const char *send_buf, char *recv_buf, int32_t size);
-
 #ifdef __cplusplus
 }
 #endif
 
-#endif /* __SPI_LIB_H__ */
-
-
+#endif /* __SPI_LIB_H__ */

ni-libraries/libniimaqdx.so.14

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

ni-libraries/libniimaqdx.so.14.0

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

ni-libraries/libnivision.so.14

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

ni-libraries/libnivision.so.14.0

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

ni-libraries/libnivissvc.so.14

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

ni-libraries/libnivissvc.so.14.0

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

simulation/frc_gazebo_plugins/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 .PHONY : all build copy-plugins clean docs clean-docs
 
 all: build copy-plugins
@@ -20,15 +25,15 @@ build:
 
 copy-plugins:
 	mkdir -p plugins
-	cp msgs/build/libgz_msgs.so plugins
-	cp dc_motor/build/libgz_dc_motor.so plugins
-	cp pneumatic_piston/build/libgz_pneumatic_piston.so plugins
-	cp potentiometer/build/libgz_potentiometer.so plugins
-	cp rangefinder/build/libgz_rangefinder.so plugins
-	cp encoder/build/libgz_encoder.so plugins
-	cp gyro/build/libgz_gyro.so plugins
-	cp limit_switch/build/libgz_limit_switch.so plugins
-	cp clock/build/libgz_clock.so plugins
+	cp msgs/build/libgz_msgs$(ext) plugins
+	cp dc_motor/build/libgz_dc_motor$(ext) plugins
+	cp pneumatic_piston/build/libgz_pneumatic_piston$(ext) plugins
+	cp potentiometer/build/libgz_potentiometer$(ext) plugins
+	cp rangefinder/build/libgz_rangefinder$(ext) plugins
+	cp encoder/build/libgz_encoder$(ext) plugins
+	cp gyro/build/libgz_gyro$(ext) plugins
+	cp limit_switch/build/libgz_limit_switch$(ext) plugins
+	cp clock/build/libgz_clock$(ext) plugins
 
 clean: clean-docs
 	cd msgs && make clean

simulation/frc_gazebo_plugins/clock/CMakeLists.txt

@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

simulation/frc_gazebo_plugins/clock/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_clock.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_clock$(ext) $(DESTDIR)$(plugin.dir)

simulation/frc_gazebo_plugins/dc_motor/CMakeLists.txt

@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

simulation/frc_gazebo_plugins/dc_motor/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_dc_motor.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_dc_motor$(ext) $(DESTDIR)$(plugin.dir)

simulation/frc_gazebo_plugins/encoder/CMakeLists.txt

@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

simulation/frc_gazebo_plugins/encoder/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_encoder.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_encoder$(ext) $(DESTDIR)$(plugin.dir)

simulation/frc_gazebo_plugins/gyro/CMakeLists.txt

@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

simulation/frc_gazebo_plugins/gyro/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_gyro.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_gyro$(ext) $(DESTDIR)$(plugin.dir)

simulation/frc_gazebo_plugins/limit_switch/CMakeLists.txt

@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

simulation/frc_gazebo_plugins/limit_switch/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_limit_switch.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_limit_switch$(ext) $(DESTDIR)$(plugin.dir)

simulation/frc_gazebo_plugins/msgs/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_msgs.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_msgs$(ext) $(DESTDIR)$(plugin.dir)

simulation/frc_gazebo_plugins/pneumatic_piston/CMakeLists.txt

@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

simulation/frc_gazebo_plugins/pneumatic_piston/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_pneumatic_piston.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_pneumatic_piston$(ext) $(DESTDIR)$(plugin.dir)

simulation/frc_gazebo_plugins/potentiometer/CMakeLists.txt

@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

simulation/frc_gazebo_plugins/potentiometer/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_potentiometer.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_potentiometer$(ext) $(DESTDIR)$(plugin.dir)

simulation/frc_gazebo_plugins/rangefinder/CMakeLists.txt

@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

simulation/frc_gazebo_plugins/rangefinder/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_rangefinder.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_rangefinder$(ext) $(DESTDIR)$(plugin.dir)

wpilibc/wpilibC++/src/ErrorBase.cpp

@@ -91,11 +91,11 @@ void ErrorBase::SetImaqError(int success, const char *contextMessage, const char
 {
 	//  If there was an error
 	if (success <= 0) {
-		//TODO: ??? char err[256];
-		// XXX: sprintf(err, "%s: %s", contextMessage, imaqGetErrorText(imaqGetLastError()));
+		char err[256];
+		sprintf(err, "%i: %s", success, contextMessage);
 
 		//  Set the current error information for this object.
-		// XXX: m_error.Set(imaqGetLastError(), err, filename, function, lineNumber, this);
+		m_error.Set(success, err, filename, function, lineNumber, this);
 
 		// Update the global error if there is not one already set.
 		Synchronized mutex(_globalErrorMutex);

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

@@ -5,38 +5,41 @@
 
 /**
  * Class for reading analog potentiometers. Analog potentiometers read
- * in an analog voltage that corresponds to a position. Usually the
- * position is either degrees or meters. However, if no conversion is
- * given it remains volts.
+ * in an analog voltage that corresponds to a position. The position is
+ * in whichever units you choose, by way of the scaling and offset
+ * constants passed to the constructor.
  *
  * @author Alex Henning
+ * @author Colby Skeggs (rail voltage)
  */
 class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
 public:
     /**
      * AnalogPotentiometer constructor.
      *
-     * Use the scaling and offset values so that the output produces
+     * Use the fullRange and offset values so that the output produces
      * meaningful values. I.E: you have a 270 degree potentiometer and
      * you want the output to be degrees with the halfway point as 0
-     * degrees. The scale value is 270.0(degrees)/5.0(volts) and the
-     * offset is -135.0 since the halfway point after scaling is 135
-     * degrees.
+     * degrees. The fullRange value is 270.0(degrees) and the offset is
+     * -135.0 since the halfway point after scaling is 135 degrees.
+     *
+     * This will calculate the result from the fullRange times the
+     * fraction of the supply voltage, plus the offset.
      *
      * @param channel The analog channel this potentiometer is plugged into.
-     * @param scale The scaling to multiply the voltage by to get a meaningful unit.
+     * @param fullRange The scaling to multiply the voltage by to get a meaningful unit.
      * @param offset The offset to add to the scaled value for controlling the zero value
      */
-    explicit AnalogPotentiometer(int channel, double scale = 1.0, double offset = 0.0);
+    explicit AnalogPotentiometer(int channel, double fullRange = 1.0, double offset = 0.0);
 
-    explicit AnalogPotentiometer(AnalogInput *input, double scale = 1.0, double offset = 0.0);
+    explicit AnalogPotentiometer(AnalogInput *input, double fullRange = 1.0, double offset = 0.0);
 
-    explicit AnalogPotentiometer(AnalogInput &input, double scale = 1.0, double offset = 0.0);
+    explicit AnalogPotentiometer(AnalogInput &input, double fullRange = 1.0, double offset = 0.0);
 
     virtual ~AnalogPotentiometer();
 
     /**
-     * Get the current reading of the potentiomere.
+     * Get the current reading of the potentiomer.
      *
      * @return The current position of the potentiometer.
      */
@@ -70,7 +73,7 @@ public:
     virtual void StopLiveWindowMode() {}
 
 private:
-    double m_scale, m_offset;
+    double m_fullRange, m_offset;
     AnalogInput* m_analog_input;
     ITable* m_table;
     bool m_init_analog_input;
@@ -78,5 +81,5 @@ private:
     /**
      * Common initialization code called by all constructors.
      */
-    void initPot(AnalogInput *input, double scale, double offset);
+    void initPot(AnalogInput *input, double fullRange, double offset);
 };

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

@@ -10,7 +10,7 @@
 #include "Resource.h"
 #include "MotorSafetyHelper.h"
 #include "PIDOutput.h"
-#include "SpeedController.h"
+#include "CANSpeedController.h"
 #include "HAL/Semaphore.hpp"
 #include "HAL/HAL.hpp"
 #include "LiveWindow/LiveWindowSendable.h"
@@ -20,10 +20,10 @@
 #include <utility>
 
 /**
- * Luminary Micro Jaguar Speed Control
+ * Luminary Micro / Vex Robotics Jaguar Speed Control
  */
 class CANJaguar : public MotorSafety,
-					public SpeedController,
+					public CANSpeedController,
 					public ErrorBase,
 					public LiveWindowSendable,
 					public ITableListener
@@ -41,40 +41,11 @@ 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 {
-					kNeutralMode_Jumper = 0, /** Use the NeutralMode that is set by the jumper wire on the CAN device */
-					kNeutralMode_Brake = 1,  /** Stop the motor's rotation by applying a force. */
-					kNeutralMode_Coast = 2   /** Do not attempt to stop the motor. Instead allow it to coast to a stop without applying resistance. */
-				} NeutralMode;
-	typedef enum {
-				/**
-				 * Disables the soft position limits and only uses the limit switches to limit rotation.
-				 * @see CANJaguar#GetForwardLimitOK()
-				 * @see CANJaguar#GetReverseLimitOK()
-				 *
-				 */
-					kLimitMode_SwitchInputsOnly = 0,
-				/**
-				 * Enables the soft position limits on the Jaguar.
-				 * These will be used in addition to the limit switches. This does not disable the behavior
-				 * of the limit switch input.
-				 * @see CANJaguar#ConfigSoftPositionLimits(double, double)
-				 */
-					kLimitMode_SoftPositionLimits = 1
-				} LimitMode;
-
 	explicit CANJaguar(uint8_t deviceNumber);
 	virtual ~CANJaguar();
 
 	uint8_t getDeviceNumber() const;
-
-	// SpeedController interface
-	virtual float Get();
-	virtual void Set(float value, uint8_t syncGroup=0);
-	virtual void Disable();
+	uint8_t GetHardwareVersion();
 
 	// PIDOutput interface
 	virtual void PIDWrite(float output);
@@ -104,39 +75,42 @@ public:
 	void SetVoltageMode(QuadEncoderStruct, uint16_t codesPerRev);
 	void SetVoltageMode(PotentiometerStruct);
 
-	// Other Accessors
-	void SetP(double p);
-	void SetI(double i);
-	void SetD(double d);
-	void SetPID(double p, double i, double d);
-	double GetP();
-	double GetI();
-	double GetD();
-	float GetBusVoltage();
-	float GetOutputVoltage();
-	float GetOutputCurrent();
-	float GetTemperature();
-	double GetPosition();
-	double GetSpeed();
-	bool GetForwardLimitOK();
-	bool GetReverseLimitOK();
-	uint16_t GetFaults();
-	void SetVoltageRampRate(double rampRate);
-	virtual uint32_t GetFirmwareVersion();
-	uint8_t GetHardwareVersion();
-	void ConfigNeutralMode(NeutralMode mode);
-	void ConfigEncoderCodesPerRev(uint16_t codesPerRev);
-	void ConfigPotentiometerTurns(uint16_t turns);
-	void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition);
-	void DisableSoftPositionLimits();
-	void ConfigLimitMode(LimitMode mode);
-	void ConfigForwardLimit(double forwardLimitPosition);
-	void ConfigReverseLimit(double reverseLimitPosition);
-	void ConfigMaxOutputVoltage(double voltage);
-	void ConfigFaultTime(float faultTime);
-	ControlMode GetControlMode();
+	// CANSpeedController interface
+	virtual float Get() override;
+	virtual void Set(float value, uint8_t syncGroup=0) override;
+	virtual void Disable() override;
+	virtual void SetP(double p) override;
+	virtual void SetI(double i) override;
+	virtual void SetD(double d) override;
+	virtual void SetPID(double p, double i, double d) override;
+	virtual double GetP() override;
+	virtual double GetI() override;
+	virtual double GetD() override;
+	virtual float GetBusVoltage() override;
+	virtual float GetOutputVoltage() override;
+	virtual float GetOutputCurrent() override;
+	virtual float GetTemperature() override;
+	virtual double GetPosition() override;
+	virtual double GetSpeed() override;
+	virtual bool GetForwardLimitOK() override;
+	virtual bool GetReverseLimitOK() override;
+	virtual uint16_t GetFaults() override;
+	virtual void SetVoltageRampRate(double rampRate) override;
+	virtual uint32_t GetFirmwareVersion() override;
+	virtual void ConfigNeutralMode(NeutralMode mode) override;
+	virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
+	virtual void ConfigPotentiometerTurns(uint16_t turns) override;
+	virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) override;
+	virtual void DisableSoftPositionLimits() override;
+	virtual void ConfigLimitMode(LimitMode mode) override;
+	virtual void ConfigForwardLimit(double forwardLimitPosition) override;
+	virtual void ConfigReverseLimit(double reverseLimitPosition) override;
+	virtual void ConfigMaxOutputVoltage(double voltage) override;
+	virtual void ConfigFaultTime(float faultTime) override;
+	virtual void SetControlMode(ControlMode mode);
+	virtual ControlMode GetControlMode();
 
-	static void UpdateSyncGroup(uint8_t syncGroup);
+ 	static void UpdateSyncGroup(uint8_t syncGroup);
 
 	void SetExpiration(float timeout);
 	float GetExpiration();
@@ -149,9 +123,6 @@ public:
 
 protected:
 	// Control mode helpers
-
-	void ChangeControlMode(ControlMode controlMode);
-
 	void SetSpeedReference(uint8_t reference);
 	uint8_t GetSpeedReference();
 

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

@@ -0,0 +1,97 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "SpeedController.h"
+
+/**
+ * Interface for "smart" CAN-based speed controllers.
+ * @see CANJaguar
+ * @see CANTalon
+ */
+class CANSpeedController : public SpeedController
+{
+public:
+	enum ControlMode {
+		kPercentVbus=0,
+		kCurrent=1,
+		kSpeed=2,
+		kPosition=3,
+		kVoltage=4,
+    kFollower=5 // Not supported in Jaguar.
+	};
+
+	enum Faults {
+		kCurrentFault = 1,
+		kTemperatureFault = 2,
+		kBusVoltageFault = 4,
+		kGateDriverFault = 8,
+		/* SRX extensions */
+		kFwdLimitSwitch = 0x10,
+		kRevLimitSwitch = 0x20,
+		kFwdSoftLimit = 0x40,
+		kRevSoftLimit = 0x80,
+	};
+
+	enum Limits {
+		kForwardLimit = 1,
+		kReverseLimit = 2
+	};
+
+	enum NeutralMode {
+		/** Use the NeutralMode that is set by the jumper wire on the CAN device */
+		kNeutralMode_Jumper = 0,
+		/** Stop the motor's rotation by applying a force. */
+		kNeutralMode_Brake = 1,
+		/** Do not attempt to stop the motor. Instead allow it to coast to a stop without applying resistance. */
+		kNeutralMode_Coast = 2
+	};
+
+	enum LimitMode {
+		/** Only use switches for limits */
+		kLimitMode_SwitchInputsOnly = 0,
+		/** Use both switches and soft limits */
+		kLimitMode_SoftPositionLimits = 1,
+		/* SRX extensions */
+		/** Disable switches and disable soft limits */
+		kLimitMode_SrxDisableSwitchInputs = 2,
+	};
+
+	virtual float Get() = 0;
+	virtual void Set(float value, uint8_t syncGroup=0) = 0;
+	virtual void Disable() = 0;
+	virtual void SetP(double p) = 0;
+	virtual void SetI(double i) = 0;
+	virtual void SetD(double d) = 0;
+	virtual void SetPID(double p, double i, double d) = 0;
+	virtual double GetP() = 0;
+	virtual double GetI() = 0;
+	virtual double GetD() = 0;
+	virtual float GetBusVoltage() = 0;
+	virtual float GetOutputVoltage() = 0;
+	virtual float GetOutputCurrent() = 0;
+	virtual float GetTemperature() = 0;
+	virtual double GetPosition() = 0;
+	virtual double GetSpeed() = 0;
+	virtual bool GetForwardLimitOK() = 0;
+	virtual bool GetReverseLimitOK() = 0;
+	virtual uint16_t GetFaults() = 0;
+	virtual void SetVoltageRampRate(double rampRate) = 0;
+	virtual uint32_t GetFirmwareVersion() = 0;
+	virtual void ConfigNeutralMode(NeutralMode mode) = 0;
+	virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
+	virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
+	virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) = 0;
+	virtual void DisableSoftPositionLimits() = 0;
+	virtual void ConfigLimitMode(LimitMode mode) = 0;
+	virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
+	virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
+	virtual void ConfigMaxOutputVoltage(double voltage) = 0;
+	virtual void ConfigFaultTime(float faultTime) = 0;
+  // Hold off on interface until we figure out ControlMode enums.
+//	virtual void SetControlMode(ControlMode mode) = 0;
+//	virtual ControlMode GetControlMode() = 0;
+};

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

@@ -0,0 +1,171 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "SafePWM.h"
+#include "CANSpeedController.h"
+#include "PIDOutput.h"
+#include "MotorSafetyHelper.h"
+
+class CanTalonSRX;
+
+/**
+ * CTRE Talon SRX Speed Controller with CAN Control
+ */
+class CANTalon : public MotorSafety,
+                 public CANSpeedController,
+                 public ErrorBase
+{
+public:
+  enum FeedbackDevice {
+    QuadEncoder=0,
+    AnalogPot=2,
+    AnalogEncoder=3,
+    EncRising=4,
+    EncFalling=5
+  };
+  enum StatusFrameRate {
+    StatusFrameRateGeneral=0,
+    StatusFrameRateFeedback=1,
+    StatusFrameRateQuadEncoder=2,
+    StatusFrameRateAnalogTempVbat=3,
+  };
+	explicit CANTalon(int deviceNumber);
+	explicit CANTalon(int deviceNumber,int controlPeriodMs);
+	virtual ~CANTalon();
+
+	// PIDController interface
+	virtual void PIDWrite(float output) override;
+
+	// MotorSafety interface
+	virtual void SetExpiration(float timeout) override;
+	virtual float GetExpiration() override;
+	virtual bool IsAlive() override;
+	virtual void StopMotor() override;
+	virtual void SetSafetyEnabled(bool enabled) override;
+	virtual bool IsSafetyEnabled() override;
+	virtual void GetDescription(char *desc) override;
+
+	// CANSpeedController interface
+	virtual float Get() override;
+	virtual void Set(float value, uint8_t syncGroup=0) override;
+	virtual void Disable() override;
+  virtual void EnableControl();
+	virtual void SetP(double p) override;
+	virtual void SetI(double i) override;
+	virtual void SetD(double d) override;
+	void SetF(double f);
+	void SetIzone(unsigned iz);
+	virtual void SetPID(double p, double i, double d) override;
+	void SetPID(double p, double i, double d, double f);
+	virtual double GetP() override;
+	virtual double GetI() override;
+	virtual double GetD() override;
+	double GetF();
+	virtual float GetBusVoltage() override;
+	virtual float GetOutputVoltage() override;
+	virtual float GetOutputCurrent() override;
+	virtual float GetTemperature() override;
+	void SetPosition(double pos);
+	virtual double GetPosition() override;
+	virtual double GetSpeed() override;
+  virtual int GetClosedLoopError();
+  virtual int GetAnalogIn();
+  virtual int GetAnalogInRaw();
+  virtual int GetAnalogInVel();
+  virtual int GetEncPosition();
+  virtual int GetEncVel();
+	int GetPinStateQuadA();
+	int GetPinStateQuadB();
+	int GetPinStateQuadIdx();
+	int IsFwdLimitSwitchClosed();
+	int IsRevLimitSwitchClosed();
+	int GetNumberOfQuadIdxRises();
+	void SetNumberOfQuadIdxRises(int rises);
+	virtual bool GetForwardLimitOK() override;
+	virtual bool GetReverseLimitOK() override;
+	virtual uint16_t GetFaults() override;
+	uint16_t GetStickyFaults();
+	void ClearStickyFaults();
+	virtual void SetVoltageRampRate(double rampRate) override;
+	virtual uint32_t GetFirmwareVersion() override;
+	virtual void ConfigNeutralMode(NeutralMode mode) override;
+	virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
+	virtual void ConfigPotentiometerTurns(uint16_t turns) override;
+	virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) override;
+	virtual void DisableSoftPositionLimits() override;
+	virtual void ConfigLimitMode(LimitMode mode) override;
+	virtual void ConfigForwardLimit(double forwardLimitPosition) override;
+	virtual void ConfigReverseLimit(double reverseLimitPosition) override;
+	/**
+	 * Change the fwd limit switch setting to normally open or closed.
+	 * Talon will disable momentarilly if the Talon's current setting
+	 * is dissimilar to the caller's requested setting.
+	 *
+	 * Since Talon saves setting to flash this should only affect
+	 * a given Talon initially during robot install.
+	 *
+	 * @param normallyOpen true for normally open.  false for normally closed.
+	 */
+	void ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen);
+	/**
+	 * Change the rev limit switch setting to normally open or closed.
+	 * Talon will disable momentarilly if the Talon's current setting
+	 * is dissimilar to the caller's requested setting.
+	 *
+	 * Since Talon saves setting to flash this should only affect
+	 * a given Talon initially during robot install.
+	 *
+	 * @param normallyOpen true for normally open.  false for normally closed.
+	 */
+	void ConfigRevLimitSwitchNormallyOpen(bool normallyOpen);
+	virtual void ConfigMaxOutputVoltage(double voltage) override;
+	virtual void ConfigFaultTime(float faultTime) override;
+	virtual void SetControlMode(ControlMode mode);
+  void SetFeedbackDevice(FeedbackDevice device);
+	void SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs);
+	virtual ControlMode GetControlMode();
+	void SetSensorDirection(bool reverseSensor);
+	void SetCloseLoopRampRate(double rampRate);
+	void SelectProfileSlot(int slotIdx);
+	int GetIzone();
+	int GetIaccum();
+	void ClearIaccum();
+	int GetBrakeEnableDuringNeutral();
+
+  bool IsControlEnabled();
+  double GetSetpoint();
+private:
+  // Values for various modes as is sent in the CAN packets for the Talon.
+  enum TalonControlMode {
+		kThrottle=0,
+    kFollowerMode=5,
+		kVoltageMode=4,
+		kPositionMode=1,
+		kSpeedMode=2,
+		kCurrentMode=3,
+    kDisabled=15
+  };
+
+	int m_deviceNumber;
+	CanTalonSRX *m_impl;
+	MotorSafetyHelper *m_safetyHelper;
+  int m_profile; // Profile from CANTalon to use. Set to zero until we can actually test this.
+
+  bool m_controlEnabled;
+  ControlMode m_controlMode;
+  TalonControlMode m_sendMode;
+
+  double m_setPoint;
+  static const unsigned int kDelayForSolicitedSignalsUs = 4000;
+  /**
+   * Fixup the sendMode so Set() serializes the correct demand value.
+   * Also fills the modeSelecet in the control frame to disabled.
+   * @param mode Control mode to ultimately enter once user calls Set().
+   * @see Set()
+   */
+  void ApplyControlMode(CANSpeedController::ControlMode mode);
+};

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

@@ -25,7 +25,7 @@ class CameraServer : public ErrorBase {
 	static constexpr uint32_t kSize320x240 = 1;
 	static constexpr uint32_t kSize160x120 = 2;
 	static constexpr int32_t kHardwareCompression = -1;
-	static constexpr char const *kDefaultCameraName = "cam1";
+	static constexpr char const *kDefaultCameraName = "cam0";
 
 public:
 	static CameraServer *GetInstance();

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

@@ -34,7 +34,12 @@ public:
 
 	float GetStickAxis(uint32_t stick, uint32_t axis);
 	int GetStickPOV(uint32_t stick, uint32_t pov);
-	short GetStickButtons(uint32_t stick);
+	uint32_t GetStickButtons(uint32_t stick);
+	bool GetStickButton(uint32_t stick, uint8_t button);
+
+	int GetStickAxisCount(uint32_t stick);
+	int GetStickPOVCount(uint32_t stick);
+	int GetStickButtonCount(uint32_t stick);
 
 	bool IsEnabled();
 	bool IsDisabled();
@@ -53,11 +58,6 @@ public:
 	double GetMatchTime();
 	float GetBatteryVoltage();
 
-	MUTEX_ID GetUserStatusDataSem()
-	{
-		return m_statusDataSemaphore;
-	}
-
 	/** Only to be used to tell the Driver Station what code you claim to be executing
 	 *   for diagnostic purposes only
 	 * @param entering If true, starting disabled code; if false, leaving disabled code */
@@ -91,30 +91,24 @@ protected:
 	DriverStation();
 
 	void GetData();
-	void SetData();
-
 private:
 	static void InitTask(DriverStation *ds);
 	static DriverStation *m_instance;
-
+	void ReportJoystickUnpluggedError(std::string message);
 	void Run();
 
-	HALControlWord m_controlWord;
-	HALAllianceStationID m_allianceStationID;
 	HALJoystickAxes m_joystickAxes[kJoystickPorts];
 	HALJoystickPOVs m_joystickPOVs[kJoystickPorts];
 	HALJoystickButtons m_joystickButtons[kJoystickPorts];
-
-	MUTEX_ID m_statusDataSemaphore;
 	Task m_task;
 	SEMAPHORE_ID m_newControlData;
 	MULTIWAIT_ID m_packetDataAvailableMultiWait;
 	MUTEX_ID m_packetDataAvailableMutex;
 	MULTIWAIT_ID m_waitForDataSem;
 	MUTEX_ID m_waitForDataMutex;
-	double m_approxMatchTimeOffset;
 	bool m_userInDisabled;
 	bool m_userInAutonomous;
 	bool m_userInTeleop;
 	bool m_userInTest;
+	double m_nextMessageTime;
 };

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

@@ -40,6 +40,7 @@ public:
 	void SetDeadband(float volts);
 	void SetPIDSourceParameter(PIDSourceParameter pidSource);
 	virtual void Reset();
+	void InitGyro();
 
 	// PIDSource interface
 	double PIDGet();
@@ -51,10 +52,10 @@ public:
 	void InitTable(ITable *subTable);
 	ITable * GetTable();
 
-private:
-	void InitGyro();
-
+protected:
 	AnalogInput *m_analog;
+
+private:
 	float m_voltsPerDegreePerSecond;
 	float m_offset;
 	bool m_channelAllocated;

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

@@ -60,6 +60,8 @@ public:
 	virtual void TestPeriodic();
 
 protected:
+	virtual void Prestart();
+
 	virtual ~IterativeRobot();
 	IterativeRobot();
 

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

@@ -10,7 +10,7 @@
 #include "PIDOutput.h"
 
 /**
- * Luminary Micro Jaguar Speed Control
+ * Luminary Micro / Vex Robotics Jaguar Speed Controller with PWM control
  */
 class Jaguar : public SafePWM, public SpeedController
 {

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

@@ -37,6 +37,10 @@ public:
 	{
 		kTriggerButton, kTopButton, kNumButtonTypes
 	} ButtonType;
+	typedef enum
+	{
+		kLeftRumble, kRightRumble
+	} RumbleType;
 
 	explicit Joystick(uint32_t port);
 	Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
@@ -65,6 +69,14 @@ public:
 	virtual float GetDirectionRadians();
 	virtual float GetDirectionDegrees();
 
+	int GetAxisCount();
+	int GetButtonCount();
+	int GetPOVCount();
+	
+	void SetRumble(RumbleType type, float value);
+	void SetOutput(uint8_t outputNumber, bool value);
+	void SetOutputs(uint32_t value);
+
 private:
 	DISALLOW_COPY_AND_ASSIGN(Joystick);
 	void InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes);
@@ -73,6 +85,9 @@ private:
 	uint32_t m_port;
 	uint32_t *m_axes;
 	uint32_t *m_buttons;
+	uint32_t m_outputs;
+	uint16_t m_leftRumble;
+	uint16_t m_rightRumble;
 };
 
 #endif

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

@@ -21,6 +21,11 @@ class PowerDistributionPanel : public SensorBase {
 		double GetVoltage();
 		double GetTemperature();
 		double GetCurrent(uint8_t channel);
+		double GetTotalCurrent();
+		double GetTotalPower();
+		double GetTotalEnergy();
+		void ResetTotalEnergy();
+		void ClearStickyFaults();
 };
 
 #endif /* __WPILIB_POWER_DISTRIBUTION_PANEL_H__ */

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

@@ -14,9 +14,9 @@ class DriverStation;
 	int main() \
 	{ \
 		if (!HALInitialize()){std::cerr<<"FATAL ERROR: HAL could not be initialized"<<std::endl;return -1;}	\
-		HALNetworkCommunicationObserveUserProgramStarting(); \
 		HALReport(HALUsageReporting::kResourceType_Language, HALUsageReporting::kLanguage_CPlusPlus); \
-		(new _ClassName_())->StartCompetition(); \
+		_ClassName_ *robot = new _ClassName_(); \
+		RobotBase::robotSetup(robot); \
 		return 0; \
 	}
 
@@ -44,11 +44,15 @@ public:
 	static void startRobotTask(FUNCPTR factory);
 	static void robotTask(FUNCPTR factory, Task *task);
 	virtual void StartCompetition() = 0;
+	
+	static void robotSetup(RobotBase *robot);
 
 protected:
 	virtual ~RobotBase();
 	RobotBase();
 
+	virtual void Prestart();
+
 	Task *m_task;
 	DriverStation *m_ds;
 

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

@@ -16,11 +16,12 @@ class GenericHID;
 
 /**
  * Utility class for handling Robot drive based on a definition of the motor configuration.
- * The robot drive class handles basic driving for a robot. Currently, 2 and 4 motor standard
- * drive trains are supported. In the future other drive types like swerve and meccanum might
- * be implemented. Motor channel numbers are passed supplied on creation of the class. Those are
- * used for either the Drive function (intended for hand created drive code, such as autonomous)
- * or with the Tank/Arcade functions intended to be used for Operator Control driving.
+ * The robot drive class handles basic driving for a robot. Currently, 2 and 4 motor tank and
+ * mecanum drive trains are supported. In the future other drive types like swerve might be
+ * implemented. Motor channel numbers are passed supplied on creation of the class. Those
+ * are used for either the Drive function (intended for hand created drive code, such as
+ * autonomous) or with the Tank/Arcade functions intended to be used for Operator Control
+ * driving.
  */
 class RobotDrive : public MotorSafety, public ErrorBase
 {

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

@@ -27,7 +27,7 @@ public:
 	enum StopBits {kStopBits_One=10, kStopBits_OnePointFive=15, kStopBits_Two=20};
 	enum FlowControl {kFlowControl_None=0, kFlowControl_XonXoff=1, kFlowControl_RtsCts=2, kFlowControl_DtrDsr=4};
 	enum WriteBufferMode {kFlushOnAccess=1, kFlushWhenFull=2};
-	enum Port {kOnboard=0, kMXP=1};
+	enum Port {kOnboard=0, kMXP=1, kUSB=2};
 
 	SerialPort(uint32_t baudRate, Port port = kOnboard, uint8_t dataBits = 8, Parity parity = kParity_None,
 			StopBits stopBits = kStopBits_One);

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

@@ -10,7 +10,7 @@
 #include "PIDOutput.h"
 
 /**
- * CTRE Talon Speed Controller
+ * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller
  */
 class Talon : public SafePWM, public SpeedController
 {

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

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "SafePWM.h"
+#include "SpeedController.h"
+#include "PIDOutput.h"
+
+/**
+ * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control
+ * @see CANTalon for CAN control
+ */
+class TalonSRX : public SafePWM, public SpeedController
+{
+public:
+	explicit TalonSRX(uint32_t channel);
+	virtual ~TalonSRX();
+	virtual void Set(float value, uint8_t syncGroup = 0);
+	virtual float Get();
+	virtual void Disable();
+
+	virtual void PIDWrite(float output);
+
+private:
+	void InitTalonSRX();
+};

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

@@ -10,7 +10,10 @@
 #include "PIDOutput.h"
 
 /**
- * IFI Victor Speed Controller
+ * Vex Robotics Victor 888 Speed Controller
+ *
+ * The Vex Robotics Victor 884 Speed Controller can also be used with this
+ * class but may need to be calibrated per the Victor 884 user manual.
  */
 class Victor : public SafePWM, public SpeedController
 {