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>
@@ -143,6 +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" />
@@ -208,6 +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.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/src/main/resources/cpp-zip/ant/build.properties

@@ -8,7 +8,7 @@ command.dir=/home/lvuser/
 # Libraries to use
 wpilib=${user.home}/wpilib/cpp/${cpp-version}
 wpilib.lib=${wpilib}/lib
-roboRIOAllowedImages=20
+roboRIOAllowedImages=23
 
 # Ant support
 wpilib.ant.dir=${wpilib}/ant

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/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
@@ -287,4 +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/resources/java-zip/ant/build.properties

@@ -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=20
+roboRIOAllowedImages=23
 
 # Ant support
 wpilib.ant.dir=${wpilib}/ant

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

@@ -1,2 +1,2 @@
-/usr/local/frc/bin/netconsole-host /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/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
+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

@@ -230,7 +230,7 @@ extern "C"
 	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/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

@@ -54,6 +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:
@@ -223,9 +227,9 @@ int HALGetMatchTime(float *matchTime)
 	return FRC_NetworkCommunication_getMatchTime(matchTime);
 }
 
-void HALSetNewDataSem(pthread_cond_t * param)
+void HALSetNewDataSem(MULTIWAIT_ID sem)
 {
-	setNewDataSem(param);
+	setNewDataSem(sem);
 }
 
 bool HALGetSystemActive(int32_t *status)

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.cpp

@@ -63,9 +63,8 @@
  * 			ClearIaccum()
  * 		...this is very useful in preventing integral windup and is highly recommended if using full PID to keep stability low.
  *
- * CloseLoopRampRate ramps the target of the close loop.  The units are in position per 1ms.  Set to zero to disable ramping.
- * 		So a value of 10 means allow the target input of the close loop to approach the user's demand by 10 units (ADC or encoder edges)
- * 		per 1ms.
+ * 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
@@ -243,6 +242,11 @@ typedef struct _TALON_Param_Response_t {
 
 CanTalonSRX::CanTalonSRX(int deviceNumber,int controlPeriodMs): CtreCanNode(deviceNumber), _can_h(0), _can_stat(0)
 {
+	/* bound period to be within [1 ms,95 ms] */
+	if(controlPeriodMs < 1)
+		controlPeriodMs = 1;
+	else if(controlPeriodMs > 95)
+		controlPeriodMs = 95;
 	RegisterRx(STATUS_1 | (UINT8)deviceNumber );
 	RegisterRx(STATUS_2 | (UINT8)deviceNumber );
 	RegisterRx(STATUS_3 | (UINT8)deviceNumber );
@@ -567,6 +571,11 @@ CTR_Code CanTalonSRX::GetReverseSoftEnable(int & enable)
 CTR_Code CanTalonSRX::SetStatusFrameRate(unsigned frameEnum, unsigned periodMs)
 {
 	int32_t status = 0;
+	/* bounds check the period */
+	if(periodMs < 1)
+		periodMs = 1;
+	else if (periodMs > 255)
+		periodMs = 255;
   uint8_t period = (uint8_t)periodMs;
 	/* tweak just the status messsage rate the caller cares about */
 	switch(frameEnum){
@@ -867,9 +876,9 @@ CTR_Code CanTalonSRX::GetAnalogInVel(int &param)
 	raw |= rx->AnalogInVelH;
 	raw <<= 8;
 	raw |= rx->AnalogInVelL;
-	param = (int)raw;
 	raw <<= (32-16); /* sign extend */
 	raw >>= (32-16); /* sign extend */
+	param = (int)raw;
 	return rx.err;
 }
 CTR_Code CanTalonSRX::GetTemp(double &param)
@@ -966,6 +975,23 @@ CTR_Code CanTalonSRX::SetModeSelect(int param)
 	FlushTx(toFill);
 	return CTR_OKAY;
 }
+/**
+ * @param modeSelect selects which mode.
+ * @param demand setpt or throttle or masterId to follow.
+ * @return error code, 0 iff successful.
+ * This function has the advantage of atomically setting mode and demand.
+ */
+CTR_Code CanTalonSRX::SetModeSelect(int modeSelect,int demand)
+{
+	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
+	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
+	toFill->ModeSelect = modeSelect;
+	toFill->DemandH = demand>>16;
+	toFill->DemandM = demand>>8;
+	toFill->DemandL = demand>>0;
+	FlushTx(toFill);
+	return CTR_OKAY;
+}
 CTR_Code CanTalonSRX::SetProfileSlotSelect(int param)
 {
 	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
@@ -990,3 +1016,222 @@ CTR_Code CanTalonSRX::SetRevFeedbackSensor(int param)
 	FlushTx(toFill);
 	return CTR_OKAY;
 }
+//------------------ C interface --------------------------------------------//
+extern "C" {
+void *c_TalonSRX_Create(int deviceNumber, int controlPeriodMs)
+{
+	return new CanTalonSRX(deviceNumber, controlPeriodMs);
+}
+void c_TalonSRX_Destroy(void *handle)
+{
+	delete (CanTalonSRX*)handle;
+}
+CTR_Code c_TalonSRX_SetParam(void *handle, int paramEnum, double value)
+{
+	return ((CanTalonSRX*)handle)->SetParam((CanTalonSRX::param_t)paramEnum, value);
+}
+CTR_Code c_TalonSRX_RequestParam(void *handle, int paramEnum)
+{
+	return ((CanTalonSRX*)handle)->RequestParam((CanTalonSRX::param_t)paramEnum);
+}
+CTR_Code c_TalonSRX_GetParamResponse(void *handle, int paramEnum, double *value)
+{
+	return ((CanTalonSRX*)handle)->GetParamResponse((CanTalonSRX::param_t)paramEnum, *value);
+}
+CTR_Code c_TalonSRX_GetParamResponseInt32(void *handle, int paramEnum, int *value)
+{
+	return ((CanTalonSRX*)handle)->GetParamResponseInt32((CanTalonSRX::param_t)paramEnum, *value);
+}
+CTR_Code c_TalonSRX_SetStatusFrameRate(void *handle, unsigned frameEnum, unsigned periodMs)
+{
+	return ((CanTalonSRX*)handle)->SetStatusFrameRate(frameEnum, periodMs);
+}
+CTR_Code c_TalonSRX_ClearStickyFaults(void *handle)
+{
+	return ((CanTalonSRX*)handle)->ClearStickyFaults();
+}
+CTR_Code c_TalonSRX_GetFault_OverTemp(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetFault_OverTemp(*param);
+}
+CTR_Code c_TalonSRX_GetFault_UnderVoltage(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetFault_UnderVoltage(*param);
+}
+CTR_Code c_TalonSRX_GetFault_ForLim(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetFault_ForLim(*param);
+}
+CTR_Code c_TalonSRX_GetFault_RevLim(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetFault_RevLim(*param);
+}
+CTR_Code c_TalonSRX_GetFault_HardwareFailure(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetFault_HardwareFailure(*param);
+}
+CTR_Code c_TalonSRX_GetFault_ForSoftLim(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetFault_ForSoftLim(*param);
+}
+CTR_Code c_TalonSRX_GetFault_RevSoftLim(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetFault_RevSoftLim(*param);
+}
+CTR_Code c_TalonSRX_GetStckyFault_OverTemp(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetStckyFault_OverTemp(*param);
+}
+CTR_Code c_TalonSRX_GetStckyFault_UnderVoltage(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetStckyFault_UnderVoltage(*param);
+}
+CTR_Code c_TalonSRX_GetStckyFault_ForLim(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetStckyFault_ForLim(*param);
+}
+CTR_Code c_TalonSRX_GetStckyFault_RevLim(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetStckyFault_RevLim(*param);
+}
+CTR_Code c_TalonSRX_GetStckyFault_ForSoftLim(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetStckyFault_ForSoftLim(*param);
+}
+CTR_Code c_TalonSRX_GetStckyFault_RevSoftLim(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetStckyFault_RevSoftLim(*param);
+}
+CTR_Code c_TalonSRX_GetAppliedThrottle(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetAppliedThrottle(*param);
+}
+CTR_Code c_TalonSRX_GetCloseLoopErr(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetCloseLoopErr(*param);
+}
+CTR_Code c_TalonSRX_GetFeedbackDeviceSelect(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetFeedbackDeviceSelect(*param);
+}
+CTR_Code c_TalonSRX_GetModeSelect(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetModeSelect(*param);
+}
+CTR_Code c_TalonSRX_GetLimitSwitchEn(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetLimitSwitchEn(*param);
+}
+CTR_Code c_TalonSRX_GetLimitSwitchClosedFor(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetLimitSwitchClosedFor(*param);
+}
+CTR_Code c_TalonSRX_GetLimitSwitchClosedRev(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetLimitSwitchClosedRev(*param);
+}
+CTR_Code c_TalonSRX_GetSensorPosition(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetSensorPosition(*param);
+}
+CTR_Code c_TalonSRX_GetSensorVelocity(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetSensorVelocity(*param);
+}
+CTR_Code c_TalonSRX_GetCurrent(void *handle, double *param)
+{
+	return ((CanTalonSRX*)handle)->GetCurrent(*param);
+}
+CTR_Code c_TalonSRX_GetBrakeIsEnabled(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetBrakeIsEnabled(*param);
+}
+CTR_Code c_TalonSRX_GetEncPosition(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetEncPosition(*param);
+}
+CTR_Code c_TalonSRX_GetEncVel(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetEncVel(*param);
+}
+CTR_Code c_TalonSRX_GetEncIndexRiseEvents(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetEncIndexRiseEvents(*param);
+}
+CTR_Code c_TalonSRX_GetQuadApin(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetQuadApin(*param);
+}
+CTR_Code c_TalonSRX_GetQuadBpin(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetQuadBpin(*param);
+}
+CTR_Code c_TalonSRX_GetQuadIdxpin(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetQuadIdxpin(*param);
+}
+CTR_Code c_TalonSRX_GetAnalogInWithOv(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetAnalogInWithOv(*param);
+}
+CTR_Code c_TalonSRX_GetAnalogInVel(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetAnalogInVel(*param);
+}
+CTR_Code c_TalonSRX_GetTemp(void *handle, double *param)
+{
+	return ((CanTalonSRX*)handle)->GetTemp(*param);
+}
+CTR_Code c_TalonSRX_GetBatteryV(void *handle, double *param)
+{
+	return ((CanTalonSRX*)handle)->GetBatteryV(*param);
+}
+CTR_Code c_TalonSRX_GetResetCount(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetResetCount(*param);
+}
+CTR_Code c_TalonSRX_GetResetFlags(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetResetFlags(*param);
+}
+CTR_Code c_TalonSRX_GetFirmVers(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetFirmVers(*param);
+}
+CTR_Code c_TalonSRX_SetDemand(void *handle, int param)
+{
+	return ((CanTalonSRX*)handle)->SetDemand(param);
+}
+CTR_Code c_TalonSRX_SetOverrideLimitSwitchEn(void *handle, int param)
+{
+	return ((CanTalonSRX*)handle)->SetOverrideLimitSwitchEn(param);
+}
+CTR_Code c_TalonSRX_SetFeedbackDeviceSelect(void *handle, int param)
+{
+	return ((CanTalonSRX*)handle)->SetFeedbackDeviceSelect(param);
+}
+CTR_Code c_TalonSRX_SetRevMotDuringCloseLoopEn(void *handle, int param)
+{
+	return ((CanTalonSRX*)handle)->SetRevMotDuringCloseLoopEn(param);
+}
+CTR_Code c_TalonSRX_SetOverrideBrakeType(void *handle, int param)
+{
+	return ((CanTalonSRX*)handle)->SetOverrideBrakeType(param);
+}
+CTR_Code c_TalonSRX_SetModeSelect(void *handle, int param)
+{
+	return ((CanTalonSRX*)handle)->SetModeSelect(param);
+}
+CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param)
+{
+	return ((CanTalonSRX*)handle)->SetProfileSlotSelect(param);
+}
+CTR_Code c_TalonSRX_SetRampThrottle(void *handle, int param)
+{
+	return ((CanTalonSRX*)handle)->SetRampThrottle(param);
+}
+CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param)
+{
+	return ((CanTalonSRX*)handle)->SetRevFeedbackSensor(param);
+}
+}

hal/lib/Athena/ctre/CanTalonSRX.h

@@ -63,9 +63,8 @@
  * 			ClearIaccum()
  * 		...this is very useful in preventing integral windup and is highly recommended if using full PID to keep stability low.
  *
- * CloseLoopRampRate ramps the target of the close loop.  The units are in position per 1ms.  Set to zero to disable ramping.
- * 		So a value of 10 means allow the target input of the close loop to approach the user's demand by 10 units (ADC or encoder edges)
- * 		per 1ms.
+ * 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
@@ -212,6 +211,8 @@ public:
 		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.
@@ -308,9 +309,66 @@ public:
 	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/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 )

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/CANSpeedController.h

@@ -54,7 +54,10 @@ public:
 		/** Only use switches for limits */
 		kLimitMode_SwitchInputsOnly = 0,
 		/** Use both switches and soft limits */
-		kLimitMode_SoftPositionLimits = 1
+		kLimitMode_SoftPositionLimits = 1,
+		/* SRX extensions */
+		/** Disable switches and disable soft limits */
+		kLimitMode_SrxDisableSwitchInputs = 2,
 	};
 
 	virtual float Get() = 0;

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

@@ -26,8 +26,15 @@ public:
     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
@@ -51,6 +58,7 @@ public:
 	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;
@@ -66,6 +74,7 @@ public:
 	virtual double GetSpeed() override;
   virtual int GetClosedLoopError();
   virtual int GetAnalogIn();
+  virtual int GetAnalogInRaw();
   virtual int GetAnalogInVel();
   virtual int GetEncPosition();
   virtual int GetEncVel();
@@ -91,15 +100,44 @@ public:
 	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);
-	double GetIzone();
+	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 {
@@ -119,4 +157,15 @@ private:
 
   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

@@ -34,6 +34,7 @@ public:
 
 	float GetStickAxis(uint32_t stick, uint32_t axis);
 	int GetStickPOV(uint32_t stick, uint32_t pov);
+	uint32_t GetStickButtons(uint32_t stick);
 	bool GetStickButton(uint32_t stick, uint8_t button);
 
 	int GetStickAxisCount(uint32_t stick);
@@ -89,12 +90,16 @@ public:
 protected:
 	DriverStation();
 
+	void GetData();
 private:
 	static void InitTask(DriverStation *ds);
 	static DriverStation *m_instance;
 	void ReportJoystickUnpluggedError(std::string message);
 	void Run();
 
+	HALJoystickAxes m_joystickAxes[kJoystickPorts];
+	HALJoystickPOVs m_joystickPOVs[kJoystickPorts];
+	HALJoystickButtons m_joystickButtons[kJoystickPorts];
 	Task m_task;
 	SEMAPHORE_ID m_newControlData;
 	MULTIWAIT_ID m_packetDataAvailableMultiWait;

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/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/TalonSRX.h

@@ -5,14 +5,25 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
-#include "Talon.h"
+#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 Talon {
+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/VictorSP.h

@@ -5,13 +5,24 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
-#include "Talon.h"
+#include "SafePWM.h"
+#include "SpeedController.h"
+#include "PIDOutput.h"
 
 /**
  * Vex Robotics Victor SP Speed Controller
  */
-class VictorSP: public Talon {
+class VictorSP : public SafePWM, public SpeedController
+{
 public:
 	explicit VictorSP(uint32_t channel);
 	virtual ~VictorSP();
+	virtual void Set(float value, uint8_t syncGroup = 0);
+	virtual float Get();
+	virtual void Disable();
+
+	virtual void PIDWrite(float output);
+
+private:
+	void InitVictorSP();
 };

wpilibc/wpilibC++Devices/include/ctre/CanTalonSRX.h

@@ -63,9 +63,8 @@
  * 			ClearIaccum()
  * 		...this is very useful in preventing integral windup and is highly recommended if using full PID to keep stability low.
  *
- * CloseLoopRampRate ramps the target of the close loop.  The units are in position per 1ms.  Set to zero to disable ramping.
- * 		So a value of 10 means allow the target input of the close loop to approach the user's demand by 10 units (ADC or encoder edges)
- * 		per 1ms.
+ * 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
@@ -212,6 +211,8 @@ public:
 		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.
@@ -308,9 +309,66 @@ public:
 	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
 

wpilibc/wpilibC++Devices/src/CANJaguar.cpp

@@ -179,16 +179,16 @@ void CANJaguar::InitCANJaguar()
 		return;
 
 	// 3330 was the first shipping RDK firmware version for the Jaguar
-	if (m_firmwareVersion >= 3330 || m_firmwareVersion < 101)
+	if (m_firmwareVersion >= 3330 || m_firmwareVersion < 108)
 	{
 		char buf[256];
 		if (m_firmwareVersion < 3330)
 		{
-			snprintf(buf, 256, "Jag #%d firmware (%d) is too old (must be at least version 101 of the FIRST approved firmware)", m_deviceNumber, m_firmwareVersion);
+			snprintf(buf, 256, "Jag #%d firmware (%d) is too old (must be at least version 108 of the FIRST approved firmware)", m_deviceNumber, m_firmwareVersion);
 		}
 		else
 		{
-			snprintf(buf, 256, "Jag #%d firmware (%d) is not FIRST approved (must be at least version 101 of the FIRST approved firmware)", m_deviceNumber, m_firmwareVersion);
+			snprintf(buf, 256, "Jag #%d firmware (%d) is not FIRST approved (must be at least version 108 of the FIRST approved firmware)", m_deviceNumber, m_firmwareVersion);
 		}
 		wpi_setWPIErrorWithContext(JaguarVersionError, buf);
 		return;

wpilibc/wpilibC++Devices/src/CANTalon.cpp

@@ -19,13 +19,29 @@ CANTalon::CANTalon(int deviceNumber)
   , m_profile(0)
   , m_controlEnabled(true)
   , m_controlMode(kPercentVbus)
+  , m_setPoint(0)
 {
-  // The control mode may already have been set; GetControlMode will reset
-  // m_controlMode to match the Talon.
-  GetControlMode();
+  ApplyControlMode(m_controlMode);
+  m_impl->SetProfileSlotSelect(m_profile);
+}
+/**
+ * Constructor for the CANTalon device.
+ * @param deviceNumber The CAN ID of the Talon SRX
+ * @param controlPeriodMs The period in ms to send the CAN control frame.
+ *							Period is bounded to [1ms, 95ms].
+ */
+CANTalon::CANTalon(int deviceNumber,int controlPeriodMs)
+	: m_deviceNumber(deviceNumber)
+	, m_impl(new CanTalonSRX(deviceNumber,controlPeriodMs)) /* bounded underneath to be within [1 ms,95 ms] */
+	, m_safetyHelper(new MotorSafetyHelper(this))
+  , m_profile(0)
+  , m_controlEnabled(true)
+  , m_controlMode(kPercentVbus)
+  , m_setPoint(0)
+{
+  ApplyControlMode(m_controlMode);
   m_impl->SetProfileSlotSelect(m_profile);
 }
-
 CANTalon::~CANTalon() {
 	delete m_impl;
 	delete m_safetyHelper;
@@ -90,8 +106,9 @@ float CANTalon::Get()
 void CANTalon::Set(float value, uint8_t syncGroup)
 {
   if(m_controlEnabled) {
+    m_setPoint = value;
     CTR_Code status;
-    switch(GetControlMode()) {
+    switch(m_controlMode) {
       case CANSpeedController::kPercentVbus:
         {
           m_impl->Set(value);
@@ -122,6 +139,13 @@ void CANTalon::Set(float value, uint8_t syncGroup)
     if (status != CTR_OKAY) {
       wpi_setErrorWithContext(status, getHALErrorMessage(status));
     }
+
+    status = m_impl->SetModeSelect(m_sendMode);
+
+    if (status != CTR_OKAY) {
+      wpi_setErrorWithContext(status, getHALErrorMessage(status));
+    }
+
   }
 }
 
@@ -143,6 +167,13 @@ void CANTalon::EnableControl() {
   m_controlEnabled = true;
 }
 
+/**
+ * @return Whether the Talon is currently enabled.
+ */
+bool CANTalon::IsControlEnabled() {
+  return m_controlEnabled;
+}
+
 /**
  * @param p Proportional constant to use in PID loop.
  * @see SelectProfileSlot to choose between the two sets of gains.
@@ -189,6 +220,19 @@ void CANTalon::SetF(double f)
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
 }
+/**
+ * Set the Izone to a nonzero value to auto clear the integral accumulator
+ *		when the absolute value of CloseLoopError exceeds Izone.
+ *
+ * @see SelectProfileSlot to choose between the two sets of gains.
+ */
+void CANTalon::SetIzone(unsigned iz)
+{
+  CTR_Code status = m_impl->SetIzone(m_profile, iz);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
 /**
  * SRX has two available slots for PID.
  * @param slotIdx one or zero depending on which slot caller wants.
@@ -229,6 +273,16 @@ void CANTalon::SetFeedbackDevice(FeedbackDevice device)
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
 }
+/**
+ * Select the feedback device to use in closed-loop
+ */
+void CANTalon::SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs)
+{
+	CTR_Code status = m_impl->SetStatusFrameRate((int)stateFrame,periodMs);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
 
 /**
  * TODO documentation (see CANJaguar.cpp)
@@ -242,7 +296,7 @@ double CANTalon::GetP()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(1000); /* small yield for getting response */
+  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
   double p;
   status = m_impl->GetPgain(m_profile, p);
 	if(status != CTR_OKAY) {
@@ -263,7 +317,7 @@ double CANTalon::GetI()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-	usleep(1000); /* small yield for getting response */
+	usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
 
   double i;
   status = m_impl->GetIgain(m_profile, i);
@@ -285,7 +339,7 @@ double CANTalon::GetD()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-	usleep(1000); /* small yield for getting response */
+	usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
 
   double d;
   status = m_impl->GetDgain(m_profile, d);
@@ -307,7 +361,7 @@ double CANTalon::GetF()
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
 
-	usleep(1000);  /* small yield for getting response */
+	usleep(kDelayForSolicitedSignalsUs);  /* small yield for getting response */
   double f;
   status = m_impl->GetFgain(m_profile, f);
 	if(status != CTR_OKAY) {
@@ -318,7 +372,7 @@ double CANTalon::GetF()
 /**
  * @see SelectProfileSlot to choose between the two sets of gains.
  */
-double CANTalon::GetIzone()
+int CANTalon::GetIzone()
 {
   CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_IZone: CanTalonSRX::eProfileParamSlot0_IZone;
  // Update the info in m_impl.
@@ -326,14 +380,21 @@ double CANTalon::GetIzone()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
  }
-	usleep(1000);
+	usleep(kDelayForSolicitedSignalsUs);
 
  int iz;
  status = m_impl->GetIzone(m_profile, iz);
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
-	return (double)iz;
+	return iz;
+}
+
+/**
+ * @return the current setpoint; ie, whatever was last passed to Set().
+ */
+double CANTalon::GetSetpoint() {
+  return m_setPoint;
 }
 
 /**
@@ -478,7 +539,9 @@ double CANTalon::GetSpeed()
  * Get the position of whatever is in the analog pin of the Talon, regardless of
  * whether it is actually being used for feedback.
  *
- * @returns The value (0 - 1023) on the analog pin of the Talon.
+ * @returns The 24bit analog value.  The bottom ten bits is the ADC (0 - 1023) on 
+ *								the analog pin of the Talon. The upper 14 bits
+ *								tracks the overflows and underflows (continuous sensor).
  */
 int CANTalon::GetAnalogIn()
 {
@@ -489,7 +552,16 @@ int CANTalon::GetAnalogIn()
 	}
   return position;
 }
-
+/**
+ * Get the position of whatever is in the analog pin of the Talon, regardless of
+ * whether it is actually being used for feedback.
+ *
+ * @returns The ADC (0 - 1023) on analog pin of the Talon.
+ */
+int CANTalon::GetAnalogInRaw()
+{
+    return GetAnalogIn() & 0x3FF;
+}
 /**
  * Get the position of whatever is in the analog pin of the Talon, regardless of
  * whether it is actually being used for feedback.
@@ -810,9 +882,12 @@ void CANTalon::SetCloseLoopRampRate(double rampRate)
 uint32_t CANTalon::GetFirmwareVersion()
 {
 	int firmwareVersion;
-	m_impl->RequestParam(CanTalonSRX::eFirmVers);
-	usleep(1000);
-	CTR_Code status = m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers,firmwareVersion);
+	CTR_Code status = m_impl->RequestParam(CanTalonSRX::eFirmVers);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+	usleep(kDelayForSolicitedSignalsUs);
+	status = m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers,firmwareVersion);
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
@@ -825,6 +900,33 @@ uint32_t CANTalon::GetFirmwareVersion()
 
 	return firmwareVersion;
 }
+/**
+ * @return The accumulator for I gain.
+ */
+int CANTalon::GetIaccum()
+{
+	CTR_Code status = m_impl->RequestParam(CanTalonSRX::ePidIaccum);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+	usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
+	int iaccum;
+	status = m_impl->GetParamResponseInt32(CanTalonSRX::ePidIaccum,iaccum);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+	return iaccum;
+}
+/**
+ * Clear the accumulator for I gain.
+ */
+void CANTalon::ClearIaccum()
+{
+	CTR_Code status = m_impl->SetParam(CanTalonSRX::ePidIaccum, 0);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
 
 /**
  * TODO documentation (see CANJaguar.cpp)
@@ -848,7 +950,18 @@ void CANTalon::ConfigNeutralMode(NeutralMode mode)
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
 }
-
+/**
+ * @return nonzero if brake is enabled during neutral.  Zero if coast is enabled during neutral.
+ */
+int CANTalon::GetBrakeEnableDuringNeutral()
+{
+  int brakeEn = 0;
+  CTR_Code status = m_impl->GetBrakeIsEnabled(brakeEn);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+	return brakeEn;
+}
 /**
  * TODO documentation (see CANJaguar.cpp)
  */
@@ -924,6 +1037,23 @@ void CANTalon::ConfigLimitMode(LimitMode mode)
 				wpi_setErrorWithContext(status, getHALErrorMessage(status));
 			}
 			break;
+			
+		case kLimitMode_SrxDisableSwitchInputs: /** disable both limit switches and soft limits */
+			/* turn on both limits. SRX has individual enables and polarity for each limit switch.*/
+			status = m_impl->SetForwardSoftEnable(false);
+			if(status != CTR_OKAY) {
+				wpi_setErrorWithContext(status, getHALErrorMessage(status));
+			}
+			status = m_impl->SetReverseSoftEnable(false);
+			if(status != CTR_OKAY) {
+				wpi_setErrorWithContext(status, getHALErrorMessage(status));
+			}
+			/* override enable the limit switches, this circumvents the webdash */
+			status = m_impl->SetOverrideLimitSwitchEn(CanTalonSRX::kLimitSwitchOverride_DisableFwd_DisableRev);
+			if(status != CTR_OKAY) {
+				wpi_setErrorWithContext(status, getHALErrorMessage(status));
+			}
+			break;
 	}
 }
 
@@ -938,7 +1068,40 @@ void CANTalon::ConfigForwardLimit(double forwardLimitPosition)
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
 }
-
+/**
+ * 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 CANTalon::ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen)
+{
+	CTR_Code status = m_impl->SetParam(CanTalonSRX::eOnBoot_LimitSwitch_Forward_NormallyClosed, normallyOpen ? 0 : 1);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
+/**
+ * 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 CANTalon::ConfigRevLimitSwitchNormallyOpen(bool normallyOpen)
+{
+	CTR_Code status = m_impl->SetParam(CanTalonSRX::eOnBoot_LimitSwitch_Reverse_NormallyClosed, normallyOpen ? 0 : 1);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
 /**
  * TODO documentation (see CANJaguar.cpp)
  */
@@ -969,37 +1132,51 @@ void CANTalon::ConfigFaultTime(float faultTime)
 	wpi_setWPIErrorWithContext(IncompatibleMode, "Fault Time not supported.");
 }
 
+/**
+ * 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 CANTalon::ApplyControlMode(CANSpeedController::ControlMode mode)
+{
+  m_controlMode = mode;
+  switch (mode) {
+    case kPercentVbus:
+      m_sendMode = kThrottle;
+      break;
+    case kCurrent:
+      m_sendMode = kCurrentMode;
+      break;
+    case kSpeed:
+      m_sendMode = kSpeedMode;
+      break;
+    case kPosition:
+      m_sendMode = kPositionMode;
+      break;
+    case kVoltage:
+      m_sendMode = kVoltageMode;
+      break;
+    case kFollower:
+      m_sendMode = kFollowerMode;
+      break;
+  }
+  // Keep the talon disabled until Set() is called.
+  CTR_Code status = m_impl->SetModeSelect((int)kDisabled);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
 /**
  * TODO documentation (see CANJaguar.cpp)
  */
 void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
 {
-  m_controlMode = mode;
-  TalonControlMode sendMode;
-  switch (mode) {
-    case kPercentVbus:
-      sendMode = kThrottle;
-      break;
-    case kCurrent:
-      sendMode = kCurrentMode;
-      break;
-    case kSpeed:
-      sendMode = kSpeedMode;
-      break;
-    case kPosition:
-      sendMode = kPositionMode;
-      break;
-    case kVoltage:
-      sendMode = kVoltageMode;
-      break;
-    case kFollower:
-      sendMode = kFollowerMode;
-      break;
+  if(m_controlMode == mode){
+    /* we already are in this mode, don't perform disable workaround */
+  }else{
+    ApplyControlMode(mode);
   }
-  CTR_Code status = m_impl->SetModeSelect((int)sendMode);
-	if(status != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
 }
 
 /**
@@ -1007,35 +1184,6 @@ void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
  */
 CANSpeedController::ControlMode CANTalon::GetControlMode()
 {
-  // Take the opportunity to check that the control mode is what we think it is.
-  int temp;
-  CTR_Code status = m_impl->GetModeSelect(temp);
-	if(status != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-  switch ((TalonControlMode)temp) {
-    case kThrottle:
-      m_controlMode = kPercentVbus;
-      break;
-    case kCurrentMode:
-      m_controlMode = kCurrent;
-      break;
-    case kSpeedMode:
-      m_controlMode = kSpeed;
-      break;
-    case kPositionMode:
-      m_controlMode = kPosition;
-      break;
-    case kVoltageMode:
-      m_controlMode = kVoltage;
-      break;
-    case kFollowerMode:
-      m_controlMode = kFollower;
-      break;
-    case kDisabled:
-      m_controlEnabled = false;
-      break;
-  }
   return m_controlMode;
 }
 

wpilibc/wpilibC++Devices/src/DriverStation.cpp

@@ -28,7 +28,7 @@ const uint32_t DriverStation::kJoystickPorts;
 DriverStation* DriverStation::m_instance = NULL;
 
 /**
- * DriverStation contructor.
+ * DriverStation constructor.
  *
  * This is only called once the first time GetInstance() is called
  */
@@ -43,6 +43,13 @@ DriverStation::DriverStation()
 	, m_userInTest(false)
 	, m_nextMessageTime(0)
 {
+	// All joysticks should default to having zero axes, povs and buttons, so
+	// uninitialized memory doesn't get sent to speed controllers.
+	for(unsigned int i = 0; i < kJoystickPorts; i++) {
+		m_joystickAxes[i].count = 0;
+		m_joystickPOVs[i].count = 0;
+		m_joystickButtons[i].count = 0;
+	}
 	// Create a new semaphore
 	m_packetDataAvailableMultiWait = initializeMultiWait();
 	m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
@@ -84,15 +91,12 @@ void DriverStation::InitTask(DriverStation *ds)
 
 void DriverStation::Run()
 {
-   	HALControlWord controlWord;
 	int period = 0;
 	while (true)
 	{
-        // need to get the controlWord to keep the motors enabled
-	    HALGetControlWord(&controlWord);
 		takeMultiWait(m_packetDataAvailableMultiWait, m_packetDataAvailableMutex, 0);
+		GetData();
 		giveMultiWait(m_waitForDataSem);
-		giveSemaphore(m_newControlData);
 
 		if (++period >= 4)
 		{
@@ -122,6 +126,23 @@ DriverStation* DriverStation::GetInstance()
 	return m_instance;
 }
 
+/**
+ * Copy data from the DS task for the user.
+ * If no new data exists, it will just be returned, otherwise
+ * the data will be copied from the DS polling loop.
+ */
+void DriverStation::GetData()
+{
+
+	// Get the status of all of the joysticks
+	for(uint8_t stick = 0; stick < kJoystickPorts; stick++) {
+		HALGetJoystickAxes(stick, &m_joystickAxes[stick]);
+		HALGetJoystickPOVs(stick, &m_joystickPOVs[stick]);
+		HALGetJoystickButtons(stick, &m_joystickButtons[stick]);
+	}
+	giveSemaphore(m_newControlData);
+}
+
 /**
  * Read the battery voltage.
  *
@@ -211,9 +232,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
 		return 0;
 	}
 
-	HALJoystickAxes joystickAxes;
-	HALGetJoystickAxes(stick, &joystickAxes);
-	if (axis >= joystickAxes.count)
+	if (axis >= m_joystickAxes[stick].count)
 	{
 		if (axis >= kMaxJoystickAxes)
 			wpi_setWPIError(BadJoystickAxis);
@@ -222,7 +241,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
 		return 0.0f;
 	}
 
-	int8_t value = joystickAxes.axes[axis];
+	int8_t value = m_joystickAxes[stick].axes[axis];
 
 	if(value < 0)
 	{
@@ -245,10 +264,8 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
 		wpi_setWPIError(BadJoystickIndex);
 		return 0;
 	}
-	
-	HALJoystickPOVs joystickPOVs;
-	HALGetJoystickPOVs(stick, &joystickPOVs);
-	if (pov >= joystickPOVs.count)
+
+	if (pov >= m_joystickPOVs[stick].count)
 	{
 		if (pov >= kMaxJoystickPOVs)
 			wpi_setWPIError(BadJoystickAxis);
@@ -257,7 +274,7 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
 		return 0;
 	}
 
-	return joystickPOVs.povs[pov];
+	return m_joystickPOVs[stick].povs[pov];
 }
 
 /**
@@ -266,21 +283,43 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
  * @param stick The joystick to read.
  * @return The state of the buttons on the joystick.
  */
-bool DriverStation::GetStickButton(uint32_t stick, uint8_t button)
+uint32_t DriverStation::GetStickButtons(uint32_t stick)
 {
 	if (stick >= kJoystickPorts)
 	{
 		wpi_setWPIError(BadJoystickIndex);
 		return 0;
 	}
-	HALJoystickButtons joystickButtons;
-	HALGetJoystickButtons(stick, &joystickButtons);
-	if(button > joystickButtons.count)
+
+	return m_joystickButtons[stick].buttons;
+}
+
+/**
+ * The state of one joystick button. Button indexes begin at 1.
+ *
+ * @param stick The joystick to read.
+ * @param button The button index, beginning at 1.
+ * @return The state of the joystick button.
+ */
+bool DriverStation::GetStickButton(uint32_t stick, uint8_t button)
+{
+	if (stick >= kJoystickPorts)
+	{
+		wpi_setWPIError(BadJoystickIndex);
+		return false;
+	}
+	
+	if(button > m_joystickButtons[stick].count)
 	{
 		ReportJoystickUnpluggedError("WARNING: Joystick Button missing, check if all controllers are plugged in\n");
 		return false;
 	}
-	return ((0x1 << (button-1)) & joystickButtons.buttons) !=0;
+	if(button == 0)
+	{
+		ReportJoystickUnpluggedError("ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
+		return false;
+	}
+	return ((0x1 << (button-1)) & m_joystickButtons[stick].buttons) !=0;
 }
 
 bool DriverStation::IsEnabled()

wpilibc/wpilibC++Devices/src/IterativeRobot.cpp

@@ -36,6 +36,11 @@ IterativeRobot::~IterativeRobot()
 {
 }
 
+void IterativeRobot::Prestart() {
+	// Don't immediately say that the robot's ready to be enabled.
+	// See below.
+}
+
 /**
  * Provide an alternate "main loop" via StartCompetition().
  * 
@@ -54,6 +59,12 @@ void IterativeRobot::StartCompetition()
 	NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
 	RobotInit();
 
+    // We call this now (not in Prestart like default) so that the robot
+    // won't enable until the initialization has finished. This is useful
+    // because otherwise it's sometimes possible to enable the robot
+    // before the code is ready.
+	HALNetworkCommunicationObserveUserProgramStarting();
+
 	// loop forever, calling the appropriate mode-dependent function
 	lw->SetEnabled(false);
 	while (true)

wpilibc/wpilibC++Devices/src/Joystick.cpp

@@ -355,6 +355,10 @@ float Joystick::GetDirectionDegrees(){
  * @param value The normalized value (0 to 1) to set the rumble to
  */
 void Joystick::SetRumble(RumbleType type, float value) {
+	if (value < 0)
+		value = 0;
+	else if (value > 1)
+		value = 1;
 	if (type == kLeftRumble)
 		m_leftRumble = value*65535;
 	else

wpilibc/wpilibC++Devices/src/RobotBase.cpp

@@ -37,9 +37,15 @@ RobotBase &RobotBase::getInstance()
 	return *m_instance;
 }
 
+void RobotBase::robotSetup(RobotBase *robot)
+{
+	robot->Prestart();
+	robot->StartCompetition();
+}
+
 /**
  * Constructor for a generic robot program.
- * User code should be placed in the constuctor that runs before the Autonomous or Operator
+ * User code should be placed in the constructor that runs before the Autonomous or Operator
  * Control period starts. The constructor will run to completion before Autonomous is entered.
  *
  * This must be used to ensure that the communications code starts. In the future it would be
@@ -88,7 +94,7 @@ bool RobotBase::IsDisabled()
 }
 
 /**
- * Determine if the robot is currently in Autnomous mode.
+ * Determine if the robot is currently in Autonomous mode.
  * @return True if the robot is currently operating Autonomously as determined by the field controls.
  */
 bool RobotBase::IsAutonomous()
@@ -114,6 +120,15 @@ bool RobotBase::IsTest()
     return m_ds->IsTest();
 }
 
+/**
+ * This hook is called right before startCompetition(). By default, tell the DS that the robot is now ready to
+ * be enabled. If you don't want for the robot to be enabled yet, you can override this method to do nothing.
+ */
+void RobotBase::Prestart()
+{
+	HALNetworkCommunicationObserveUserProgramStarting();
+}
+
 /**
  * Indicates if new data is available from the driver station.
  * @return Has new data arrived over the network since the last time this function was called?

wpilibc/wpilibC++Devices/src/TalonSRX.cpp

@@ -6,10 +6,78 @@
 
 #include "TalonSRX.h"
 
-TalonSRX::TalonSRX(uint32_t channel) : Talon(channel) {
+//#include "NetworkCommunication/UsageReporting.h"
+#include "LiveWindow/LiveWindow.h"
 
+/**
+ * Common initialization code called by all constructors.
+ *
+ * Note that the TalonSRX uses the following bounds for PWM values. These values should work reasonably well for
+ * most controllers, but if users experience issues such as asymmetric behavior around
+ * the deadband or inability to saturate the controller in either direction, calibration is recommended.
+ * The calibration procedure can be found in the TalonSRX User Manual available from Cross The Road Electronics.
+ *
+ */
+void TalonSRX::InitTalonSRX() {
+	SetBounds(2.004, 1.52, 1.50, 1.48, .997);
+	SetPeriodMultiplier(kPeriodMultiplier_1X);
+	SetRaw(m_centerPwm);
+	SetZeroLatch();
+
+	HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
+	LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
 }
 
-TalonSRX::~TalonSRX() {
+/**
+ * @param channel The PWM channel that the TalonSRX is attached to.
+ */
+TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel)
+{
+	InitTalonSRX();
 }
 
+TalonSRX::~TalonSRX()
+{
+}
+
+/**
+ * Set the PWM value.
+ *
+ * The PWM value is set using a range of -1.0 to 1.0, appropriately
+ * scaling the value for the FPGA.
+ *
+ * @param speed The speed value between -1.0 and 1.0 to set.
+ * @param syncGroup Unused interface.
+ */
+void TalonSRX::Set(float speed, uint8_t syncGroup)
+{
+	SetSpeed(speed);
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+float TalonSRX::Get()
+{
+	return GetSpeed();
+}
+
+/**
+ * Common interface for disabling a motor.
+ */
+void TalonSRX::Disable()
+{
+	SetRaw(kPwmDisabled);
+}
+
+/**
+ * Write out the PID value as seen in the PIDOutput base object.
+ *
+ * @param output Write out the PWM value as was found in the PIDController
+ */
+void TalonSRX::PIDWrite(float output)
+{
+	Set(output);
+}

wpilibc/wpilibC++Devices/src/VictorSP.cpp

@@ -6,10 +6,78 @@
 
 #include "VictorSP.h"
 
-VictorSP::VictorSP(uint32_t channel) : Talon(channel) {
+//#include "NetworkCommunication/UsageReporting.h"
+#include "LiveWindow/LiveWindow.h"
 
+/**
+ * Common initialization code called by all constructors.
+ *
+ * Note that the VictorSP uses the following bounds for PWM values. These values should work reasonably well for
+ * most controllers, but if users experience issues such as asymmetric behavior around
+ * the deadband or inability to saturate the controller in either direction, calibration is recommended.
+ * The calibration procedure can be found in the VictorSP User Manual available from Vex.
+ *
+ */
+void VictorSP::InitVictorSP() {
+	SetBounds(2.004, 1.52, 1.50, 1.48, .997);
+	SetPeriodMultiplier(kPeriodMultiplier_1X);
+	SetRaw(m_centerPwm);
+	SetZeroLatch();
+
+	HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
+	LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
 }
 
-VictorSP::~VictorSP() {
+/**
+ * @param channel The PWM channel that the VictorSP is attached to.
+ */
+VictorSP::VictorSP(uint32_t channel) : SafePWM(channel)
+{
+	InitVictorSP();
 }
 
+VictorSP::~VictorSP()
+{
+}
+
+/**
+ * Set the PWM value.
+ *
+ * The PWM value is set using a range of -1.0 to 1.0, appropriately
+ * scaling the value for the FPGA.
+ *
+ * @param speed The speed value between -1.0 and 1.0 to set.
+ * @param syncGroup Unused interface.
+ */
+void VictorSP::Set(float speed, uint8_t syncGroup)
+{
+	SetSpeed(speed);
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+float VictorSP::Get()
+{
+	return GetSpeed();
+}
+
+/**
+ * Common interface for disabling a motor.
+ */
+void VictorSP::Disable()
+{
+	SetRaw(kPwmDisabled);
+}
+
+/**
+ * Write out the PID value as seen in the PIDOutput base object.
+ *
+ * @param output Write out the PWM value as was found in the PIDController
+ */
+void VictorSP::PIDWrite(float output)
+{
+	Set(output);
+}

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/buttons/Button.java

@@ -54,7 +54,7 @@ public abstract class Button extends Trigger {
 
     /**
      * Toggles the command whenever the button is pressed (on then off then on)
-     * @param command
+     * @param command the command to start
      */
     public void toggleWhenPressed(final Command command) {
         toggleWhenActive(command);
@@ -62,7 +62,7 @@ public abstract class Button extends Trigger {
 
     /**
      * Cancel the command when the button is pressed
-     * @param command
+     * @param command the command to start
      */
     public void cancelWhenPressed(final Command command) {
         cancelWhenActive(command);

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java

@@ -149,7 +149,7 @@ public class SmartDashboard {
      * @param key the key
      * @param defaultValue the value returned if the key is undefined
      * @return the value
-     * @throws NoSuchEleNetworkTableKeyNotDefinedmentException if there is no value mapped to by the key
+     * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key
      * @throws IllegalArgumentException if the value mapped to by the key is not a double
      * @throws IllegalArgumentException if the key is null
      */
@@ -241,7 +241,7 @@ public class SmartDashboard {
      * @param key the key
      * @param defaultValue the value returned if the key is undefined
      * @return the value
-     * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key
+     * @throws TableKeyNotDefinedException if there is no value mapped to by the key
      * @throws IllegalArgumentException if the value mapped to by the key is not an int
      * @throws IllegalArgumentException if the key is null
      */
@@ -274,7 +274,7 @@ public class SmartDashboard {
      * @deprecated Use {@link #getNumber(java.lang.String) getNumber} instead
      * @param key the key
      * @return the value
-     * @throws NoSuchEleNetworkTableKeyNotDefinedmentException if there is no value mapped to by the key
+     * @throws TableKeyNotDefinedException if there is no value mapped to by the key
      * @throws IllegalArgumentException if the value mapped to by the key is not a double
      * @throws IllegalArgumentException if the key is null
      */
@@ -289,7 +289,7 @@ public class SmartDashboard {
      * @param key the key
      * @param defaultValue the value returned if the key is undefined
      * @return the value
-     * @throws NoSuchEleNetworkTableKeyNotDefinedmentException if there is no value mapped to by the key
+     * @throws TableKeyNotDefinedException if there is no value mapped to by the key
      * @throws IllegalArgumentException if the value mapped to by the key is not a double
      * @throws IllegalArgumentException if the key is null
      */

wpilibj/wpilibJavaDevices/src/main/java/com/ni/vision/VisionException.java

@@ -0,0 +1,20 @@
+//
+// This file is auto-generated by wpilibj/wpilibJavaJNI/nivision/gen_java.py
+// Please do not edit!
+//
+
+package com.ni.vision;
+
+public class VisionException extends RuntimeException {
+
+    private static final long serialVersionUID = 1L;
+
+    public VisionException(String msg) {
+        super(msg);
+    }
+
+    @Override
+    public String toString() {
+        return "VisionException [" + super.toString() + "]";
+    }
+}

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

@@ -217,6 +217,20 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 			// Not all Jaguar firmware reports a hardware version.
 			m_hardwareVersion = 0;
 		}
+		
+		// 3330 was the first shipping RDK firmware version for the Jaguar
+		if (m_firmwareVersion >= 3330 || m_firmwareVersion < 108)
+		{
+			if (m_firmwareVersion < 3330)
+			{
+				DriverStation.reportError("Jag " + m_deviceNumber + " firmware " + m_firmwareVersion + " is too old (must be at least version 108 of the FIRST approved firmware)", false);
+			}
+			else
+			{
+				DriverStation.reportError("Jag" + m_deviceNumber + " firmware " + m_firmwareVersion +  " is not FIRST approved (must be at least version 108 of the FIRST approved firmware)", false);
+			}
+			return;
+		}
 	}
 
 	/**

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java

@@ -21,7 +21,6 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
 		PercentVbus(0), Follower(5), Voltage(4), Position(1), Speed(2), Current(3), Disabled(15);
 
     public int value;
-
     public static ControlMode valueOf(int value) {
 			for(ControlMode mode : values()) {
 				if(mode.value == value) {
@@ -56,22 +55,53 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       this.value = value;
     }
 	}
+  /** enumerated types for frame rate ms */
+  public enum StatusFrameRate {
+		General(0), Feedback(1), QuadEncoder(2), AnalogTempVbat(3);
+    public int value;
+    public static StatusFrameRate valueOf(int value) {
+			for(StatusFrameRate mode : values()) {
+				if(mode.value == value) {
+					return mode;
+				}
+			}
+			return null;
+    }
+    private StatusFrameRate(int value) {
+      this.value = value;
+    }
+  }
+
 
   private CanTalonSRX m_impl;
   ControlMode m_controlMode;
+  private static double kDelayForSolicitedSignals = 0.004;
 
   int m_deviceNumber;
   boolean m_controlEnabled;
   int m_profile;
 
+  double m_setPoint;
+
   public CANTalon(int deviceNumber) {
     m_deviceNumber = deviceNumber;
     m_impl = new CanTalonSRX(deviceNumber);
     m_safetyHelper = new MotorSafetyHelper(this);
     m_controlEnabled = true;
     m_profile = 0;
+    m_setPoint = 0;
     setProfile(m_profile);
-    changeControlMode(ControlMode.PercentVbus);
+    applyControlMode(ControlMode.PercentVbus);
+  }
+  public CANTalon(int deviceNumber,int controlPeriodMs) {
+    m_deviceNumber = deviceNumber;
+    m_impl = new CanTalonSRX(deviceNumber,controlPeriodMs); /* bound period to be within [1 ms,95 ms] */
+    m_safetyHelper = new MotorSafetyHelper(this);
+    m_controlEnabled = true;
+    m_profile = 0;
+    m_setPoint = 0;
+    setProfile(m_profile);
+    applyControlMode(ControlMode.PercentVbus);
   }
 
   @Override
@@ -103,10 +133,9 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
    * @param outputValue The setpoint value, as described above.
    */
   public void set(double outputValue) {
-    System.out.println("Enabled: " + m_controlEnabled + " Mode: " + m_controlMode);
-    m_controlMode = ControlMode.PercentVbus;
     if (m_controlEnabled) {
-      switch (getControlMode()) {
+      m_setPoint = outputValue;
+      switch (m_controlMode) {
         case PercentVbus:
           m_impl.Set(outputValue);
           break;
@@ -127,8 +156,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
         default:
           break;
       }
+      m_impl.SetModeSelect(m_controlMode.value);
     }
-    System.out.println("Enabled: " + m_controlEnabled + " Mode: " + m_controlMode);
   }
 
   /**
@@ -221,11 +250,52 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     return CanTalonJNI.intp_value(valuep);
   }
 
+  /**
+   * Get the number of of rising edges seen on the index pin.
+   *
+   * @return number of rising edges on idx pin.
+   */
+  public int getNumberOfQuadIdxRises() {
+    long valuep = CanTalonJNI.new_intp();
+    SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
+    m_impl.GetEncIndexRiseEvents(swigp);
+    return CanTalonJNI.intp_value(valuep);
+  }
+  /**
+   * @return IO level of QUADA pin.
+   */
+  public int getPinStateQuadA(){
+    long valuep = CanTalonJNI.new_intp();
+    SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
+    m_impl.GetQuadApin(swigp);
+    return CanTalonJNI.intp_value(valuep);
+  }
+  /**
+   * @return IO level of QUADB pin.
+   */
+  public int getPinStateQuadB() {
+    long valuep = CanTalonJNI.new_intp();
+    SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
+    m_impl.GetQuadBpin(swigp);
+    return CanTalonJNI.intp_value(valuep);
+  }
+  /**
+   * @return IO level of QUAD Index pin.
+   */
+  public int getPinStateQuadIdx(){
+    long valuep = CanTalonJNI.new_intp();
+    SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
+    m_impl.GetQuadIdxpin(swigp);
+    return CanTalonJNI.intp_value(valuep);
+  }
+
   /**
    * Get the current analog in position, regardless of whether it is the current
    * feedback device.
    *
-   * @return The current value from the analog in (0 - 1023).
+   * @return The 24bit analog position.  The bottom ten bits is the ADC (0 - 1023) on
+   *								the analog pin of the Talon. The upper 14 bits
+   *								tracks the overflows and underflows (continuous sensor).
    */
   public int getAnalogInPosition() {
     long valuep = CanTalonJNI.new_intp();
@@ -233,7 +303,14 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     m_impl.GetAnalogInWithOv(swigp);
     return CanTalonJNI.intp_value(valuep);
   }
-
+  /**
+   * Get the current analog in position, regardless of whether it is the current
+   * feedback device.
+   * @return The ADC (0 - 1023) on analog pin of the Talon.
+   */
+  public int getAnalogInRaw() {
+    return getAnalogInPosition() & 0x3FF;
+  }
   /**
    * Get the current encoder velocity, regardless of whether it is the current
    * feedback device.
@@ -258,7 +335,27 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     m_impl.GetCloseLoopErr(swigp);
     return CanTalonJNI.intp_value(valuep);
   }
-
+  // Returns true if limit switch is closed. false if open.
+  public boolean isFwdLimitSwitchClosed() {
+    long valuep = CanTalonJNI.new_intp();
+    SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
+    m_impl.GetLimitSwitchClosedFor(swigp);
+    return (CanTalonJNI.intp_value(valuep)==0) ? true : false;
+  }
+  // Returns true if limit switch is closed. false if open.
+  public boolean isRevLimitSwitchClosed() {
+    long valuep = CanTalonJNI.new_intp();
+    SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
+    m_impl.GetLimitSwitchClosedRev(swigp);
+    return (CanTalonJNI.intp_value(valuep)==0) ? true : false;
+  }
+  // Returns true if break is enabled during neutral. false if coast.
+  public boolean getBrakeEnableDuringNeutral() {
+    long valuep = CanTalonJNI.new_intp();
+    SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
+    m_impl.GetBrakeIsEnabled(swigp);
+    return (CanTalonJNI.intp_value(valuep)==0) ? false : true;
+  }
   // Returns temperature of Talon, in degrees Celsius.
   public double getTemp() {
     long tempp = CanTalonJNI.new_doublep(); // Create a new swig pointer.
@@ -316,27 +413,35 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
   }
 
   public ControlMode getControlMode() {
-    long tempp = CanTalonJNI.new_intp();
-    m_impl.GetModeSelect(new SWIGTYPE_p_int(tempp, true));
-    ControlMode mode = ControlMode.valueOf(CanTalonJNI.intp_value(tempp));
-    if (mode == ControlMode.Disabled) {
-      m_controlEnabled = false;
-    }
-    else {
-      m_controlMode = mode;
-    }
-    return mode;
+    return m_controlMode;
   }
-
-  public void changeControlMode(ControlMode controlMode) {
+  /**
+   * Fixup the m_controlMode so set() serializes the correct demand value.
+   * Also fills the modeSelecet in the control frame to disabled.
+   * @param controlMode Control mode to ultimately enter once user calls set().
+   * @see #set
+   */  
+  private void applyControlMode(ControlMode controlMode) {
     m_controlMode = controlMode;
-    m_impl.SetModeSelect(controlMode.value);
+    if (controlMode == ControlMode.Disabled)
+      m_controlEnabled = false;
+    // Disable until set() is called.
+    m_impl.SetModeSelect(ControlMode.Disabled.value);
+  }
+  public void changeControlMode(ControlMode controlMode) {
+    if(m_controlMode == controlMode){
+      /* we already are in this mode, don't perform disable workaround */
+    }else{
+      applyControlMode(controlMode);
+    }
   }
 
   public void setFeedbackDevice(FeedbackDevice device) {
     m_impl.SetFeedbackDeviceSelect(device.value);
   }
-
+  public void setStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs){
+    m_impl.SetStatusFrameRate(stateFrame.value,periodMs);
+  }
   public void enableControl() {
     changeControlMode(m_controlMode);
 		m_controlEnabled = true;
@@ -347,10 +452,14 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
 		m_controlEnabled = false;
   }
 
+  public boolean isControlEnabled() {
+    return m_controlEnabled;
+  }
+
   /**
    * Get the current proportional constant.
    *
-   * @returns double proportional constant for current profile.
+   * @return double proportional constant for current profile.
    * @throws IllegalStateException if not in Position of Speed mode.
    */
   public double getP() {
@@ -365,7 +474,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_P);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long pp = CanTalonJNI.new_doublep();
     m_impl.GetPgain(m_profile, new SWIGTYPE_p_double(pp, true));
@@ -384,7 +493,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_I);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long ip = CanTalonJNI.new_doublep();
     m_impl.GetIgain(m_profile, new SWIGTYPE_p_double(ip, true));
@@ -403,7 +512,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_D);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long dp = CanTalonJNI.new_doublep();
     m_impl.GetDgain(m_profile, new SWIGTYPE_p_double(dp, true));
@@ -422,7 +531,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_F);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long fp = CanTalonJNI.new_doublep();
     m_impl.GetFgain(m_profile, new SWIGTYPE_p_double(fp, true));
@@ -441,14 +550,22 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_IZone);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long fp = CanTalonJNI.new_intp();
     m_impl.GetIzone(m_profile, new SWIGTYPE_p_int(fp, true));
     return CanTalonJNI.intp_value(fp);
   }
-
-  public double getRampRate() {
+  /**
+   * Get the closed loop ramp rate for the current profile.
+   *
+   * Limits the rate at which the throttle will change.
+   * Only affects position and speed closed loop modes.
+   *
+   * @return rampRate Maximum change in voltage, in volts / sec.
+   * @see #setProfile For selecting a certain profile.
+   */
+  public double getCloseLoopRampRate() {
 	//	if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {
 	//		throw new IllegalStateException("PID mode only applies in Position and Speed modes.");
 	//	}
@@ -460,19 +577,53 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_CloseLoopRampRate);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long fp = CanTalonJNI.new_intp();
     m_impl.GetCloseLoopRampRate(m_profile, new SWIGTYPE_p_int(fp, true));
+    double throttlePerMs = CanTalonJNI.intp_value(fp);
+	return throttlePerMs / 1023.0 * 12.0 * 1000.0;
+  }
+  /**
+  * @return The version of the firmware running on the Talon
+  */
+  public long GetFirmwareVersion() {
+
+    // Update the information that we have.
+    m_impl.RequestParam(CanTalonSRX.param_t.eFirmVers);
+
+    // Briefly wait for new values from the Talon.
+    Timer.delay(kDelayForSolicitedSignals);
+
+    long fp = CanTalonJNI.new_intp();
+    m_impl.GetParamResponseInt32(CanTalonSRX.param_t.eFirmVers, new SWIGTYPE_p_int(fp, true));
+    return CanTalonJNI.intp_value(fp);
+  }
+  public long GetIaccum() {
+
+    // Update the information that we have.
+    m_impl.RequestParam(CanTalonSRX.param_t.ePidIaccum);
+
+    // Briefly wait for new values from the Talon.
+    Timer.delay(kDelayForSolicitedSignals);
+
+    long fp = CanTalonJNI.new_intp();
+    m_impl.GetParamResponseInt32(CanTalonSRX.param_t.ePidIaccum, new SWIGTYPE_p_int(fp, true));
     return CanTalonJNI.intp_value(fp);
   }
 
-
+	/**
+	 * Clear the accumulator for I gain.
+	 */
+	public void ClearIaccum()
+	{
+		SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.ePidIaccum, 0);
+	}
   /**
    * Set the proportional value of the currently selected profile.
    *
    * @param p Proportional constant for the currently selected PID profile.
-   * @see setProfile For selecting a certain profile.
+   * @see #setProfile For selecting a certain profile.
    */
   public void setP(double p) {
     m_impl.SetPgain(m_profile, p);
@@ -482,7 +633,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
    * Set the integration constant of the currently selected profile.
    *
    * @param i Integration constant for the currently selected PID profile.
-   * @see setProfile For selecting a certain profile.
+   * @see #setProfile For selecting a certain profile.
    */
   public void setI(double i) {
     m_impl.SetIgain(m_profile, i);
@@ -492,7 +643,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
    * Set the derivative constant of the currently selected profile.
    *
    * @param d Derivative constant for the currently selected PID profile.
-   * @see setProfile For selecting a certain profile.
+   * @see #setProfile For selecting a certain profile.
    */
   public void setD(double d) {
     m_impl.SetDgain(m_profile, d);
@@ -502,7 +653,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
    * Set the feedforward value of the currently selected profile.
    *
    * @param f Feedforward constant for the currently selected PID profile.
-   * @see setProfile For selecting a certain profile.
+   * @see #setProfile For selecting a certain profile.
    */
   public void setF(double f) {
     m_impl.SetFgain(m_profile, f);
@@ -517,7 +668,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     * An izone value of 0 means no difference from a standard PIDF loop.
     *
     * @param izone Width of the integration zone.
-    * @see setProfile For selecting a certain profile.
+    * @see #setProfile For selecting a certain profile.
     */
   public void setIZone(int izone) {
     m_impl.SetIzone(m_profile, izone);
@@ -530,11 +681,11 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
    * Only affects position and speed closed loop modes.
    *
    * @param rampRate Maximum change in voltage, in volts / sec.
-   * @see setProfile For selecting a certain profile.
+   * @see #setProfile For selecting a certain profile.
    */
   public void setCloseLoopRampRate(double rampRate) {
-    // CanTalonSRX takes units of Throttle (0 - 1023) / 10ms.
-    int rate = (int) (rampRate * 1023.0 / 12.0 * 100.0);
+    // CanTalonSRX takes units of Throttle (0 - 1023) / 1ms.
+    int rate = (int) (rampRate * 1023.0 / 12.0 / 1000.0);
     m_impl.SetCloseLoopRampRate(m_profile, rate);
   }
 
@@ -548,7 +699,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
    */
   public void setVoltageRampRate(double rampRate) {
     // CanTalonSRX takes units of Throttle (0 - 1023) / 10ms.
-    int rate = (int) (rampRate * 1023.0 / 12.0 * 100.0);
+    int rate = (int) (rampRate * 1023.0 / 12.0 /100.0);
     m_impl.SetRampThrottle(rate);
   }
 
@@ -561,14 +712,13 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
    * @param f Feedforward constant.
    * @param izone Integration zone -- prevents accumulation of integration error
    *   with large errors. Setting this to zero will ignore any izone stuff.
-   * @param ramprate Closed loop ramp rate. Represents maximum change in
-   *   throttle every 10ms.
+   * @param closeLoopRampRate Closed loop ramp rate. Maximum change in voltage, in volts / sec.
    * @param profile which profile to set the pid constants for. You can have two
    *   profiles, with values of 0 or 1, allowing you to keep a second set of values
    *   on hand in the talon. In order to switch profiles without recalling setPID,
    *   you must call setProfile().
    */
-  public void setPID(double p, double i, double d, double f, int izone, int ramprate, int profile)
+  public void setPID(double p, double i, double d, double f, int izone, double closeLoopRampRate, int profile)
     {
     if (profile != 0 && profile != 1)
       throw new IllegalArgumentException("Talon PID profile must be 0 or 1.");
@@ -579,12 +729,20 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     setD(d);
     setF(f);
     setIZone(izone);
-    setCloseLoopRampRate(ramprate);
+    setCloseLoopRampRate(closeLoopRampRate);
   }
+
   public void setPID(double p, double i, double d) {
     setPID(p, i, d, 0, 0, 0, m_profile);
   }
 
+  /**
+   * @return The latest value set using set().
+   */
+  public double getSetpoint() {
+    return m_setPoint;
+  }
+
   /**
    * Select which closed loop profile to use, and uses whatever PIDF gains and
    * the such that are already there.
@@ -621,15 +779,15 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
   public void setForwardSoftLimit(int forwardLimit) {
     m_impl.SetForwardSoftLimit(forwardLimit);
   }
-  
+
   public void enableForwardSoftLimit(boolean enable) {
     m_impl.SetForwardSoftEnable(enable ? 1 : 0);
   }
 
-  public void setReverseSoftLimit(int forwardLimit) {
-    m_impl.SetReverseSoftLimit(forwardLimit);
+  public void setReverseSoftLimit(int reverseLimit) {
+    m_impl.SetReverseSoftLimit(reverseLimit);
   }
-  
+
   public void enableReverseSoftLimit(boolean enable) {
     m_impl.SetReverseSoftEnable(enable ? 1 : 0);
   }
@@ -642,6 +800,34 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     int mask = 4 + (forward ? 1 : 0) * 2 + (reverse ? 1 : 0);
     m_impl.SetOverrideLimitSwitchEn(mask);
   }
+  /**
+   * Configure the fwd limit switch to be normally open or normally 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.
+   */
+  public void ConfigFwdLimitSwitchNormallyOpen(boolean normallyOpen)
+  {
+	SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.eOnBoot_LimitSwitch_Forward_NormallyClosed,normallyOpen ? 0 : 1);
+  }
+  /**
+   * Configure the rev limit switch to be normally open or normally 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.
+   */
+  public void ConfigRevLimitSwitchNormallyOpen(boolean normallyOpen)
+  {
+	SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.eOnBoot_LimitSwitch_Reverse_NormallyClosed,normallyOpen ? 0 : 1);
+  }
 
   public void enableBrakeMode(boolean brake) {
     m_impl.SetOverrideBrakeType(brake ? 2 : 1);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CameraServer.java

@@ -0,0 +1,278 @@
+package edu.wpi.first.wpilibj;
+
+import java.io.DataInputStream;
+import java.io.IOException;
+import java.io.OutputStream;
+import java.net.InetSocketAddress;
+import java.net.ServerSocket;
+import java.net.Socket;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import com.ni.vision.NIVision;
+import com.ni.vision.NIVision.Image;
+import com.ni.vision.NIVision.RawData;
+import com.ni.vision.VisionException;
+
+//replicates CameraServer.cpp in java lib
+
+public class CameraServer {
+
+	public static CameraServer getInstance() {
+		if (server == null) {
+			server = new CameraServer();
+		}
+		return server;
+	}
+
+	private static CameraServer server;
+	private AtomicBoolean ready;
+	private Thread serverThread;
+	private int m_quality;
+	private static final int kPort = 1180;
+	private static final byte[] kMagicNumber = { 0x01, 0x00, 0x00, 0x00 };
+	private static final int kSize640x480 = 0;
+	private static final int kSize320x240 = 1;
+	private static final int kSize160x120 = 2;
+	private static final int kHardwareCompression = -1;
+	private static final String kDefaultCameraName = "cam1";
+	private List<Byte> m_imageData;
+	private boolean m_autoCaptureStarted;
+
+	private CameraServer() {
+		ready = new AtomicBoolean(false);
+		m_imageData = new ArrayList<Byte>();
+		m_quality = 50;
+		serverThread = new Thread(new Runnable() {
+			public void run() {
+				try {
+					serve();
+				} catch (IOException e) {
+					// do stuff here
+				} catch (InterruptedException e) {
+					// do stuff here
+				}
+			}
+		});
+		serverThread.start();
+	}
+
+	/**
+	 * Manually change the image that is served by the MJPEG stream. This can be
+	 * called to pass custom annotated images to the dashboard. Note that, for
+	 * 640x480 video, this method could take between 40 and 50 milliseconds to
+	 * complete.
+	 *
+	 * This shouldn't be called if {@link #startAutomaticCapture} is called.
+	 *
+	 * @param image
+	 *            The IMAQ image to show on the dashboard
+	 */
+	public synchronized void setImage(Image image) {
+		// handle multi-threadedness
+
+		/* Flatten the IMAQ image to a JPEG */
+
+		RawData data = NIVision.imaqFlatten(image,
+				NIVision.FlattenType.FLATTEN_IMAGE,
+				NIVision.CompressionType.COMPRESSION_JPEG, 10 * m_quality);
+		ByteBuffer buffer = data.getBuffer();
+		m_imageData.clear();
+
+		/* Find the start of the JPEG data */
+		int index = 0;
+		while (index < buffer.limit() - 1) {
+			if ((buffer.get(index) & 0xff) == 0xFF
+					&& (buffer.get(index + 1) & 0xff) == 0xD8)
+				break;
+			index++;
+		}
+		while (index < buffer.limit()) {
+			m_imageData.add(buffer.get(index++));
+		}
+
+		if (m_imageData.size() <= 2) {
+			throw new VisionException(
+					"data size of flattened image is less than 2. Try another camera! ");
+		}
+
+		data.free();
+
+		ready.set(true);
+	}
+
+	/**
+	 * Start automatically capturing images to send to the dashboard.
+	 *
+	 * You should call this method to just see a camera feed on the dashboard
+	 * without doing any vision processing on the roboRIO. {@link #setImage}
+	 * shouldn't be called after this is called.
+	 *
+	 * @param cameraName
+	 *            The name of the camera interface (e.g. "cam1")
+	 */
+	public void startAutomaticCapture(String cameraName) {
+		synchronized (this) {
+			if (m_autoCaptureStarted) {
+				// print
+				// "you fucked up \"Automatic capture has already been started\""
+				return;
+			}
+			m_autoCaptureStarted = true;
+		}
+
+		CaptureRunnable runnable = new CaptureRunnable(cameraName);
+		Thread captureThread = new Thread(runnable);
+		captureThread.start();
+
+	}
+
+	private class CaptureRunnable implements Runnable {
+		String name;
+
+		public CaptureRunnable(String name) {
+			this.name = name;
+		}
+
+		@Override
+		public void run() {
+			Image frame = NIVision.imaqCreateImage(
+					NIVision.ImageType.IMAGE_RGB, 0);
+			int id = NIVision.IMAQdxOpenCamera(name,
+				NIVision.IMAQdxCameraControlMode.CameraControlModeController);
+			NIVision.IMAQdxConfigureGrab(id);
+			NIVision.IMAQdxStartAcquisition(id);
+
+			while (true) {
+				NIVision.IMAQdxGrab(id, frame, 1);
+				setImage(frame);
+			}
+
+			// NIVision.IMAQdxStopAcquisition(id);
+			// NIVision.IMAQdxCloseCamera(id);
+
+		}
+
+	}
+
+	/**
+	 * check if auto capture is started
+	 *
+	 */
+	public synchronized boolean isAutoCaptureStarted() {
+		return m_autoCaptureStarted;
+	}
+
+	/**
+	 * Set the quality of the compressed image sent to the dashboard
+	 *
+	 * @param quality
+	 *            The quality of the JPEG image, from 0 to 100
+	 */
+	public synchronized void setQuality(int quality) {
+		m_quality = quality > 100 ? 100 : quality < 0 ? 0 : quality;
+	}
+
+	/**
+	 * Get the quality of the compressed image sent to the dashboard
+	 *
+	 * @return The quality, from 0 to 100
+	 */
+	public synchronized int getQuality() {
+		return m_quality;
+	}
+
+	/**
+	 * Run the M-JPEG server.
+	 *
+	 * This function listens for a connection from the dashboard in a background
+	 * thread, then sends back the M-JPEG stream.
+	 * 
+	 * @throws IOException if the Socket connection fails
+	 * @throws InterruptedException if the sleep is interrupted
+	 */
+	protected void serve() throws IOException, InterruptedException {
+
+		ServerSocket socket = new ServerSocket();
+		socket.setReuseAddress(true);
+		InetSocketAddress address = new InetSocketAddress(kPort);
+		socket.bind(address);
+
+		while (true) {
+			try {
+				Socket s = socket.accept();
+
+				DataInputStream is = new DataInputStream(s.getInputStream());
+				OutputStream os = s.getOutputStream();
+
+				int fps = is.readInt();
+				int compression = is.readInt();
+				int size = is.readInt();
+
+				if (compression != kHardwareCompression) {
+					// print to driverstation -->
+					// ("Choose \"USB Camera HW\" on the dashboard");
+					s.close();
+					continue;
+				}
+
+				long period = (long) (1000 / (1.0 * fps));
+				while (true) {
+
+					long t0 = System.currentTimeMillis();
+
+					while (!ready.get())
+						;
+					ready.set(false);
+
+					// write numbers
+					try {
+
+						os.write(kMagicNumber);
+
+						// write size of image
+
+						synchronized (this) {
+							os.write(intTobyteArray(m_imageData.size()));
+
+							byte[] imageData = new byte[m_imageData.size()];
+
+							for (int i = 0; i < m_imageData.size(); i++) {
+								imageData[i] = m_imageData.get(i).byteValue();
+							}
+
+							os.write(imageData);
+						}
+						long dt = System.currentTimeMillis() - t0;
+
+						if (dt < period) {
+							Thread.sleep(period - dt);
+						}
+
+					} catch (IOException ex) {
+						// print error to driverstation
+						break;
+					}
+				}
+
+			} catch (IOException ex) {
+				// print error to driverstation
+				continue;
+			}
+		}
+	}
+
+	public byte[] intTobyteArray(int n) {
+		byte[] arr = new byte[4];
+
+		arr[0] = (byte) ((n >> 24) & 0xFF);
+		arr[1] = (byte) ((n >> 16) & 0xFF);
+		arr[2] = (byte) ((n >> 8) & 0xFF);
+		arr[3] = (byte) (n & 0xFF);
+
+		return arr;
+	}
+}

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CanTalonSRX.java

@@ -435,6 +435,8 @@ public class CanTalonSRX extends CtreCanNode {
     public final static CanTalonSRX.param_t eResetFlags = new CanTalonSRX.param_t("eResetFlags", CanTalonJNI.CanTalonSRX_eResetFlags_get());
     public final static CanTalonSRX.param_t eFirmVers = new CanTalonSRX.param_t("eFirmVers", CanTalonJNI.CanTalonSRX_eFirmVers_get());
     public final static CanTalonSRX.param_t eSettingsChanged = new CanTalonSRX.param_t("eSettingsChanged", CanTalonJNI.CanTalonSRX_eSettingsChanged_get());
+    public final static CanTalonSRX.param_t eQuadFilterEn = new CanTalonSRX.param_t("eQuadFilterEn", CanTalonJNI.CanTalonSRX_eQuadFilterEn_get());
+    public final static CanTalonSRX.param_t ePidIaccum = new CanTalonSRX.param_t("ePidIaccum", CanTalonJNI.CanTalonSRX_ePidIaccum_get());
 
     public final int swigValue() {
       return swigValue;
@@ -470,7 +472,7 @@ public class CanTalonSRX extends CtreCanNode {
       swigNext = this.swigValue+1;
     }
 
-    private static param_t[] swigValues = { eProfileParamSlot0_P, eProfileParamSlot0_I, eProfileParamSlot0_D, eProfileParamSlot0_F, eProfileParamSlot0_IZone, eProfileParamSlot0_CloseLoopRampRate, eProfileParamSlot1_P, eProfileParamSlot1_I, eProfileParamSlot1_D, eProfileParamSlot1_F, eProfileParamSlot1_IZone, eProfileParamSlot1_CloseLoopRampRate, eProfileParamSoftLimitForThreshold, eProfileParamSoftLimitRevThreshold, eProfileParamSoftLimitForEnable, eProfileParamSoftLimitRevEnable, eOnBoot_BrakeMode, eOnBoot_LimitSwitch_Forward_NormallyClosed, eOnBoot_LimitSwitch_Reverse_NormallyClosed, eOnBoot_LimitSwitch_Forward_Disable, eOnBoot_LimitSwitch_Reverse_Disable, eFault_OverTemp, eFault_UnderVoltage, eFault_ForLim, eFault_RevLim, eFault_HardwareFailure, eFault_ForSoftLim, eFault_RevSoftLim, eStckyFault_OverTemp, eStckyFault_UnderVoltage, eStckyFault_ForLim, eStckyFault_RevLim, eStckyFault_ForSoftLim, eStckyFault_RevSoftLim, eAppliedThrottle, eCloseLoopErr, eFeedbackDeviceSelect, eRevMotDuringCloseLoopEn, eModeSelect, eProfileSlotSelect, eRampThrottle, eRevFeedbackSensor, eLimitSwitchEn, eLimitSwitchClosedFor, eLimitSwitchClosedRev, eSensorPosition, eSensorVelocity, eCurrent, eBrakeIsEnabled, eEncPosition, eEncVel, eEncIndexRiseEvents, eQuadApin, eQuadBpin, eQuadIdxpin, eAnalogInWithOv, eAnalogInVel, eTemp, eBatteryV, eResetCount, eResetFlags, eFirmVers, eSettingsChanged };
+    private static param_t[] swigValues = { eProfileParamSlot0_P, eProfileParamSlot0_I, eProfileParamSlot0_D, eProfileParamSlot0_F, eProfileParamSlot0_IZone, eProfileParamSlot0_CloseLoopRampRate, eProfileParamSlot1_P, eProfileParamSlot1_I, eProfileParamSlot1_D, eProfileParamSlot1_F, eProfileParamSlot1_IZone, eProfileParamSlot1_CloseLoopRampRate, eProfileParamSoftLimitForThreshold, eProfileParamSoftLimitRevThreshold, eProfileParamSoftLimitForEnable, eProfileParamSoftLimitRevEnable, eOnBoot_BrakeMode, eOnBoot_LimitSwitch_Forward_NormallyClosed, eOnBoot_LimitSwitch_Reverse_NormallyClosed, eOnBoot_LimitSwitch_Forward_Disable, eOnBoot_LimitSwitch_Reverse_Disable, eFault_OverTemp, eFault_UnderVoltage, eFault_ForLim, eFault_RevLim, eFault_HardwareFailure, eFault_ForSoftLim, eFault_RevSoftLim, eStckyFault_OverTemp, eStckyFault_UnderVoltage, eStckyFault_ForLim, eStckyFault_RevLim, eStckyFault_ForSoftLim, eStckyFault_RevSoftLim, eAppliedThrottle, eCloseLoopErr, eFeedbackDeviceSelect, eRevMotDuringCloseLoopEn, eModeSelect, eProfileSlotSelect, eRampThrottle, eRevFeedbackSensor, eLimitSwitchEn, eLimitSwitchClosedFor, eLimitSwitchClosedRev, eSensorPosition, eSensorVelocity, eCurrent, eBrakeIsEnabled, eEncPosition, eEncVel, eEncIndexRiseEvents, eQuadApin, eQuadBpin, eQuadIdxpin, eAnalogInWithOv, eAnalogInVel, eTemp, eBatteryV, eResetCount, eResetFlags, eFirmVers, eSettingsChanged, eQuadFilterEn, ePidIaccum };
     private static int swigNext = 0;
     private final int swigValue;
     private final String swigName;

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java

@@ -16,6 +16,10 @@ import edu.wpi.first.wpilibj.hal.PowerJNI;
 
 public class ControllerPower
 {
+	/**
+	* Get the input voltage to the robot controller
+	* @return The controller input voltage value
+	*/
 	public static double getInputVoltage()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -24,7 +28,11 @@ public class ControllerPower
 		HALUtil.checkStatus(status.asIntBuffer());
 		return retVal;
 	}
-	
+
+	/**
+	* Get the input current to the robot controller
+	* @return The controller input current value
+	*/
 	public static double getInputCurrent()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -34,6 +42,10 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the voltage of the 3.3V rail
+	* @return The controller 3.3V rail voltage value
+	*/
 	public static double getVoltage3V3()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -43,6 +55,10 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the current output of the 3.3V rail
+	* @return The controller 3.3V rail output current value
+	*/
 	public static double getCurrent3V3()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -52,6 +68,11 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the enabled state of the 3.3V rail. The rail may be disabled due to a controller
+	* brownout, a short circuit on the rail, or controller over-voltage
+	* @return The controller 3.3V rail enabled value
+	*/
 	public static boolean getEnabled3V3()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -61,6 +82,10 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the count of the total current faults on the 3.3V rail since the controller has booted
+	* @return The number of faults
+	*/
 	public static int getFaultCount3V3()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -70,6 +95,10 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the voltage of the 5V rail
+	* @return The controller 5V rail voltage value
+	*/
 	public static double getVoltage5V()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -79,6 +108,10 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the current output of the 5V rail
+	* @return The controller 5V rail output current value
+	*/
 	public static double getCurrent5V()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -88,6 +121,11 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the enabled state of the 5V rail. The rail may be disabled due to a controller
+	* brownout, a short circuit on the rail, or controller over-voltage
+	* @return The controller 5V rail enabled value
+	*/
 	public static boolean getEnabled5V()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -97,6 +135,10 @@ public class ControllerPower
 		return retVal;
 	}	
 	
+	/**
+	* Get the count of the total current faults on the 5V rail since the controller has booted
+	* @return The number of faults
+	*/
 	public static int getFaultCount5V()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -106,6 +148,10 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the voltage of the 6V rail
+	* @return The controller 6V rail voltage value
+	*/
 	public static double getVoltage6V()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -115,6 +161,10 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the current output of the 6V rail
+	* @return The controller 6V rail output current value
+	*/
 	public static double getCurrent6V()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -124,6 +174,11 @@ public class ControllerPower
 		return retVal;
 	}
 	
+	/**
+	* Get the enabled state of the 6V rail. The rail may be disabled due to a controller
+	* brownout, a short circuit on the rail, or controller over-voltage
+	* @return The controller 6V rail enabled value
+	*/	
 	public static boolean getEnabled6V()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -132,7 +187,11 @@ public class ControllerPower
 		HALUtil.checkStatus(status.asIntBuffer());
 		return retVal;
 	}
-	
+
+	/**
+	* Get the count of the total current faults on the 6V rail since the controller has booted
+	* @return The number of faults
+	*/
 	public static int getFaultCount6V()
 	{
 		ByteBuffer status = ByteBuffer.allocateDirect(4);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -25,6 +25,11 @@ public class DriverStation implements RobotState.Interface {
      * Number of Joystick Ports
      */
     public static final int kJoystickPorts = 6;
+	
+	private class HALJoystickButtons {
+		public int buttons;
+		public byte count;
+	}
 
     /**
      * The robot alliance that the robot is a part of
@@ -49,6 +54,9 @@ public class DriverStation implements RobotState.Interface {
 
     private static DriverStation instance = new DriverStation();
 
+    private short[][] m_joystickAxes = new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickAxes];
+    private short[][] m_joystickPOVs = new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs];
+    private HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts];
 
     private Thread m_thread;
     private final Object m_dataSem;
@@ -78,6 +86,10 @@ public class DriverStation implements RobotState.Interface {
      */
     protected DriverStation() {
         m_dataSem = new Object();
+		for(int i=0; i<kJoystickPorts; i++)
+		{
+			m_joystickButtons[i] = new HALJoystickButtons();
+		}
 
         m_packetDataAvailableMutex = HALUtil.initializeMutexNormal();
         m_packetDataAvailableSem = HALUtil.initializeMultiWait();
@@ -103,13 +115,13 @@ public class DriverStation implements RobotState.Interface {
         int safetyCounter = 0;
         while (m_thread_keepalive) {
         	HALUtil.takeMultiWait(m_packetDataAvailableSem, m_packetDataAvailableMutex, 0);
+        	synchronized (this) {
+                getData();
+            }
             synchronized (m_dataSem) {
                 m_dataSem.notifyAll();
             }
-            // need to get the controlWord to keep the motors enabled
-            HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
-            m_newControlData = true;
-            if (++safetyCounter >= 5) {
+            if (++safetyCounter >= 4) {
                 MotorSafetyHelper.checkMotors();
                 safetyCounter = 0;
             }
@@ -149,6 +161,24 @@ public class DriverStation implements RobotState.Interface {
             }
         }
     }
+    /**
+     * Copy data from the DS task for the user.
+     * If no new data exists, it will just be returned, otherwise
+     * the data will be copied from the DS polling loop.
+     */
+    protected synchronized void getData() {
+
+        // Get the status of all of the joysticks
+        for(byte stick = 0; stick < kJoystickPorts; stick++) {
+            m_joystickAxes[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick);
+            m_joystickPOVs[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs(stick);
+			ByteBuffer countBuffer = ByteBuffer.allocateDirect(1);
+			m_joystickButtons[stick].buttons = FRCNetworkCommunicationsLibrary.HALGetJoystickButtons((byte)stick, countBuffer);
+			m_joystickButtons[stick].count = countBuffer.get();
+        }
+
+        m_newControlData = true;
+    }
 
     /**
      * Read the battery voltage.
@@ -179,7 +209,7 @@ public class DriverStation implements RobotState.Interface {
      * @param axis The analog axis value to read from the joystick.
      * @return The value of the axis on the joystick.
      */
-    public double getStickAxis(int stick, int axis) {
+    public synchronized double getStickAxis(int stick, int axis) {
         if(stick < 0 || stick >= kJoystickPorts) {
             throw new RuntimeException("Joystick index is out of range, should be 0-5");
         }
@@ -187,15 +217,13 @@ public class DriverStation implements RobotState.Interface {
         if (axis < 0 || axis >= FRCNetworkCommunicationsLibrary.kMaxJoystickAxes) {
             throw new RuntimeException("Joystick axis is out of range");
         }
-		
-		short[] joystickAxes = FRCNetworkCommunicationsLibrary.HALGetJoystickAxes((byte)stick);
 
-        if (axis >= joystickAxes.length) {
+        if (axis >= m_joystickAxes[stick].length) {
 			reportJoystickUnpluggedError("WARNING: Joystick axis " + axis + " on port " + stick + " not available, check if controller is plugged in\n");
             return 0.0;
         }
 
-        byte value = (byte)joystickAxes[axis];
+        byte value = (byte)m_joystickAxes[stick][axis];
 
         if(value < 0) {
             return value / 128.0;
@@ -209,13 +237,13 @@ public class DriverStation implements RobotState.Interface {
     *
     * @param stick The joystick port number
     */
-    public int getStickAxisCount(int stick){
+    public synchronized int getStickAxisCount(int stick){
 
         if(stick < 0 || stick >= kJoystickPorts) {
             throw new RuntimeException("Joystick index is out of range, should be 0-5");
         }
         
-        return FRCNetworkCommunicationsLibrary.HALGetJoystickAxes((byte)stick).length;
+        return m_joystickAxes[stick].length;
     }
 
     /**
@@ -223,7 +251,7 @@ public class DriverStation implements RobotState.Interface {
      *
      * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
      */
-    public int getStickPOV(int stick, int pov) {
+    public synchronized int getStickPOV(int stick, int pov) {
         if(stick < 0 || stick >= kJoystickPorts) {
             throw new RuntimeException("Joystick index is out of range, should be 0-5");
         }
@@ -231,15 +259,13 @@ public class DriverStation implements RobotState.Interface {
         if (pov < 0 || pov >= FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs) {
             throw new RuntimeException("Joystick POV is out of range");
         }
-		
-		short[] joystickPOVs = FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs((byte)stick);
 
-        if (pov >= joystickPOVs.length) {
+        if (pov >= m_joystickPOVs[stick].length) {
 			reportJoystickUnpluggedError("WARNING: Joystick POV " + pov + " on port " + stick + " not available, check if controller is plugged in\n");
             return 0;
         }
 
-        return joystickPOVs[pov];
+        return m_joystickPOVs[stick][pov];
     }
 
     /**
@@ -247,13 +273,13 @@ public class DriverStation implements RobotState.Interface {
     *
     * @param stick The joystick port number
     */
-    public int getStickPOVCount(int stick){
+    public synchronized int getStickPOVCount(int stick){
 
         if(stick < 0 || stick >= kJoystickPorts) {
             throw new RuntimeException("Joystick index is out of range, should be 0-5");
         }
 
-        return FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs((byte)stick).length;
+        return m_joystickPOVs[stick].length;
     }
 
     /**
@@ -263,20 +289,37 @@ public class DriverStation implements RobotState.Interface {
      * @param stick The joystick to read.
      * @return The state of the buttons on the joystick.
      */
-    public boolean getStickButton(final int stick, byte button) {
+    public synchronized int getStickButtons(final int stick) {
+        if(stick < 0 || stick >= kJoystickPorts) {
+            throw new RuntimeException("Joystick index is out of range, should be 0-3");
+        }
+
+        return m_joystickButtons[stick].buttons;
+    }
+
+    /**
+     * The state of one joystick button. Button indexes begin at 1.
+     *
+     * @param stick The joystick to read.
+     * @param button The button index, beginning at 1.
+     * @return The state of the joystick button.
+     */
+    public synchronized boolean getStickButton(final int stick, byte button) {
         if(stick < 0 || stick >= kJoystickPorts) {
             throw new RuntimeException("Joystick index is out of range, should be 0-3");
         }
 		
-		ByteBuffer countBuffer = ByteBuffer.allocateDirect(1);
-		int buttons = FRCNetworkCommunicationsLibrary.HALGetJoystickButtons((byte)stick, countBuffer);
-		byte count = 0;
-		count = countBuffer.get();
-		if(button > count) {
+
+		if(button > m_joystickButtons[stick].count) {
 			reportJoystickUnpluggedError("WARNING: Joystick Button " + button + " on port " + stick + " not available, check if controller is plugged in\n");
             return false;
 		}
-		return ((0x1 << (button - 1)) & buttons) != 0;
+		if(button <= 0)
+		{
+			reportJoystickUnpluggedError("ERROR: Button indexes begin at 1 in WPILib for C++ and Java\n");
+			return false;
+		}
+		return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
     }
 
     /**
@@ -284,17 +327,14 @@ public class DriverStation implements RobotState.Interface {
     *
     *   @param  stick the joystick port number
     */
-    public int getStickButtonCount(int stick){
+    public synchronized int getStickButtonCount(int stick){
 
         if(stick < 0 || stick >= kJoystickPorts) {
             throw new RuntimeException("Joystick index is out of range, should be 0-3");
         }
         
-        ByteBuffer countBuffer = ByteBuffer.allocateDirect(1);
-
-        int buttons = FRCNetworkCommunicationsLibrary.HALGetJoystickButtons((byte)stick, countBuffer);
-        byte count = countBuffer.get();
-        return count;
+        
+        return m_joystickButtons[stick].count;
     }
 
     /**

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java

@@ -107,7 +107,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	/**
 	 * Request one of the 8 interrupts synchronously on this digital input. Request
 	 * interrupts in synchronous mode where the user program will have to
-	 * explicitly wait for the interrupt to occur using {@link waitForInterrupt}. 
+	 * explicitly wait for the interrupt to occur using {@link #waitForInterrupt}. 
 	 * The default is interrupt on rising edges only.
 	 */
 	public void requestInterrupts() {

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java

@@ -59,6 +59,12 @@ public class IterativeRobot extends RobotBase {
         m_teleopInitialized = false;
         m_testInitialized = false;
     }
+    
+    @Override
+    protected void prestart() {
+    	// Don't immediately say that the robot's ready to be enabled.
+    	// See below.
+    }
 
     /**
      * Provide an alternate "main loop" via startCompetition().
@@ -68,15 +74,12 @@ public class IterativeRobot extends RobotBase {
         UsageReporting.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Iterative);
 
         robotInit();
-
-        // tracing support:
-        final int TRACE_LOOP_MAX = 100;
-        int loopCount = TRACE_LOOP_MAX;
-        Object marker = null;
-        boolean didDisabledPeriodic = false;
-        boolean didAutonomousPeriodic = false;
-        boolean didTeleopPeriodic = false;
-        boolean didTestPeriodic = false;
+        
+        // We call this now (not in prestart like default) so that the robot
+        // won't enable until the initialization has finished. This is useful
+        // because otherwise it's sometimes possible to enable the robot
+        // before the code is ready. 
+        FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
 
         // loop forever, calling the appropriate mode-dependent function
         LiveWindow.setEnabled(false);
@@ -97,7 +100,6 @@ public class IterativeRobot extends RobotBase {
                 if (nextPeriodReady()) {
                 	FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramDisabled();
                     disabledPeriodic();
-                    didDisabledPeriodic = true;
                 }
             } else if (isTest()) {
                 // call TestInit() if we are now just entering test mode from either
@@ -113,7 +115,6 @@ public class IterativeRobot extends RobotBase {
                 if (nextPeriodReady()) {
                 	FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTest();
                     testPeriodic();
-                    didTestPeriodic = true;
                 }
             } else if (isAutonomous()) {
                 // call Autonomous_Init() if this is the first time
@@ -132,7 +133,6 @@ public class IterativeRobot extends RobotBase {
                 if (nextPeriodReady()) {
                     FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramAutonomous();
                     autonomousPeriodic();
-                    didAutonomousPeriodic = true;
                 }
             } else {
                 // call Teleop_Init() if this is the first time
@@ -148,7 +148,6 @@ public class IterativeRobot extends RobotBase {
                 if (nextPeriodReady()) {
                     FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTeleop();
                     teleopPeriodic();
-                    didTeleopPeriodic = true;
                 }
             }
             m_ds.waitForData();

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -419,6 +419,10 @@ public class Joystick extends GenericHID {
      * @param value The normalized value (0 to 1) to set the rumble to
      */
     public void setRumble(RumbleType type, float value) {
+        if (value < 0)
+            value = 0;
+        else if (value > 1)
+            value = 1;
         if (type.value == RumbleType.kLeftRumble_val)
             m_leftRumble = (short)(value*65535);
         else

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java

@@ -59,4 +59,53 @@ public class PowerDistributionPanel extends SensorBase {
 
 		return current;
 	}
+
+	/**
+	*	@return The current of all the channels
+	*/
+	public double getTotalCurrent(){
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+
+		double current = PDPJNI.getPDPTotalCurrent(status.asIntBuffer());
+
+		return current;
+	}
+
+	/**
+	*	@return the total power
+	*/
+	public double getTotalPower(){
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+
+		double power = PDPJNI.getPDPTotalPower(status.asIntBuffer());
+
+		return power;
+
+	}
+
+	public double getTotalEnergy(){
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+
+		double energy = PDPJNI.getPDPTotalEnergy(status.asIntBuffer());
+
+		return energy;
+	}
+
+	public void resetTotalEnergy(){
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+
+		PDPJNI.resetPDPTotalEnergy(status.asIntBuffer());
+	}
+
+	public void clearStickyFaults(){
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		
+		PDPJNI.clearPDPStickyFaults(status.asIntBuffer());
+	}
+
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Preferences.java

@@ -814,7 +814,7 @@ public class Preferences {
          * Returns whether or not the given string is ok to use in the
          * preference table.
          *
-         * @param value
+         * @param value the string to check
          * @return true if the given string is ok to use in the preference table
          */
         public static boolean isAcceptable(String value) {

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -130,6 +130,15 @@ public abstract class RobotBase {
 	 */
 	public abstract void startCompetition();
 
+	/**
+	 * This hook is called right before startCompetition(). By default, tell the
+	 * DS that the robot is now ready to be enabled. If you don't want for the
+	 * robot to be enabled yet, you can override this method to do nothing.
+	 */
+	protected void prestart() {
+		FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
+	}
+
 	public static boolean getBooleanProperty(String name, boolean defaultValue) {
 		String propVal = System.getProperty(name);
 		if (propVal == null) {
@@ -149,7 +158,6 @@ public abstract class RobotBase {
 	 */
 	public static void initializeHardwareConfiguration(){
 		FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationReserve();
-		FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
 
 		// Set some implementations so that the static methods work properly
 		Timer.SetImplementation(new HardwareTimer());
@@ -161,8 +169,6 @@ public abstract class RobotBase {
 	 * Starting point for the applications.
 	 */
 	public static void main(String args[]) {
-		boolean errorOnExit = false;
-
 		initializeHardwareConfiguration();
 
 		UsageReporting.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
@@ -182,14 +188,16 @@ public abstract class RobotBase {
 		RobotBase robot;
 		try {
 			robot = (RobotBase) Class.forName(robotName).newInstance();
+			robot.prestart();
 		} catch (Throwable t) {
 			DriverStation.reportError("ERROR Unhandled exception instantiating robot " + robotName + " " + t.toString() + " at " + Arrays.toString(t.getStackTrace()), false);
 			System.err.println("WARNING: Robots don't quit!");
-			System.err.println("ERROR: Could not instantiate robot "+robotName+"!");
+			System.err.println("ERROR: Could not instantiate robot " + robotName + "!");
 			System.exit(1);
 			return;
 		}
 
+		boolean errorOnExit = false;
 		try {
 			robot.startCompetition();
 		} catch (Throwable t) {

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java

@@ -13,9 +13,9 @@ import edu.wpi.first.wpilibj.communication.UsageReporting;
 
 /**
  * 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
+ * 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 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.
  */

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SerialPort.java

@@ -36,7 +36,8 @@ public class SerialPort {
 	
 	public enum Port {
 		kOnboard(0), 
-		kMXP(1);
+		kMXP(1),
+		kUSB(2);
 		
 		private int value;
 		
@@ -263,7 +264,7 @@ public class SerialPort {
      * Set the type of flow control to enable on this port.
      *
      * By default, flow control is disabled.
-     * @param flowControl
+     * @param flowControl the FlowControl value to use
      */
     public void setFlowControl(FlowControl flowControl) {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/TalonSRX.java

@@ -7,17 +7,94 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+
 /**
  * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control
  * @see CANTalon CANTalon for CAN control of Talon SRX
  */
-public class TalonSRX extends Talon {
+public class TalonSRX extends SafePWM implements SpeedController {
+
+    /**
+     * Common initialization code called by all constructors.
+     *
+     * Note that the TalonSRX uses the following bounds for PWM values. These values should work reasonably well for
+     * most controllers, but if users experience issues such as asymmetric behavior around
+     * the deadband or inability to saturate the controller in either direction, calibration is recommended.
+     * The calibration procedure can be found in the TalonSRX User Manual available from CTRE.
+     *
+     *   - 2.037ms = full "forward"
+     *   - 1.539ms = the "high end" of the deadband range
+     *   - 1.513ms = center of the deadband range (off)
+     *   - 1.487ms = the "low end" of the deadband range
+     *   - .989ms = full "reverse"
+     */
+    protected void initTalonSRX() {
+        setBounds(2.004, 1.52, 1.50, 1.48, .997);
+        setPeriodMultiplier(PeriodMultiplier.k1X);
+        setRaw(m_centerPwm);
+		setZeroLatch();
+
+        LiveWindow.addActuator("TalonSRX", getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Talon, getChannel());
+    }
+
     /**
      * Constructor.
      *
-     * @param channel The PWM channel that the Talon SRX is attached to.
+     * @param channel The PWM channel that the Talon is attached to.
      */
     public TalonSRX(final int channel) {
         super(channel);
+        initTalonSRX();
+    }
+
+    /**
+     * Set the PWM value.
+     *
+     * @deprecated For compatibility with CANJaguar
+     *
+     * The PWM value is set using a range of -1.0 to 1.0, appropriately
+     * scaling the value for the FPGA.
+     *
+     * @param speed The speed to set.  Value should be between -1.0 and 1.0.
+     * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup().  If 0, update immediately.
+     */
+    public void set(double speed, byte syncGroup) {
+        setSpeed(speed);
+        Feed();
+    }
+
+    /**
+     * Set the PWM value.
+     *
+     * The PWM value is set using a range of -1.0 to 1.0, appropriately
+     * scaling the value for the FPGA.
+     *
+     * @param speed The speed value between -1.0 and 1.0 to set.
+     */
+    public void set(double speed) {
+        setSpeed(speed);
+        Feed();
+    }
+
+    /**
+     * Get the recently set value of the PWM.
+     *
+     * @return The most recently set value for the PWM between -1.0 and 1.0.
+     */
+    public double get() {
+        return getSpeed();
+    }
+
+    /**
+     * Write out the PID value as seen in the PIDOutput base object.
+     *
+     * @param output Write out the PWM value as was found in the PIDController
+     */
+    public void pidWrite(double output) {
+        set(output);
     }
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/VictorSP.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,11 +7,39 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+
 /**
- * Vex Robotics Victor SP Speed Controller
+ * VEX Robotics Victor SP Speed Controller
  */
-public class VictorSP extends Talon {
-	
+public class VictorSP extends SafePWM implements SpeedController {
+
+    /**
+     * Common initialization code called by all constructors.
+     *
+     * Note that the VictorSP uses the following bounds for PWM values. These values should work reasonably well for
+     * most controllers, but if users experience issues such as asymmetric behavior around
+     * the deadband or inability to saturate the controller in either direction, calibration is recommended.
+     * The calibration procedure can be found in the VictorSP User Manual available from CTRE.
+     *
+     *   - 2.037ms = full "forward"
+     *   - 1.539ms = the "high end" of the deadband range
+     *   - 1.513ms = center of the deadband range (off)
+     *   - 1.487ms = the "low end" of the deadband range
+     *   - .989ms = full "reverse"
+     */
+    protected void initVictorSP() {
+        setBounds(2.004, 1.52, 1.50, 1.48, .997);
+        setPeriodMultiplier(PeriodMultiplier.k1X);
+        setRaw(m_centerPwm);
+		setZeroLatch();
+
+        LiveWindow.addActuator("VictorSP", getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Talon, getChannel());
+    }
+
     /**
      * Constructor.
      *
@@ -19,6 +47,53 @@ public class VictorSP extends Talon {
      */
     public VictorSP(final int channel) {
         super(channel);
+        initVictorSP();
     }
 
+    /**
+     * Set the PWM value.
+     *
+     * @deprecated For compatibility with CANJaguar
+     *
+     * The PWM value is set using a range of -1.0 to 1.0, appropriately
+     * scaling the value for the FPGA.
+     *
+     * @param speed The speed to set.  Value should be between -1.0 and 1.0.
+     * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup().  If 0, update immediately.
+     */
+    public void set(double speed, byte syncGroup) {
+        setSpeed(speed);
+        Feed();
+    }
+
+    /**
+     * Set the PWM value.
+     *
+     * The PWM value is set using a range of -1.0 to 1.0, appropriately
+     * scaling the value for the FPGA.
+     *
+     * @param speed The speed value between -1.0 and 1.0 to set.
+     */
+    public void set(double speed) {
+        setSpeed(speed);
+        Feed();
+    }
+
+    /**
+     * Get the recently set value of the PWM.
+     *
+     * @return The most recently set value for the PWM between -1.0 and 1.0.
+     */
+    public double get() {
+        return getSpeed();
+    }
+
+    /**
+     * Write out the PID value as seen in the PIDOutput base object.
+     *
+     * @param output Write out the PWM value as was found in the PIDController
+     */
+    public void pidWrite(double output) {
+        set(output);
+    }
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/CanTalonJNI.java

@@ -143,6 +143,8 @@ public class CanTalonJNI {
   public final static native int CanTalonSRX_eResetFlags_get();
   public final static native int CanTalonSRX_eFirmVers_get();
   public final static native int CanTalonSRX_eSettingsChanged_get();
+  public final static native int CanTalonSRX_eQuadFilterEn_get();
+  public final static native int CanTalonSRX_ePidIaccum_get();
   public final static native long CanTalonSRX_SetParam(long jarg1, CanTalonSRX jarg1_, int jarg2, double jarg3);
   public final static native long CanTalonSRX_RequestParam(long jarg1, CanTalonSRX jarg1_, int jarg2);
   public final static native long CanTalonSRX_GetParamResponse(long jarg1, CanTalonSRX jarg1_, int jarg2, long jarg3);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/PDPJNI.java

@@ -7,4 +7,9 @@ public class PDPJNI extends JNIWrapper {
 	public static native double getPDPTemperature(IntBuffer status);
 	public static native double getPDPVoltage(IntBuffer status);
 	public static native double getPDPChannelCurrent(byte channel, IntBuffer status);
-}
+	public static native double getPDPTotalCurrent(IntBuffer status);
+	public static native double getPDPTotalPower(IntBuffer status);
+	public static native double getPDPTotalEnergy(IntBuffer status);
+	public static native void resetPDPTotalEnergy(IntBuffer status);
+	public static native void clearPDPStickyFaults(IntBuffer status);
+}

wpilibj/wpilibJavaFinal/pom.xml

@@ -1,74 +1,81 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
-		 xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <modelVersion>4.0.0</modelVersion>
   <groupId>edu.wpi.first.wpilibj</groupId>
   <artifactId>wpilibJavaFinal</artifactId>
   <packaging>jar</packaging>
   <version>0.1.0-SNAPSHOT</version>
-  
+
   <parent>
     <groupId>edu.wpi.first.wpilib.templates.athena</groupId>
     <artifactId>library-jar</artifactId>
     <version>0.1.0-SNAPSHOT</version>
     <relativePath>../../maven-utilities/athena/library-jar/pom.xml</relativePath>
   </parent>
-  
+
   <profiles>
     <profile>
       <id>docline-java8-disable</id>
       <activation>
-	    <jdk>[1.8,</jdk>
+        <jdk>[1.8,</jdk>
       </activation>
 
       <build>
-	    <plugins>
+        <plugins>
           <plugin>
             <groupId>org.apache.maven.plugins</groupId>
             <artifactId>maven-javadoc-plugin</artifactId>
             <configuration>
-              <additionalparam>-Xdoclint:none</additionalparam>
+              <additionalparam>-Xdoclint:all -Xdoclint:-missing</additionalparam>
+              <tags>
+                <tag>
+                  <name>pre</name>
+                  <placement>a</placement>
+                  <head>Precondition:</head>
+                </tag>
+              </tags>
             </configuration>
           </plugin>
-	    </plugins>
+        </plugins>
       </build>
     </profile>
   </profiles>
-  
+
   <dependencies>
-	<dependency>
-	  <groupId>edu.wpi.first.wpilibj</groupId>
-	  <artifactId>wpilibJava</artifactId>
-	  <version>0.1.0-SNAPSHOT</version>
-	</dependency>
-	<dependency>
-	  <groupId>edu.wpi.first.wpilibj</groupId>
-	  <artifactId>wpilibJavaDevices</artifactId>
-	  <version>0.1.0-SNAPSHOT</version>
-	</dependency>
-	<dependency>
-	  <groupId>edu.wpi.first.wpilibj</groupId>
-	  <artifactId>wpilibJavaJNI</artifactId>
-	  <version>0.1.0-SNAPSHOT</version>
-	  <type>so</type>
-	</dependency>
-    
-	<dependency>
-	  <groupId>edu.wpi.first.wpilibj</groupId>
-	  <artifactId>wpilibJava</artifactId>
-	  <version>0.1.0-SNAPSHOT</version>
-	  <classifier>sources</classifier>
-	</dependency>
-	<dependency>
-	  <groupId>edu.wpi.first.wpilibj</groupId>
-	  <artifactId>wpilibJavaDevices</artifactId>
-	  <version>0.1.0-SNAPSHOT</version>
-	  <classifier>sources</classifier>
-	</dependency>
+    <dependency>
+      <groupId>edu.wpi.first.wpilibj</groupId>
+      <artifactId>wpilibJava</artifactId>
+      <version>0.1.0-SNAPSHOT</version>
+    </dependency>
+    <dependency>
+      <groupId>edu.wpi.first.wpilibj</groupId>
+      <artifactId>wpilibJavaDevices</artifactId>
+      <version>0.1.0-SNAPSHOT</version>
+    </dependency>
+    <dependency>
+      <groupId>edu.wpi.first.wpilibj</groupId>
+      <artifactId>wpilibJavaJNI</artifactId>
+      <version>0.1.0-SNAPSHOT</version>
+      <type>so</type>
+    </dependency>
+
+    <dependency>
+      <groupId>edu.wpi.first.wpilibj</groupId>
+      <artifactId>wpilibJava</artifactId>
+      <version>0.1.0-SNAPSHOT</version>
+      <classifier>sources</classifier>
+    </dependency>
+    <dependency>
+      <groupId>edu.wpi.first.wpilibj</groupId>
+      <artifactId>wpilibJavaDevices</artifactId>
+      <version>0.1.0-SNAPSHOT</version>
+      <classifier>sources</classifier>
+    </dependency>
   </dependencies>
 
   <build>
-	<plugins>
+    <plugins>
       <plugin>
         <groupId>org.apache.maven.plugins</groupId>
         <artifactId>maven-antrun-plugin</artifactId>
@@ -96,7 +103,7 @@
                   </then>
                   <else>
                     <copy todir="${project.build.directory}/classes" >
-                      <fileset dir="${mvn.wpilibJava.jar.path}" />  
+                      <fileset dir="${mvn.wpilibJava.jar.path}" />
                     </copy>
                   </else>
                 </if>
@@ -112,7 +119,7 @@
                   </then>
                   <else>
                     <copy todir="${project.build.directory}/classes" >
-                      <fileset dir="${mvn.wpilibJavaDevices.jar.path}" />  
+                      <fileset dir="${mvn.wpilibJavaDevices.jar.path}" />
                     </copy>
                   </else>
                 </if>
@@ -128,12 +135,12 @@
             <phase>generate-sources</phase>
             <configuration>
               <target>
-                <copy todir="${project.build.directory}/classes/linux-arm" 
-                      file="${edu.wpi.first.wpilibj:wpilibJavaJNI:so}" />  
+                <copy todir="${project.build.directory}/classes/linux-arm"
+                      file="${edu.wpi.first.wpilibj:wpilibJavaJNI:so}" />
               </target>
             </configuration>
           </execution>
-          
+
           <execution>
             <id>generate-sources</id>
             <goals>
@@ -172,17 +179,16 @@
           </dependency>
         </dependencies>
       </plugin>
-	   <plugin>
-      	<groupId>org.apache.maven.plugins</groupId>
-      	<artifactId>maven-javadoc-plugin</artifactId>
+       <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-javadoc-plugin</artifactId>
         <configuration>
-      	  <sourceFileExcludes>
-      	    <exclude>edu/wpi/first/wpilibj/image/</exclude>
-      	    <exclude>edu/wpi/first/wpilibj/camera/</exclude>
-      	    <exclude>edu/wpi/first/wpilibj/visa/</exclude>
-      	    <exclude>edu/wpi/first/wpilibj/SerialPort.java</exclude>
-      	  </sourceFileExcludes>
-		   <includeDependencySources>true</includeDependencySources>
+          <sourceFileExcludes>
+            <exclude>edu/wpi/first/wpilibj/image/</exclude>
+            <exclude>edu/wpi/first/wpilibj/camera/</exclude>
+            <exclude>edu/wpi/first/wpilibj/visa/</exclude>
+          </sourceFileExcludes>
+           <includeDependencySources>true</includeDependencySources>
         </configuration>
       </plugin>
 
@@ -201,52 +207,52 @@
           </execution>
         </executions>
       </plugin>
-	</plugins>
-	<pluginManagement>
-	  <plugins>
-		<!--This plugin's configuration is used to store Eclipse m2e settings only. It has no influence on the Maven build itself.-->
-		<plugin>
-		  <groupId>org.eclipse.m2e</groupId>
-		  <artifactId>lifecycle-mapping</artifactId>
-		  <version>1.0.0</version>
-		  <configuration>
-			<lifecycleMappingMetadata>
-			  <pluginExecutions>
-				<pluginExecution>
-				  <pluginExecutionFilter>
-					<groupId>
-					  org.apache.maven.plugins
-					</groupId>
-					<artifactId>
-					  maven-dependency-plugin
-					</artifactId>
-					<versionRange>[2.8,)</versionRange>
-					<goals>
-					  <goal>copy</goal>
-					</goals>
-				  </pluginExecutionFilter>
-				  <action>
-					<execute />
-				  </action>
-				</pluginExecution>
-				<pluginExecution>
-				  <pluginExecutionFilter>
-					<groupId>org.apache.maven.plugins</groupId>
-        			<artifactId>maven-dependency-plugin</artifactId>
-					<versionRange>[2.8,)</versionRange>
-					<goals>
-					  <goal>unpack</goal>
-					</goals>
-				  </pluginExecutionFilter>
-				  <action>
-					<ignore />
-				  </action>
-				</pluginExecution>
-			  </pluginExecutions>
-			</lifecycleMappingMetadata>
-		  </configuration>
-		</plugin>
-	  </plugins>
-	</pluginManagement>
+    </plugins>
+    <pluginManagement>
+      <plugins>
+        <!--This plugin's configuration is used to store Eclipse m2e settings only. It has no influence on the Maven build itself.-->
+        <plugin>
+          <groupId>org.eclipse.m2e</groupId>
+          <artifactId>lifecycle-mapping</artifactId>
+          <version>1.0.0</version>
+          <configuration>
+            <lifecycleMappingMetadata>
+              <pluginExecutions>
+                <pluginExecution>
+                  <pluginExecutionFilter>
+                    <groupId>
+                      org.apache.maven.plugins
+                    </groupId>
+                    <artifactId>
+                      maven-dependency-plugin
+                    </artifactId>
+                    <versionRange>[2.8,)</versionRange>
+                    <goals>
+                      <goal>copy</goal>
+                    </goals>
+                  </pluginExecutionFilter>
+                  <action>
+                    <execute />
+                  </action>
+                </pluginExecution>
+                <pluginExecution>
+                  <pluginExecutionFilter>
+                    <groupId>org.apache.maven.plugins</groupId>
+                    <artifactId>maven-dependency-plugin</artifactId>
+                    <versionRange>[2.8,)</versionRange>
+                    <goals>
+                      <goal>unpack</goal>
+                    </goals>
+                  </pluginExecutionFilter>
+                  <action>
+                    <ignore />
+                  </action>
+                </pluginExecution>
+              </pluginExecutions>
+            </lifecycleMappingMetadata>
+          </configuration>
+        </plugin>
+      </plugins>
+    </pluginManagement>
   </build>
 </project>

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

@@ -33,7 +33,7 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
 	/** The stopped value in volts */
 	private static final double kStoppedValue = 0;
 	/** The running value in volts */
-	private static final double kRunningValue = 14;
+	private static final double kRunningValue = 12;
 	
 	private static final double kVoltageTolerance = .25;
 	

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

@@ -18,6 +18,7 @@ import org.junit.runners.model.MultipleFailureException;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -44,6 +45,7 @@ public abstract class AbstractComsSetup {
 		if (!initialized) {
 			// Set some implementations so that the static methods work properly
 			RobotBase.initializeHardwareConfiguration();
+			FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
 			
 			LiveWindow.setEnabled(false);
 			TestBench.out().println("Started coms");

wpilibj/wpilibJavaJNI/lib/CanTalonSRXJNI.cpp

@@ -2049,6 +2049,30 @@ SWIGEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_CanTalonSRX_1
 }
 
 
+SWIGEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_CanTalonSRX_1eQuadFilterEn_1get(JNIEnv *jenv, jclass jcls) {
+  jint jresult = 0 ;
+  CanTalonSRX::_param_t result;
+  
+  (void)jenv;
+  (void)jcls;
+  result = (CanTalonSRX::_param_t)CanTalonSRX::eQuadFilterEn;
+  jresult = (jint)result; 
+  return jresult;
+}
+
+
+SWIGEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_CanTalonSRX_1ePidIaccum_1get(JNIEnv *jenv, jclass jcls) {
+  jint jresult = 0 ;
+  CanTalonSRX::_param_t result;
+  
+  (void)jenv;
+  (void)jcls;
+  result = (CanTalonSRX::_param_t)CanTalonSRX::ePidIaccum;
+  jresult = (jint)result; 
+  return jresult;
+}
+
+
 SWIGEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_CanTalonSRX_1SetParam(JNIEnv *jenv, jclass jcls, jlong jarg1, jobject jarg1_, jint jarg2, jdouble jarg3) {
   jlong jresult = 0 ;
   CanTalonSRX *arg1 = (CanTalonSRX *) 0 ;

wpilibj/wpilibJavaJNI/lib/PDPJNI.cpp

@@ -40,3 +40,68 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPChannelCur
 	return getPDPChannelCurrent(channel, status_ptr);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPTotalCurrent
+ * Signature: (BLjava/nio/IntBuffer;)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalCurrent
+  (JNIEnv *env, jclass, jobject status)
+{
+	jint *status_ptr = (jint *)env->GetDirectBufferAddress(status);
+	
+	return getPDPTotalCurrent(status_ptr);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPTotalPower
+ * Signature: (BLjava/nio/IntBuffer;)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalPower
+  (JNIEnv *env, jclass, jobject status)
+{
+	jint *status_ptr = (jint *)env->GetDirectBufferAddress(status);
+	
+	return getPDPTotalPower(status_ptr);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    resetPDPTotalEnergy
+ * Signature: (BLjava/nio/IntBuffer;)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalEnergy
+  (JNIEnv *env, jclass, jobject status)
+{
+	jint *status_ptr = (jint *)env->GetDirectBufferAddress(status);
+	
+	return getPDPTotalEnergy(status_ptr);
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    resetPDPTotalEnergy
+ * Signature: (BLjava/nio/IntBuffer;)D
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_resetPDPTotalEnergy
+  (JNIEnv *env, jclass, jobject status)
+{
+	jint *status_ptr = (jint *)env->GetDirectBufferAddress(status);
+	
+	resetPDPTotalEnergy(status_ptr);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    clearStickyFaults
+ * Signature: (BLjava/nio/IntBuffer;)D
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_clearPDPStickyFaults
+  (JNIEnv *env, jclass, jobject status)
+{
+	jint *status_ptr = (jint *)env->GetDirectBufferAddress(status);
+	
+	clearPDPStickyFaults(status_ptr);
+}

wpilibj/wpilibJavaJNI/lib/PowerJNI.cpp

@@ -119,7 +119,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFau
   (JNIEnv * env, jclass, jobject status)
 {
 	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
-	return getUserCurrentFaults3V3(statusPtr);
+	return getUserCurrentFaults5V(statusPtr);
 }
 
 /*

wpilibj/wpilibJavaJNI/nivision/gen_struct_sizer.py

@@ -0,0 +1,114 @@
+from __future__ import print_function
+import sys
+import os
+import re
+try:
+    import configparser
+except ImportError:
+    import ConfigParser as configparser
+
+from nivision_parse import *
+
+class StructSizerEmitter:
+    def __init__(self, out, config, hname):
+        self.out = out
+        self.config = config
+        print("""#include <stdio.h>
+#include <stddef.h>
+#include <{hname}>
+
+int main()
+{{
+    asm("#STRUCT_SIZER [_platform_]\\n");
+    asm("#STRUCT_SIZER pointer=%0\\n" : : "n"((int)sizeof(void*)));
+""".format(hname=hname), file=self.out)
+
+    def finish(self):
+        print("}", file=self.out)
+
+    def config_get(self, section, option, fallback):
+        try:
+            return self.config.get(section, option)
+        except (ValueError, configparser.NoSectionError, configparser.NoOptionError):
+            return fallback
+
+    def config_getboolean(self, section, option, fallback):
+        try:
+            return self.config.getboolean(section, option)
+        except (ValueError, configparser.NoSectionError, configparser.NoOptionError):
+            return fallback
+
+    def block_comment(self, comment):
+        pass
+
+    def opaque_struct(self, name):
+        pass
+
+    def define(self, name, value, comment):
+        pass
+
+    def text(self, text):
+        print(text, file=self.out)
+
+    def static_const(self, name, ctype, value):
+        pass
+
+    def enum(self, name, values):
+        pass
+
+    def typedef(self, name, typedef, arr):
+        pass
+
+    def typedef_function(self, name, restype, params):
+        pass
+
+    def function(self, name, restype, params):
+        pass
+
+    def structunion(self, ctype, name, fields):
+        if name in opaque_structs:
+            return
+
+        print('asm("#STRUCT_SIZER [{name}]\\n");'.format(name=name), file=self.out)
+        print('asm("#STRUCT_SIZER _SIZE_=%0\\n" : : "n"((int)sizeof({name})));'.format(name=name), file=self.out)
+
+        for fname, ftype, arr, comment in fields:
+            if ':' in fname:
+                continue # can't handle bitfields
+            print('asm("#STRUCT_SIZER {field}=%0\\n" : : "n"((int)offsetof({name}, {field})));'.format(name=name, field=fname), file=self.out)
+
+    def struct(self, name, fields):
+        self.structunion("Structure", name, fields)
+
+    def union(self, name, fields):
+        self.structunion("Union", name, fields)
+
+def generate(srcdir, configpath=None, hpath=None):
+    # read config file
+    config = configparser.ConfigParser()
+    config.read(configpath)
+    block_comment_exclude = set(x.strip() for x in
+            config.get("Block Comment", "exclude").splitlines())
+
+    # open input file
+    inf = open(hpath)
+
+    # prescan for undefined structures
+    prescan_file(inf)
+    inf.seek(0)
+
+    # generate
+    with open("struct_sizer.c", "wt") as out:
+        emit = StructSizerEmitter(out, config, os.path.basename(hpath))
+        parse_file(emit, inf, block_comment_exclude)
+        emit.finish()
+
+if __name__ == "__main__":
+    if len(sys.argv) != 3:
+        print("Usage: gen_struct_sizer.py <header.h> <config.ini>")
+        exit(0)
+
+    fname = sys.argv[1]
+    configname = sys.argv[2]
+
+    generate("", configname, fname)

wpilibj/wpilibJavaJNI/nivision/generateJNI.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+#This script should be able to generate the JNI
+#   bindings for NIVision.  At some point,
+#   it should be integrated into the build system.
+# Assumes running from allwpilib/wpilibj/wpilibJavaJNI/nivision
+
+# Get structure sizes.
+python gen_struct_sizer.py ../../../wpilibc/wpilibC++Devices/include/nivision.h nivision_2011.ini
+arm-frc-linux-gnueabi-gcc -I../../../wpilibc/wpilibC++Devices/include -S struct_sizer.c
+cat struct_sizer.s | python get_struct_size.py > nivision_arm.ini
+
+python gen_struct_sizer.py ../../../wpilibc/wpilibC++Devices/include/NIIMAQdx.h imaqdx.ini
+arm-frc-linux-gnueabi-gcc -I../../../wpilibc/wpilibC++Devices/include -S struct_sizer.c
+cat struct_sizer.s | python get_struct_size.py > imaqdx_arm.ini
+
+# Run python generator.
+python gen_java.py \
+    ../../../wpilibc/wpilibC++Devices/include/nivision.h \
+    nivision_arm.ini \
+    nivision_2011.ini \
+    \
+    ../../../wpilibc/wpilibC++Devices/include/NIIMAQdx.h \
+    imaqdx_arm.ini \
+    imaqdx.ini
+
+# Stick generated files into appropriate places.
+cp NIVision.cpp ../lib/NIVisionJNI.cpp
+mkdir -p ../../wpilibJavaDevices/src/main/java/com/ni/vision
+cp *.java ../../wpilibJavaDevices/src/main/java/com/ni/vision/

wpilibj/wpilibJavaJNI/nivision/get_struct_size.py

@@ -0,0 +1,14 @@
+from __future__ import print_function
+import sys
+
+def main():
+    for line in sys.stdin:
+        line = line.strip()
+        if not line.startswith("#STRUCT_SIZER"):
+            continue
+        line = line[14:]
+        line = line.replace("#", "")
+        print(line)
+
+if __name__ == "__main__":
+    main()

wpilibj/wpilibJavaJNI/nivision/imaqdx.ini

@@ -0,0 +1,81 @@
+[Block Comment]
+exclude=
+ Typedefs
+ Forward Declare Data Structures
+ Error Codes Enumeration
+ Callbacks
+
+; Error Codes Enumeration
+[IMAQdxError]
+exclude=True
+
+; Callbacks
+[FrameDoneEventCallbackPtr]
+exclude=True
+[PnpEventCallbackPtr]
+exclude=True
+[AttributeUpdatedEventCallbackPtr]
+exclude=True
+
+; Functions
+[IMAQdxSequence]
+arraysize=images:count
+exclude=True
+[IMAQdxEnumerateCameras]
+arraysize=cameraInformationArray:count
+exclude=True
+[IMAQdxGetImageData]
+#arraysize=buffer:bufferSize
+[IMAQdxEnumerateVideoModes]
+arraysize=videoModeArray:count
+exclude=True
+[IMAQdxEnumerateAttributes]
+arraysize=attributeInformationArray:count
+exclude=True
+[IMAQdxGetAttribute]
+exclude=True
+[IMAQdxSetAttribute]
+# has to be manual due to "..."
+exclude=True
+[IMAQdxGetAttributeMinimum]
+exclude=True
+[IMAQdxGetAttributeMaximum]
+exclude=True
+[IMAQdxGetAttributeIncrement]
+exclude=True
+[IMAQdxEnumerateAttributeValues]
+arraysize=list:size
+exclude=True
+[IMAQdxGetAttributeTooltip]
+exclude=True
+[IMAQdxGetAttributeUnits]
+exclude=True
+[IMAQdxRegisterFrameDoneEvent]
+# callback
+exclude=True
+[IMAQdxRegisterPnpEvent]
+# callback
+exclude=True
+[IMAQdxWriteMemory]
+arraysize=values:count
+exclude=True
+[IMAQdxReadMemory]
+arraysize=values:count
+exclude=True
+[IMAQdxGetErrorString]
+exclude=True
+[IMAQdxEnumerateAttributes2]
+arraysize=attributeInformationArray:count
+exclude=True
+[IMAQdxGetAttributeDescription]
+exclude=True
+[IMAQdxGetAttributeDisplayName]
+exclude=True
+[IMAQdxDispose]
+exclude=True
+[IMAQdxRegisterAttributeUpdatedEvent]
+# callback
+exclude=True
+[IMAQdxEnumerateAttributes3]
+arraysize=attributeInformationArray:count
+exclude=True

wpilibj/wpilibJavaJNI/nivision/nivision_2011.ini

@@ -0,0 +1,835 @@
+;
+; [name]
+; arraysize -- comma separated list of "param:numParam" where param is the
+;              name of the pointer parameter, and numParam is the name of
+;              the parameter that contains the array size for the pointer
+; retarraysize -- name of the pass-by-reference parameter that on function
+;                 return contains the array size of the returned pointer
+; exclude -- if True, no code is output for this name (full custom)
+; underscore -- if True, only underscored raw wrapper is output (partial custom)
+; outparams -- comma separated list of output parameter names
+; inparams -- comma separated list of parameter names that are input
+;             parameters (e.g. not output parameters)
+; defaults -- comma separated list of "param:default" where param is the
+;             parameter name and default is the default value
+; exclude_members -- for structures, members to not emit
+; nullok -- comma separated list of parameter names that may be null
+; retref -- parameter that (if non-null) is returned as a reference
+; retunowned -- if True, return value should not be owned
+;
+; The generator code auto-detects many parameters, so this file is only needed
+; for overriding the auto-detected behavior.
+
+; defines
+[IMAQ_IMPORT]
+exclude=True
+[IMAQ_FUNC]
+exclude=True
+[IMAQ_STDCALL]
+exclude=True
+[IMAQ_CALLBACK]
+exclude=True
+[IMAQ_DEFAULT_LEARNING_MODE]
+exclude=True
+[ERR_INVALID_COLORCOMPLEXITY]
+exclude=True
+
+; structures
+[PolyModel]
+arraysize=kCoeffs:numKCoeffs
+[CalibrationReferencePoints]
+arraysize=pixelCoords:numPixelCoords,realCoords:numRealCoords
+[GetCameraParametersReport]
+#TODO: projectionMatrix:projectionMatrixRows*projectionMatrixCols
+exclude_members=projectionMatrix
+[GetCalibrationInfoReport]
+#TODO: errorMap:errorMapRows*errorMapCols
+exclude_members=errorMap
+[ContourFitSplineReport]
+arraysize=points:numberOfPoints
+[ContourFitPolynomialReport]
+arraysize=bestFit:numberOfPoints,polynomialCoefficients:numberOfCoefficients
+[SetupMatchPatternData]
+arraysize=matchSetupData:numMatchSetupData
+[ContourInfoReport]
+arraysize=pointsPixel:numPointsPixel,pointsReal:numPointsReal,curvaturePixel:numCurvaturePixel,curvatureReal:numCurvatureReal
+[SupervisedColorSegmentationReport]
+arraysize=labelOut:numLabelOut
+[LabelToROIReport]
+arraysize=roiArray:numOfROIs,labelsOutArray:numOfLabels,isTooManyVectorsArray:isTooManyVectorsArraySize
+[ClassifiedCurve]
+arraysize=curvePoints:numCurvePoints
+[CurvatureAnalysisReport]
+arraysize=curves:numCurves
+[ComputeDistancesReport]
+arraysize=distances:numDistances,distancesReal:numDistancesReal
+[ClassifiedDisparity]
+arraysize=templateSubsection:numTemplateSubsection,targetSubsection:numTargetSubsection
+[ClassifyDistancesReport]
+arraysize=classifiedDistances:numClassifiedDistances
+[ContourComputeCurvatureReport]
+arraysize=curvaturePixel:numCurvaturePixel,curvatureReal:numCurvatureReal
+[ExtractContourReport]
+arraysize=contourPoints:numContourPoints,sourcePoints:numSourcePoints
+[ExtractTextureFeaturesReport]
+arraysize=waveletBands:numWaveletBands
+#TODO: textureFeatures:textureFeaturesRows:textureFeaturesCols
+exclude_members=textureFeatures
+[WaveletBandsReport]
+#TODO: LLBand:rows:cols
+#TODO: LHBand:rows:cols
+#TODO: HLBand:rows:cols
+#TODO: HHBand:rows:cols
+#TODO: LLLBand:rows:cols
+#TODO: LLHBand:rows:cols
+#TODO: LHHBand:rows:cols
+exclude_members=LLBand,LHBand,HLBand,HHBand,LLLBand,LLHBand,LHHBand
+[MeasureParticlesReport]
+#TODO: pixelMeasurements:numParticles:numMeasurements
+#TODO: calibratedMeasurements:numParticles:numMeasurements
+exclude_members=pixelMeasurements,calibratedMeasurements
+[ClassifierReportAdvanced]
+arraysize=allScores:allScoresSize,sampleScores:sampleScoresSize
+[FindEdgeReport]
+arraysize=straightEdges:numStraightEdges
+[ReadTextReport3]
+arraysize=characterReport:numCharacterReports
+[EdgeReport2]
+arraysize=edges:numEdges,gradientInfo:numGradientInfo
+[ConcentricRakeReport2]
+arraysize=firstEdges:numFirstEdges,lastEdges:numLastEdges,searchArcs:numSearchArcs
+[SpokeReport2]
+arraysize=firstEdges:numFirstEdges,lastEdges:numLastEdges,searchLines:numSearchLines
+[RakeReport2]
+arraysize=firstEdges:numFirstEdges,lastEdges:numLastEdges,searchLines:numSearchLines
+[QRCodeDataToken]
+arraysize=data:dataLength
+[StraightEdgeReport2]
+arraysize=straightEdges:numStraightEdges,searchLines:numSearchLines
+[StraightEdge]
+arraysize=usedEdges:numUsedEdges
+[QRCodeReport]
+arraysize=data:dataLength,tokenizedData:sizeOfTokenizedData
+[DataMatrixReport]
+arraysize=data:dataLength
+[ReadTextReport2]
+arraysize=characterReport:numCharacterReports
+[FeatureData]
+arraysize=contourPoints:numContourPoints
+uniontype=feature:type:IMAQ_CIRCLE_FEATURE=circle:IMAQ_ELLIPSE_FEATURE=ellipse:IMAQ_CONST_CURVE_FEATURE=constCurve:IMAQ_RECTANGLE_FEATURE=rectangle:IMAQ_LEG_FEATURE=leg:IMAQ_CORNER_FEATURE=corner:IMAQ_PARALLEL_LINE_PAIR_FEATURE=parallelLinePair:IMAQ_PAIR_OF_PARALLEL_LINE_PAIRS_FEATURE=pairOfParallelLinePairs:IMAQ_LINE_FEATURE=line:IMAQ_CLOSED_CURVE_FEATURE=closedCurve
+[GeometricPatternMatch2]
+arraysize=featureData:numFeatureData
+[ShapeDetectionOptions]
+arraysize=angleRanges:numAngleRanges
+[Curve]
+arraysize=points:numPoints
+[Barcode2DInfo]
+arraysize=data:dataLength
+[ClassifierAccuracyReport]
+arraysize=classNames:size,classAccuracy:size,classPredictiveValue:size
+#TODO: classificationDistribution:classPredictiveValue:size
+exclude_members=classificationDistribution
+[NearestNeighborTrainingReport]
+arraysize=allScores:allScoresSize
+#TODO: classDistancesTable
+exclude_members=classDistancesTable
+[ClassifierSampleInfo]
+arraysize=featureVector:featureVectorSize
+[ClassifierReport]
+arraysize=allScores:allScoresSize
+[MatchGeometricPatternOptions]
+arraysize=angleRanges:numAngleRanges
+[ConstructROIOptions2]
+arraysize=palette:numColors
+[BestEllipse2]
+arraysize=pointsUsed:numPointsUsed
+[BestCircle2]
+arraysize=pointsUsed:numPointsUsed
+[ReadTextOptions]
+arraysize=validChars:numValidChars
+[ReadTextReport]
+arraysize=characterReport:numCharacterReports
+[EdgeLocationReport]
+arraysize=edges:numEdges
+[ImageInfo]
+#TODO: imageStart
+exclude_members=reserved0,reserved1,imageStart
+[LCDReport]
+arraysize=segmentInfo:numCharacters
+exclude_members=reserved
+[LCDSegments]
+exclude_members=reserved
+[LearnColorPatternOptions]
+arraysize=colorsToIgnore:numColorsToIgnore
+[LinearAverages]
+arraysize=columnAverages:columnCount,rowAverages:rowCount,risingDiagAverages:risingDiagCount,fallingDiagAverages:fallingDiagCount
+[LineProfile]
+arraysize=profileData:dataCount
+[MatchColorPatternOptions]
+arraysize=angleRanges:numRanges
+[HistogramReport]
+arraysize=histogram:histogramCount
+[BestLine]
+arraysize=pointsUsed:numPointsUsed
+[CalibrationInfo]
+#TODO: errorMap:mapColumns*mapRows
+exclude_members=errorMap
+[CalibrationPoints]
+arraysize=pixelCoordinates:numCoordinates,realWorldCoordinates:numCoordinates
+[CaliperReport]
+exclude_members=reserved
+[ClosedContour]
+arraysize=points:numPoints
+[ColorInformation]
+arraysize=info:infoCount
+[ConcentricRakeReport]
+arraysize=rakeArcs:numArcs,firstEdges:numFirstEdges,lastEdges:numLastEdges,allEdges:numLinesWithEdges,linesWithEdges:numLinesWithEdges
+[ConstructROIOptions]
+arraysize=palette:numColors
+[ContourInfo]
+arraysize=points:numPoints
+[ContourInfo2]
+uniontype=structure:type:IMAQ_POINT=point:IMAQ_LINE=line:IMAQ_RECT=rect:IMAQ_OVAL=ovalBoundingBox:IMAQ_CLOSED_CONTOUR=closedContour:IMAQ_OPEN_CONTOUR=openContour:IMAQ_ANNULUS=annulus:IMAQ_ROTATED_RECT=rotatedRect
+[UserPointSymbol]
+#TODO: pixels:cols*rows
+exclude_members=pixels
+[MatchPatternOptions]
+arraysize=angleRanges:numRanges
+[OpenContour]
+arraysize=points:numPoints
+[QuantifyReport]
+arraysize=regions:regionCount
+[RakeReport]
+arraysize=rakeLines:numRakeLines,firstEdges:numFirstEdges,lastEdges:numLastEdges,allEdges:numLinesWithEdges,linesWithEdges:numLinesWithEdges
+[TransformReport]
+arraysize=points:numPoints,validPoints:numPoints
+[MeterArc]
+arraysize=arcCoordPoints:numOfArcCoordPoints
+[StructuringElement]
+#TODO: arraysize=kernel:matrixRows*matrixCols
+exclude_members=kernel
+[SpokeReport]
+arraysize=spokeLines:numSpokeLines,firstEdges:numFirstEdges,lastEdges:numLastEdges,allEdges:numLinesWithEdges,linesWithEdges:numLinesWithEdges
+[ToolWindowOptions]
+exclude_members=reserved2,reserved3,reserved4
+[EventCallback]
+exclude=True
+
+; Logical functions
+; TODO: constant versions
+[imaqAndConstant]
+exclude=True
+[imaqCompareConstant]
+exclude=True
+[imaqLogicalDifferenceConstant]
+exclude=True
+[imaqNandConstant]
+exclude=True
+[imaqNorConstant]
+exclude=True
+[imaqOrConstant]
+exclude=True
+[imaqXnorConstant]
+exclude=True
+[imaqXorConstant]
+exclude=True
+
+; Arithmetic functions
+; TODO: constant versions
+[imaqAbsoluteDifferenceConstant]
+exclude=True
+[imaqAddConstant]
+exclude=True
+[imaqAverageConstant]
+exclude=True
+[imaqDivideConstant2]
+exclude=True
+[imaqMaxConstant2]
+exclude=True
+[imaqMinConstant]
+exclude=True
+[imaqModuloConstant]
+exclude=True
+[imaqMultiplyConstant]
+exclude=True
+[imaqSubtractConstant]
+exclude=True
+
+; Particle Analysis functions
+[imaqCountParticles]
+outparams=numParticles
+[imaqMeasureParticle]
+outparams=value
+[imaqMeasureParticles]
+arraysize=measurements:numMeasurements
+[imaqParticleFilter4]
+arraysize=criteria:criteriaCount
+outparams=numParticles
+
+; Morphology functions
+[imaqFindCircles]
+retarraysize=numCircles
+[imaqLabel2]
+outparams=particleCount
+[imaqMorphology]
+nullok=structuringElement
+[imaqSeparation]
+nullok=structuringElement
+[imaqSimpleDistance]
+nullok=structuringElement
+[imaqSizeFilter]
+nullok=structuringElement
+
+; Acquisition functions
+[imaqCopyFromRing]
+nullok=image,imageNumber
+outparams=imageNumber
+retref=image
+[imaqExtractFromRing]
+nullok=imageNumber
+outparams=imageNumber
+retunowned=True
+[imaqGrab]
+nullok=image
+retref=image
+[imaqSetupRing]
+arraysize=images:numImages
+inparams=images
+[imaqSetupSequence]
+arraysize=images:numImages
+inparams=images
+[imaqSnap]
+nullok=image
+retref=image
+
+; Caliper functions
+[imaqCaliperTool]
+retarraysize=numEdgePairs
+arraysize=points:numPoints
+[imaqDetectExtremes]
+retarraysize=numExtremes
+arraysize=pixels:numPixels
+[imaqFindTransformRect2]
+outparams=baseSystem,newSystem,axisReport
+[imaqFindTransformRects2]
+outparams=baseSystem,newSystem,axisReport
+[imaqSimpleEdge]
+retarraysize=numEdges
+arraysize=points:numPoints
+
+; Spatial Filters functions
+[imaqCannyEdgeFilter]
+nullok=options
+[imaqConvolve2]
+inparams=kernel
+exclude=True
+[imaqEdgeFilter]
+nullok=mask
+[imaqLowPass]
+nullok=mask
+[imaqMedianFilter]
+nullok=mask
+[imaqNthOrderFilter]
+nullok=mask
+
+; Drawing functions
+[imaqDrawTextOnImage]
+nullok=options,fontNameUsed
+
+; Interlacing functions
+[imaqInterlaceSeparate]
+nullok=odd,even
+
+; Image Information functions
+[imaqEnumerateCustomKeys]
+retarraysize=size
+[imaqGetImageSize]
+nullok=width,height
+[imaqGetPixelAddress]
+underscored=True
+exclude=True
+[imaqReadCustomData]
+retsize=size
+retunowned=True
+[imaqWriteCustomData]
+size=data:size
+
+; Display functions
+[imaqGetLastKey]
+nullok=keyPressed,windowNumber,modifiers
+[imaqGetSystemWindowHandle]
+exclude=True
+[imaqGetWindowCenterPos]
+outparams=centerPosition
+
+; Image Manipulation functions
+[imaqCast]
+nullok=lookup
+exclude=True
+[imaqFlatten]
+retsize=size
+[imaqRotate2]
+# TODO because of PixelValue
+exclude=True
+[imaqShift]
+# TODO because of PixelValue
+exclude=True
+[imaqUnflatten]
+size=data:size
+
+; File I/O functions
+[imaqGetAVIInfo]
+outparams=info
+[imaqGetFileInfo]
+nullok=calibrationUnit,calibrationX,calibrationY,width,height,imageType
+[imaqGetFilterNames]
+retarraysize=numFilters
+[imaqLoadImagePopup]
+retarraysize=numPaths
+[imaqReadAVIFrame]
+size=data:dataSize
+# unclear whether dataSize is input or output parameter
+exclude=True
+[imaqReadFile]
+nullok=colorTable,numColors
+[imaqWriteAVIFrame]
+size=data:dataLength
+[imaqWriteBMPFile]
+nullok=colorTable
+defaults=colorTable:null
+[imaqWriteFile]
+nullok=colorTable
+defaults=colorTable:null
+[imaqWriteJPEGFile]
+nullok=colorTable
+defaults=colorTable:null
+inparams=colorTable
+[imaqWritePNGFile2]
+nullok=colorTable
+defaults=colorTable:null
+[imaqWriteTIFFFile]
+nullok=options,colorTable
+defaults=options:null,colorTable:null
+
+; Analytic Geometry functions
+[imaqBuildCoordinateSystem]
+outparams=system
+[imaqFitCircle2]
+arraysize=points:numPoints
+[imaqFitEllipse2]
+arraysize=points:numPoints
+[imaqFitLine]
+arraysize=points:numPoints
+[imaqGetBisectingLine]
+outparams=bisectStart,bisectEnd
+[imaqGetIntersection]
+outparams=intersection
+[imaqGetMidLine]
+outparams=midLineStart,midLineEnd
+[imaqGetPerpendicularLine]
+outparams=perpLineStart,perpLineEnd
+[imaqGetPointsOnContour]
+retarraysize=numSegments
+[imaqGetPointsOnLine]
+retarraysize=numPoints
+[imaqInterpolatePoints]
+retarraysize=interpCount
+arraysize=points:numPoints
+
+; Clipboard functions
+[imaqClipboardToImage]
+nullok=palette
+[imaqImageToClipboard]
+nullok=palette
+
+; Image Management functions
+[imaqCreateImage]
+defaults=borderSize:0
+[imaqImageToArray]
+nullok=columns,rows
+underscored=True
+exclude=True
+
+; Color Processing functions
+[imaqChangeColorSpace2]
+# TODO because of Color2
+exclude=True
+[imaqColorBCGTransform]
+nullok=redOptions,greenOptions,blueOptions,mask
+[imaqColorHistogram2]
+nullok=mask
+[imaqColorLookup]
+nullok=mask,plane1,plane2,plane3
+exclude=True
+[imaqColorThreshold]
+nullok=plane1Range,plane2Range,plane3Range
+
+; Transform functions
+[imaqBCGTransform]
+nullok=mask
+[imaqEqualize]
+nullok=mask
+[imaqInverse]
+nullok=mask
+[imaqMathTransform]
+nullok=mask
+[imaqLookup2]
+nullok=mask
+exclude=True
+
+; Window Management functions
+[imaqGetMousePos]
+nullok=position,windowNumber
+[imaqGetWindowBackground]
+outparams=backgroundColor
+[imaqGetWindowDisplayMapping]
+outparams=mapping
+[imaqGetWindowGrid]
+nullok=xResolution,yResolution
+[imaqGetWindowPos]
+outparams=position
+[imaqGetWindowSize]
+nullok=width,height
+[imaqSetWindowPalette]
+arraysize=palette:numColors
+nullok=palette
+
+; Utilities functions
+; Many Make* functions are faster in native Python
+[imaqGetKernel]
+exclude=True
+[imaqMakeAnnulus]
+exclude=True
+[imaqMakePoint]
+exclude=True
+[imaqMakePointFloat]
+exclude=True
+[imaqMakeRect]
+exclude=True
+[imaqMakeRectFromRotatedRect]
+exclude=True
+[imaqMakeRotatedRect]
+exclude=True
+[imaqMakeRotatedRectFromRect]
+exclude=True
+[imaqMulticoreOptions]
+underscored=True
+
+; Tool Window functions
+[imaqGetLastEvent]
+nullok=windowNumber,tool,rect
+outparams=type,tool,rect
+[imaqGetToolWindowHandle]
+exclude=True
+[imaqGetToolWindowPos]
+outparams=position
+[imaqSetEventCallback]
+exclude=True
+[imaqSetupToolWindow]
+nullok=options
+
+; Meter functions
+[imaqReadMeter]
+outparams=endOfNeedle
+
+; Calibration functions
+[imaqCorrectCalibratedImage]
+# TODO because of PixelValue
+exclude=True
+[imaqTransformPixelToRealWorld]
+arraysize=pixelCoordinates:numCoordinates
+[imaqTransformRealWorldToPixel]
+arraysize=realWorldCoordinates:numCoordinates
+
+; Pixel Manipulation functions
+[imaqArrayToComplexPlane]
+exclude=True
+[imaqComplexPlaneToArray]
+nullok=columns,rows
+underscored=True
+exclude=True
+[imaqExtractColorPlanes]
+nullok=plane1,plane2,plane3
+[imaqFillImage]
+nullok=mask
+# TODO because of PixelValue
+exclude=True
+[imaqGetLine]
+nullok=numPoints
+underscored=True
+exclude=True
+[imaqGetPixel]
+outparams=value
+# TODO because of PixelValue
+exclude=True
+[imaqReplaceColorPlanes]
+nullok=plane1,plane2,plane3
+[imaqSetLine]
+underscored=True
+exclude=True
+[imaqSetPixel]
+# TODO because of PixelValue
+exclude=True
+
+; Color Matching functions
+[imaqLearnColor]
+nullok=roi
+[imaqMatchColor]
+retarraysize=numScores
+nullok=roi
+
+; Barcode I/O functions
+[imaqGradeDataMatrixBarcodeAIM]
+outparams=report
+[imaqReadBarcode]
+nullok=roi
+[imaqReadPDF417Barcode]
+retarraysize=numBarcodes
+[imaqReadQRCode]
+defaults=reserved:IMAQ_QR_NO_GRADING
+
+; LCD functions
+[imaqFindLCDSegments]
+nullok=options
+[imaqReadLCD]
+nullok=options
+
+; Shape Matching functions
+[imaqMatchShape]
+retarraysize=numMatches
+
+; Contours functions
+[imaqAddClosedContour]
+arraysize=points:numPoints
+[imaqAddOpenContour]
+arraysize=points:numPoints
+[imaqGetContourColor]
+outparams=contourColor
+
+; Regions of Interest functions
+[imaqGetROIBoundingBox]
+outparams=boundingBox
+[imaqGetROIColor]
+outparams=roiColor
+[imaqSetWindowROI]
+nullok=roi
+
+; Image Analysis functions
+[imaqExtractCurves]
+retarraysize=numCurves
+[imaqHistogram]
+nullok=mask
+[imaqQuantify]
+nullok=mask
+
+; Error Management functions
+[imaqClearError]
+exclude=True
+[imaqGetErrorText]
+exclude=True
+[imaqGetLastError]
+exclude=True
+[imaqGetLastErrorFunc]
+exclude=True
+[imaqSetError]
+nullok=function
+exclude=True
+
+; Threshold functions
+[imaqMultithreshold]
+arraysize=ranges:numRanges
+
+; Memory Management functions
+[imaqDispose]
+# This is done as a full-custom function
+exclude=True
+
+; Pattern Matching functions
+[imaqDetectCircles]
+retarraysize=numMatchesReturned
+[imaqDetectEllipses]
+retarraysize=numMatchesReturned
+[imaqDetectLines]
+retarraysize=numMatchesReturned
+[imaqDetectRectangles]
+retarraysize=numMatchesReturned
+[imaqGetGeometricFeaturesFromCurves]
+retarraysize=numFeatures
+arraysize=curves:numCurves,featureTypes:numFeatureTypes
+[imaqGetGeometricTemplateFeatureInfo]
+retarraysize=numFeatures
+[imaqLearnMultipleGeometricPatterns]
+arraysize=patterns:numberOfPatterns
+exclude=True
+[imaqMatchColorPattern]
+retarraysize=numMatches
+[imaqMatchGeometricPattern2]
+retarraysize=numMatches
+[imaqMatchMultipleGeometricPatterns]
+retarraysize=numMatches
+[imaqReadMultipleGeometricPatternFile]
+underscored=True
+[imaqRefineMatches]
+retarraysize=numCandidatesOut
+arraysize=candidatesIn:numCandidatesIn
+[imaqMatchGeometricPattern3]
+retarraysize=numMatches
+[imaqMatchPattern3]
+retarraysize=numMatches
+nullok=options
+
+; Overlay functions
+[imaqGetOverlayProperties]
+outparams=transformBehaviors
+[imaqMergeOverlay]
+arraysize=palette:numColors
+[imaqOverlayBitmap]
+underscored=True
+[imaqOverlayClosedContour]
+arraysize=points:numPoints
+[imaqOverlayOpenContour]
+arraysize=points:numPoints
+[imaqOverlayPoints]
+arraysize=points:numPoints,colors:numColors
+
+; OCR functions
+[imaqVerifyPatterns]
+arraysize=expectedPatterns:patternCount
+retarraysize=numScores
+[imaqVerifyText]
+retarraysize=numScores
+
+; Geometric Matching functions
+[imaqContourClassifyCurvature]
+arraysize=curvatureClasses:numCurvatureClasses
+[imaqContourClassifyDistances]
+arraysize=distanceRanges:numDistanceRanges
+[imaqContourSetupMatchPattern]
+arraysize=rangeSettings:numRangeSettings
+[imaqContourAdvancedSetupMatchPattern]
+arraysize=geometricOptions:numGeometricOptions
+
+; Morphology Reconstruction functions
+[imaqGrayMorphologyReconstruct]
+arraysize=points:numOfPoints
+[imaqMorphologyReconstruct]
+arraysize=points:numOfPoints
+
+; Texture functions
+[imaqClassificationTextureDefectOptions]
+exclude=True
+[imaqCooccurrenceMatrix]
+exclude=True
+[imaqExtractTextureFeatures]
+inparams=waveletBands
+exclude=True
+[imaqExtractWaveletBands]
+inparams=waveletBands
+exclude=True
+
+; Regions of Interest Manipulation functions
+[imaqMaskToROI]
+nullok=withinLimit
+[imaqROIToMask]
+nullok=imageModel,inSpace
+[imaqLabelToROI]
+arraysize=labelsIn:numLabelsIn
+
+; Morphology functions
+[imaqGrayMorphology]
+nullok=structuringElement
+
+; Classification functions
+[imaqAddClassifierSample]
+arraysize=featureVector:vectorSize
+[imaqAdvanceClassify]
+arraysize=featureVector:vectorSize
+[imaqClassify]
+arraysize=featureVector:vectorSize
+[imaqGetColorClassifierOptions]
+outparams=options
+[imaqGetNearestNeighborOptions]
+outparams=options
+;[imaqReadClassifierFile]
+;[imaqWriteClassifierFile]
+
+; Obsolete functions
+[imaqWritePNGFile]
+nullok=colorTable
+defaults=colorTable:null
+[imaqRotate]
+# TODO because of PixelValue
+exclude=True
+[imaqSelectParticles]
+retarraysize=selectedCount
+[imaqGetParticleInfo]
+retarraysize=reportCount
+[imaqEdgeTool]
+retarraysize=numEdges
+[imaqCircles]
+retarraysize=numCircles
+[imaqFitEllipse]
+arraysize=points:numPoints
+outparams=ellipse
+[imaqFitCircle]
+arraysize=points:numPoints
+outparams=circle
+[imaqChangeColorSpace]
+# TODO because of Color
+exclude=True
+[imaqMatchPattern]
+retarraysize=numMatches
+nullok=options
+[imaqLineGaugeTool]
+nullok=reference
+[imaqBestCircle]
+arraysize=points:numPoints
+outparams=center
+[imaqCoordinateReference]
+outparams=origin
+[imaqSetWindowOverlay]
+nullok=overlay
+[imaqGetCalibrationInfo]
+outparams=unit,xDistance,yDistance
+nullok=unit,xDistance,yDistance
+[imaqGetParticleClassifierOptions]
+outparams=preprocessingOptions,options
+[imaqConvolve]
+nullok=mask
+inparams=kernel
+exclude=True
+[imaqDivideConstant]
+# TODO because of PixelValue
+exclude=True
+[imaqLookup]
+nullok=mask
+exclude=True
+[imaqMatchPattern2]
+retarraysize=numMatches
+nullok=options
+[imaqMaxConstant]
+# TODO because of PixelValue
+exclude=True
+[imaqParticleFilter2]
+arraysize=criteria:criteriaCount
+[imaqEdgeTool2]
+retarraysize=numEdges
+[imaqReadDataMatrixBarcode]
+retarraysize=numBarcodes
+[imaqMatchGeometricPattern]
+retarraysize=numMatches
+[imaqColorHistogram]
+nullok=mask
+
+; block comment exclusion list
+[Block Comment]
+exclude=
+ Includes
+ Control Defines
+ Macros
+ This accomplishes said task.
+ If using Visual C++, force startup & shutdown code to run.
+ Error Management functions
+ Callback Function Type
+ Backwards Compatibility
+ Error Codes

wpilibj/wpilibJavaJNI/nivision/nivision_parse.py

@@ -0,0 +1,226 @@
+from __future__ import print_function
+import re
+import traceback
+
+__all__ = ["define_after_struct", "defined", "forward_structs", "opaque_structs", "enums", "structs", "prescan_file", "parse_file", "number_re", "constant_re"]
+
+# parser regular expressions
+number_re = re.compile(r'-?[0-9]+')
+constant_re = re.compile(r'[A-Z0-9_]+')
+define_re = re.compile(r'^#define\s+(?P<name>(IMAQ|ERR)[A-Z0-9_]+)\s+(?P<value>.*)')
+enum_re = re.compile(r'^typedef\s+enum\s+(?P<name>[A-Za-z0-9]+)_enum\s*{')
+enum_value_re = re.compile(r'^\s*(?P<name>[A-Za-z0-9_]+)\s*(=\s*(?P<value>-?[0-9A-Fx]+))?\s*,?')
+struct_re = re.compile(r'^typedef\s+struct\s+(?P<name>[A-Za-z0-9]+)_struct\s*{')
+union_re = re.compile(r'^typedef\s+union\s+(?P<name>[A-Za-z0-9]+)_union\s*{')
+func_pointer_re = re.compile(r'\s*(?P<restype>[A-Za-z0-9_*]+)\s*\(\s*[A-Za-z0-9_]*\s*[*]\s*(?P<name>[A-Za-z0-9_]+)\s*\)\s*\((?P<params>[^)]*)\)')
+static_const_re = re.compile(r'^static\s+const\s+(?P<type>[A-Za-z0-9_]+)\s+(?P<name>[A-Za-z0-9_]+)\s*=\s*(?P<value>[^;]+);')
+function_re = re.compile(r'^((IMAQ|NI)_FUNC\s+)?(?P<restype>(const\s+)?[A-Za-z0-9_*]+)\s+((IMAQ_STDCALL|NI_FUNC[C]?)\s+)?(?P<name>[A-Za-z0-9_]+)\s*\((?P<params>[^)]*)\);')
+
+# defines deferred until after structures
+define_after_struct = []
+defined = set()
+forward_structs = set()
+opaque_structs = set()
+enums = set()
+structs = set()
+
+def parse_cdecl(decl):
+    decl = " ".join(decl.split())
+    ctype, sep, name = decl.rpartition(' ')
+    # look for array[]
+    name, bracket, arr = name.partition('[')
+    if arr:
+        arr = arr[:-1]
+    else:
+        arr = None
+    return name, ctype, arr
+
+def split_comment(line):
+    if line.startswith('/*'):
+        return "", ""
+    parts = line.split('//', 1)
+    code = parts[0].strip()
+    comment = parts[1].strip() if len(parts) > 1 else None
+    return code, comment
+
+def prescan_file(f):
+    for line in f:
+        code, comment = split_comment(line)
+        if not code and not comment:
+            continue
+
+        # typedef struct {
+        m = struct_re.match(code)
+        if m is not None:
+            structs.add(m.group('name'))
+            continue
+
+        # other typedef
+        if code.startswith("typedef"):
+            if '(' in code:
+                continue
+            name, typedef, arr = parse_cdecl(code[8:-1])
+            if typedef.startswith("struct"):
+                forward_structs.add(name)
+            continue
+
+    opaque_structs.update(forward_structs - structs)
+
+def parse_file(emit, f, block_comment_exclude):
+    in_block_comment = False
+    cur_block = ""
+    in_enum = None
+    in_struct = None
+    in_union = None
+
+    for lineno, line in enumerate(f):
+        code, comment = split_comment(line)
+        if not code and not comment:
+            continue
+        #print(comment)
+
+        # in block comment
+        if in_block_comment:
+            if not code and comment is not None and comment[0] == '=':
+                # closing block comment; emit if not excluded
+                if cur_block not in block_comment_exclude:
+                    try:
+                        emit.block_comment(cur_block)
+                    except Exception as e:
+                        print("%d: exception in block_comment():\n%s" % (lineno+1, traceback.format_exc()))
+                in_block_comment = False
+                # emit "after struct" constants in Globals
+                if cur_block == "Globals":
+                    for dname, dtext in define_after_struct:
+                        try:
+                            emit.text(dtext)
+                        except Exception as e:
+                            print("%d: exception in text():\n%s" % (lineno+1, traceback.format_exc()))
+                        defined.add(dname)
+                continue
+            if not code and comment is not None:
+                # remember current block
+                cur_block = comment
+            continue
+
+        # inside enum
+        if in_enum is not None:
+            if code[0] == '}':
+                # closing
+                try:
+                    emit.enum(*in_enum)
+                except Exception as e:
+                    print("%d: exception in enum():\n%s" % (lineno+1, traceback.format_exc()))
+                in_enum = None
+                continue
+            m = enum_value_re.match(code)
+            if m is not None:
+                in_enum[1].append((m.group('name'), m.group('value'), comment))
+            continue
+
+        # inside struct/union
+        if in_struct is not None or in_union is not None:
+            if code[0] == '}':
+                # closing
+                if in_struct is not None:
+                    try:
+                        emit.struct(*in_struct)
+                    except Exception as e:
+                        print("%d: exception in struct(\"%s\"):\n%s" % (lineno+1, in_struct[0], traceback.format_exc()))
+                    in_struct = None
+                if in_union is not None:
+                    try:
+                        emit.union(*in_union)
+                    except Exception as e:
+                        print("%d: exception in union(\"%s\"):\n%s" % (lineno+1, in_union[0], traceback.format_exc()))
+                    in_union = None
+                continue
+            name, ctype, arr = parse_cdecl(code[:-1])
+            # add to fields
+            if in_struct is not None:
+                in_struct[1].append((name, ctype, arr, comment))
+            if in_union is not None:
+                in_union[1].append((name, ctype, arr, comment))
+            continue
+
+        # block comment
+        if not code and comment is not None and comment[0] == '=':
+            in_block_comment = True
+
+        # #define
+        m = define_re.match(code)
+        if m is not None:
+            try:
+                emit.define(m.group('name'), m.group('value').strip(), comment)
+            except Exception as e:
+                print("%d: exception in define():\n%s" % (lineno+1, traceback.format_exc()))
+            continue
+
+        # typedef enum {
+        m = enum_re.match(code)
+        if m is not None:
+            in_enum = (m.group('name'), [])
+            continue
+
+        # typedef struct {
+        m = struct_re.match(code)
+        if m is not None:
+            in_struct = (m.group('name'), [])
+            continue
+
+        # typedef union {
+        m = union_re.match(code)
+        if m is not None:
+            in_union = (m.group('name'), [])
+            continue
+
+        # other typedef
+        if code.startswith("typedef"):
+            # typedef function?
+            m = func_pointer_re.match(code[8:-1])
+            if m is not None:
+                params = [parse_cdecl(param.strip()) for param in m.group('params').strip().split(',') if param.strip()]
+                try:
+                    emit.typedef_function(m.group('name'), m.group('restype'), params)
+                except Exception as e:
+                    print("%d: exception in typedef_function():\n%s" % (lineno+1, traceback.format_exc()))
+                continue
+            if '(' in code:
+                print("Invalid typedef: %s" % code)
+                continue
+            emit.typedef(*parse_cdecl(code[8:-1]))
+            continue
+
+        # function
+        m = function_re.match(code)
+        if m is not None:
+            params = [parse_cdecl(param.strip()) for param in m.group('params').strip().split(',') if param.strip()]
+            try:
+                emit.function(m.group('name'), m.group('restype'), params)
+            except Exception as e:
+                print("%d: exception in function(\"%s\"):\n%s" % (lineno+1, m.group('name'), traceback.format_exc()))
+            continue
+
+        # static const
+        m = static_const_re.match(code)
+        if m is not None:
+            value = m.group('value')
+            if value[0] == '{':
+                value = [v.strip() for v in value[1:-1].strip().split(',') if v.strip()]
+            try:
+                emit.static_const(m.group('name'), m.group('type'), value)
+            except Exception as e:
+                print("%d: exception in static_const():\n%s" % (lineno+1, traceback.format_exc()))
+            continue
+
+        if not code or code[0] == '#':
+            continue
+
+        if not code or code[0] == '#':
+            continue
+
+        if code == 'extern "C" {' or code == "}":
+            continue
+
+        print("%d: Unrecognized: %s" % (lineno+1, code))
+

wpilibj/wpilibJavaJNI/swigTalon/README

@@ -7,3 +7,4 @@ bindings are checked into git, so that it should work until someone goes and upd
 In order for this to work, I had to change the CanTalonSRX constructor to take a int deviceNumber instead of a uint8_t.
 
 Also, in all the SWIGTYPE* files, you must change protected methods to public functions.
+Because the SWIGTYPE* files don't generally change, you can jsut do a git checkout -- SWIGTYPE* in wpilibJavaDevices/....../wpilibj/