Adding SFX to tools zip

Change-Id: I09a04506682a5d0ccbe8e556285de587915f7383

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/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=22
+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=22
+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

@@ -47,6 +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/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/ctre/CanTalonSRX.cpp

@@ -242,6 +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 );
@@ -566,6 +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){
@@ -866,9 +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)

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++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();
@@ -91,17 +100,41 @@ 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();
@@ -127,4 +160,12 @@ private:
   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/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);

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/src/CANTalon.cpp

@@ -21,10 +21,27 @@ CANTalon::CANTalon(int deviceNumber)
   , m_controlMode(kPercentVbus)
   , m_setPoint(0)
 {
-  SetControlMode(m_controlMode);
+  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;
@@ -203,6 +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.
@@ -243,6 +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)
@@ -256,7 +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) {
@@ -277,7 +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);
@@ -299,7 +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);
@@ -321,7 +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) {
@@ -332,7 +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.
@@ -340,14 +380,14 @@ 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;
 }
 
 /**
@@ -499,7 +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()
 {
@@ -510,7 +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.
@@ -835,7 +886,7 @@ uint32_t CANTalon::GetFirmwareVersion()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
-	usleep(1000);
+	usleep(kDelayForSolicitedSignalsUs);
 	status = m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers,firmwareVersion);
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -858,7 +909,7 @@ int CANTalon::GetIaccum()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
-	usleep(1000); /* small yield for getting response */
+	usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
 	int iaccum;
 	status = m_impl->GetParamResponseInt32(CanTalonSRX::ePidIaccum,iaccum);
 	if(status != CTR_OKAY) {
@@ -899,7 +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)
  */
@@ -975,6 +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;
 	}
 }
 
@@ -989,7 +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)
  */
@@ -1021,9 +1133,12 @@ void CANTalon::ConfigFaultTime(float faultTime)
 }
 
 /**
- * TODO documentation (see CANJaguar.cpp)
+ * 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::SetControlMode(CANSpeedController::ControlMode mode)
+void CANTalon::ApplyControlMode(CANSpeedController::ControlMode mode)
 {
   m_controlMode = mode;
   switch (mode) {
@@ -1052,6 +1167,17 @@ void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
 }
+/**
+ * TODO documentation (see CANJaguar.cpp)
+ */
+void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
+{
+  if(m_controlMode == mode){
+    /* we already are in this mode, don't perform disable workaround */
+  }else{
+    ApplyControlMode(mode);
+  }
+}
 
 /**
  * TODO documentation (see CANJaguar.cpp)

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

@@ -283,6 +283,24 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
  * @param stick The joystick to read.
  * @return The state of the buttons on the joystick.
  */
+uint32_t DriverStation::GetStickButtons(uint32_t stick)
+{
+	if (stick >= kJoystickPorts)
+	{
+		wpi_setWPIError(BadJoystickIndex);
+		return 0;
+	}
+
+	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)

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/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?

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/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) {
@@ -56,9 +55,27 @@ 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;
@@ -74,7 +91,17 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     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
@@ -223,11 +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();
@@ -235,7 +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.
@@ -260,7 +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.
@@ -320,19 +415,33 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
   public ControlMode getControlMode() {
     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;
     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;
@@ -350,7 +459,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
   /**
    * 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));
@@ -441,13 +550,21 @@ 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);
   }
-
+  /**
+   * 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.");
@@ -460,11 +577,12 @@ 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));
-    return CanTalonJNI.intp_value(fp);
+    double throttlePerMs = CanTalonJNI.intp_value(fp);
+	return throttlePerMs / 1023.0 * 12.0 * 1000.0;
   }
   /**
   * @return The version of the firmware running on the Talon
@@ -475,7 +593,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     m_impl.RequestParam(CanTalonSRX.param_t.eFirmVers);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long fp = CanTalonJNI.new_intp();
     m_impl.GetParamResponseInt32(CanTalonSRX.param_t.eFirmVers, new SWIGTYPE_p_int(fp, true));
@@ -487,13 +605,13 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     m_impl.RequestParam(CanTalonSRX.param_t.ePidIaccum);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    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.
 	 */
@@ -505,7 +623,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
    * 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);
@@ -515,7 +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);
@@ -525,7 +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);
@@ -535,7 +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);
@@ -550,7 +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);
@@ -563,11 +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);
   }
 
@@ -581,7 +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);
   }
 
@@ -594,14 +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.");
@@ -612,7 +729,7 @@ 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) {
@@ -662,15 +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);
   }
@@ -683,6 +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/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

@@ -289,6 +289,21 @@ public class DriverStation implements RobotState.Interface {
      * @param stick The joystick to read.
      * @return The state of the buttons on the joystick.
      */
+    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");

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/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/SerialPort.java

@@ -264,7 +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/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/NIVisionJNI.cpp

@@ -36,7 +36,7 @@ static void dxthrowJavaException(JNIEnv *env, IMAQdxError err) {
 
 extern "C" {
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1imaqDispose(JNIEnv* , jclass , jlong addr)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision_imaqDispose(JNIEnv* , jclass , jlong addr)
 {
     imaqDispose((void*)addr);
 }
@@ -4998,239 +4998,239 @@ JNIEXPORT jlong JNICALL Java_com_ni_vision_NIVision__1imaqRake(JNIEnv* env, jcla
  * Functions
  */
 
-/* J: void IMAQdxSnap(long id, Image image)
- * JN: void IMAQdxSnap(long id, long image)
+/* J: void IMAQdxSnap(int id, Image image)
+ * JN: void IMAQdxSnap(int id, long image)
  * C: IMAQdxError IMAQdxSnap(IMAQdxSession id, Image* image)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxSnap(JNIEnv* env, jclass , jlong id, jlong image)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxSnap(JNIEnv* env, jclass , jint id, jlong image)
 {
     IMAQdxError rv = IMAQdxSnap((IMAQdxSession)id, (Image*)image);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: void IMAQdxConfigureGrab(long id)
- * JN: void IMAQdxConfigureGrab(long id)
+/* J: void IMAQdxConfigureGrab(int id)
+ * JN: void IMAQdxConfigureGrab(int id)
  * C: IMAQdxError IMAQdxConfigureGrab(IMAQdxSession id)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxConfigureGrab(JNIEnv* env, jclass , jlong id)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxConfigureGrab(JNIEnv* env, jclass , jint id)
 {
     IMAQdxError rv = IMAQdxConfigureGrab((IMAQdxSession)id);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: long IMAQdxGrab(long id, Image image, long waitForNextBuffer)
- * JN: long IMAQdxGrab(long id, long image, long waitForNextBuffer, long actualBufferNumber)
+/* J: int IMAQdxGrab(int id, Image image, int waitForNextBuffer)
+ * JN: int IMAQdxGrab(int id, long image, int waitForNextBuffer, long actualBufferNumber)
  * C: IMAQdxError IMAQdxGrab(IMAQdxSession id, Image* image, bool32 waitForNextBuffer, uInt32* actualBufferNumber)
  */
 
-JNIEXPORT jlong JNICALL Java_com_ni_vision_NIVision__1IMAQdxGrab(JNIEnv* env, jclass , jlong id, jlong image, jlong waitForNextBuffer, jlong actualBufferNumber)
+JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxGrab(JNIEnv* env, jclass , jint id, jlong image, jint waitForNextBuffer, jlong actualBufferNumber)
 {
     IMAQdxError rv = IMAQdxGrab((IMAQdxSession)id, (Image*)image, (bool32)waitForNextBuffer, (uInt32*)actualBufferNumber);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
-    return (jlong)rv;
+    return (jint)rv;
 }
 
-/* J: void IMAQdxDiscoverEthernetCameras(String address, long timeout)
- * JN: void IMAQdxDiscoverEthernetCameras(long address, long timeout)
+/* J: void IMAQdxDiscoverEthernetCameras(String address, int timeout)
+ * JN: void IMAQdxDiscoverEthernetCameras(long address, int timeout)
  * C: IMAQdxError IMAQdxDiscoverEthernetCameras(const char* address, uInt32 timeout)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxDiscoverEthernetCameras(JNIEnv* env, jclass , jlong address, jlong timeout)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxDiscoverEthernetCameras(JNIEnv* env, jclass , jlong address, jint timeout)
 {
     IMAQdxError rv = IMAQdxDiscoverEthernetCameras((const char*)address, (uInt32)timeout);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: void IMAQdxResetCamera(String name, long resetAll)
- * JN: void IMAQdxResetCamera(long name, long resetAll)
+/* J: void IMAQdxResetCamera(String name, int resetAll)
+ * JN: void IMAQdxResetCamera(long name, int resetAll)
  * C: IMAQdxError IMAQdxResetCamera(const char* name, bool32 resetAll)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxResetCamera(JNIEnv* env, jclass , jlong name, jlong resetAll)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxResetCamera(JNIEnv* env, jclass , jlong name, jint resetAll)
 {
     IMAQdxError rv = IMAQdxResetCamera((const char*)name, (bool32)resetAll);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: long IMAQdxOpenCamera(String name, IMAQdxCameraControlMode mode)
- * JN: long IMAQdxOpenCamera(long name, int mode, long id)
+/* J: int IMAQdxOpenCamera(String name, IMAQdxCameraControlMode mode)
+ * JN: int IMAQdxOpenCamera(long name, int mode, long id)
  * C: IMAQdxError IMAQdxOpenCamera(const char* name, IMAQdxCameraControlMode mode, IMAQdxSession* id)
  */
 
-JNIEXPORT jlong JNICALL Java_com_ni_vision_NIVision__1IMAQdxOpenCamera(JNIEnv* env, jclass , jlong name, jint mode, jlong id)
+JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxOpenCamera(JNIEnv* env, jclass , jlong name, jint mode, jlong id)
 {
     IMAQdxError rv = IMAQdxOpenCamera((const char*)name, (IMAQdxCameraControlMode)mode, (IMAQdxSession*)id);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
-    return (jlong)rv;
+    return (jint)rv;
 }
 
-/* J: void IMAQdxCloseCamera(long id)
- * JN: void IMAQdxCloseCamera(long id)
+/* J: void IMAQdxCloseCamera(int id)
+ * JN: void IMAQdxCloseCamera(int id)
  * C: IMAQdxError IMAQdxCloseCamera(IMAQdxSession id)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxCloseCamera(JNIEnv* env, jclass , jlong id)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxCloseCamera(JNIEnv* env, jclass , jint id)
 {
     IMAQdxError rv = IMAQdxCloseCamera((IMAQdxSession)id);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: void IMAQdxConfigureAcquisition(long id, long continuous, long bufferCount)
- * JN: void IMAQdxConfigureAcquisition(long id, long continuous, long bufferCount)
+/* J: void IMAQdxConfigureAcquisition(int id, int continuous, int bufferCount)
+ * JN: void IMAQdxConfigureAcquisition(int id, int continuous, int bufferCount)
  * C: IMAQdxError IMAQdxConfigureAcquisition(IMAQdxSession id, bool32 continuous, uInt32 bufferCount)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxConfigureAcquisition(JNIEnv* env, jclass , jlong id, jlong continuous, jlong bufferCount)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxConfigureAcquisition(JNIEnv* env, jclass , jint id, jint continuous, jint bufferCount)
 {
     IMAQdxError rv = IMAQdxConfigureAcquisition((IMAQdxSession)id, (bool32)continuous, (uInt32)bufferCount);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: void IMAQdxStartAcquisition(long id)
- * JN: void IMAQdxStartAcquisition(long id)
+/* J: void IMAQdxStartAcquisition(int id)
+ * JN: void IMAQdxStartAcquisition(int id)
  * C: IMAQdxError IMAQdxStartAcquisition(IMAQdxSession id)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxStartAcquisition(JNIEnv* env, jclass , jlong id)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxStartAcquisition(JNIEnv* env, jclass , jint id)
 {
     IMAQdxError rv = IMAQdxStartAcquisition((IMAQdxSession)id);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: long IMAQdxGetImage(long id, Image image, IMAQdxBufferNumberMode mode, long desiredBufferNumber)
- * JN: long IMAQdxGetImage(long id, long image, int mode, long desiredBufferNumber, long actualBufferNumber)
+/* J: int IMAQdxGetImage(int id, Image image, IMAQdxBufferNumberMode mode, int desiredBufferNumber)
+ * JN: int IMAQdxGetImage(int id, long image, int mode, int desiredBufferNumber, long actualBufferNumber)
  * C: IMAQdxError IMAQdxGetImage(IMAQdxSession id, Image* image, IMAQdxBufferNumberMode mode, uInt32 desiredBufferNumber, uInt32* actualBufferNumber)
  */
 
-JNIEXPORT jlong JNICALL Java_com_ni_vision_NIVision__1IMAQdxGetImage(JNIEnv* env, jclass , jlong id, jlong image, jint mode, jlong desiredBufferNumber, jlong actualBufferNumber)
+JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxGetImage(JNIEnv* env, jclass , jint id, jlong image, jint mode, jint desiredBufferNumber, jlong actualBufferNumber)
 {
     IMAQdxError rv = IMAQdxGetImage((IMAQdxSession)id, (Image*)image, (IMAQdxBufferNumberMode)mode, (uInt32)desiredBufferNumber, (uInt32*)actualBufferNumber);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
-    return (jlong)rv;
+    return (jint)rv;
 }
 
-/* J: void IMAQdxStopAcquisition(long id)
- * JN: void IMAQdxStopAcquisition(long id)
+/* J: void IMAQdxStopAcquisition(int id)
+ * JN: void IMAQdxStopAcquisition(int id)
  * C: IMAQdxError IMAQdxStopAcquisition(IMAQdxSession id)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxStopAcquisition(JNIEnv* env, jclass , jlong id)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxStopAcquisition(JNIEnv* env, jclass , jint id)
 {
     IMAQdxError rv = IMAQdxStopAcquisition((IMAQdxSession)id);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: void IMAQdxUnconfigureAcquisition(long id)
- * JN: void IMAQdxUnconfigureAcquisition(long id)
+/* J: void IMAQdxUnconfigureAcquisition(int id)
+ * JN: void IMAQdxUnconfigureAcquisition(int id)
  * C: IMAQdxError IMAQdxUnconfigureAcquisition(IMAQdxSession id)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxUnconfigureAcquisition(JNIEnv* env, jclass , jlong id)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxUnconfigureAcquisition(JNIEnv* env, jclass , jint id)
 {
     IMAQdxError rv = IMAQdxUnconfigureAcquisition((IMAQdxSession)id);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: IMAQdxAttributeType IMAQdxGetAttributeType(long id, String name)
- * JN: int IMAQdxGetAttributeType(long id, long name, long type)
+/* J: IMAQdxAttributeType IMAQdxGetAttributeType(int id, String name)
+ * JN: int IMAQdxGetAttributeType(int id, long name, long type)
  * C: IMAQdxError IMAQdxGetAttributeType(IMAQdxSession id, const char* name, IMAQdxAttributeType* type)
  */
 
-JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxGetAttributeType(JNIEnv* env, jclass , jlong id, jlong name, jlong type)
+JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxGetAttributeType(JNIEnv* env, jclass , jint id, jlong name, jlong type)
 {
     IMAQdxError rv = IMAQdxGetAttributeType((IMAQdxSession)id, (const char*)name, (IMAQdxAttributeType*)type);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
     return (jint)rv;
 }
 
-/* J: long IMAQdxIsAttributeReadable(long id, String name)
- * JN: long IMAQdxIsAttributeReadable(long id, long name, long readable)
+/* J: int IMAQdxIsAttributeReadable(int id, String name)
+ * JN: int IMAQdxIsAttributeReadable(int id, long name, long readable)
  * C: IMAQdxError IMAQdxIsAttributeReadable(IMAQdxSession id, const char* name, bool32* readable)
  */
 
-JNIEXPORT jlong JNICALL Java_com_ni_vision_NIVision__1IMAQdxIsAttributeReadable(JNIEnv* env, jclass , jlong id, jlong name, jlong readable)
+JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxIsAttributeReadable(JNIEnv* env, jclass , jint id, jlong name, jlong readable)
 {
     IMAQdxError rv = IMAQdxIsAttributeReadable((IMAQdxSession)id, (const char*)name, (bool32*)readable);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
-    return (jlong)rv;
+    return (jint)rv;
 }
 
-/* J: long IMAQdxIsAttributeWritable(long id, String name)
- * JN: long IMAQdxIsAttributeWritable(long id, long name, long writable)
+/* J: int IMAQdxIsAttributeWritable(int id, String name)
+ * JN: int IMAQdxIsAttributeWritable(int id, long name, long writable)
  * C: IMAQdxError IMAQdxIsAttributeWritable(IMAQdxSession id, const char* name, bool32* writable)
  */
 
-JNIEXPORT jlong JNICALL Java_com_ni_vision_NIVision__1IMAQdxIsAttributeWritable(JNIEnv* env, jclass , jlong id, jlong name, jlong writable)
+JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxIsAttributeWritable(JNIEnv* env, jclass , jint id, jlong name, jlong writable)
 {
     IMAQdxError rv = IMAQdxIsAttributeWritable((IMAQdxSession)id, (const char*)name, (bool32*)writable);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
-    return (jlong)rv;
+    return (jint)rv;
 }
 
-/* J: void IMAQdxWriteRegister(long id, long offset, long value)
- * JN: void IMAQdxWriteRegister(long id, long offset, long value)
+/* J: void IMAQdxWriteRegister(int id, int offset, int value)
+ * JN: void IMAQdxWriteRegister(int id, int offset, int value)
  * C: IMAQdxError IMAQdxWriteRegister(IMAQdxSession id, uInt32 offset, uInt32 value)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxWriteRegister(JNIEnv* env, jclass , jlong id, jlong offset, jlong value)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxWriteRegister(JNIEnv* env, jclass , jint id, jint offset, jint value)
 {
     IMAQdxError rv = IMAQdxWriteRegister((IMAQdxSession)id, (uInt32)offset, (uInt32)value);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: long IMAQdxReadRegister(long id, long offset)
- * JN: long IMAQdxReadRegister(long id, long offset, long value)
+/* J: int IMAQdxReadRegister(int id, int offset)
+ * JN: int IMAQdxReadRegister(int id, int offset, long value)
  * C: IMAQdxError IMAQdxReadRegister(IMAQdxSession id, uInt32 offset, uInt32* value)
  */
 
-JNIEXPORT jlong JNICALL Java_com_ni_vision_NIVision__1IMAQdxReadRegister(JNIEnv* env, jclass , jlong id, jlong offset, jlong value)
+JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxReadRegister(JNIEnv* env, jclass , jint id, jint offset, jlong value)
 {
     IMAQdxError rv = IMAQdxReadRegister((IMAQdxSession)id, (uInt32)offset, (uInt32*)value);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
-    return (jlong)rv;
+    return (jint)rv;
 }
 
-/* J: void IMAQdxWriteAttributes(long id, String filename)
- * JN: void IMAQdxWriteAttributes(long id, long filename)
+/* J: void IMAQdxWriteAttributes(int id, String filename)
+ * JN: void IMAQdxWriteAttributes(int id, long filename)
  * C: IMAQdxError IMAQdxWriteAttributes(IMAQdxSession id, const char* filename)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxWriteAttributes(JNIEnv* env, jclass , jlong id, jlong filename)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxWriteAttributes(JNIEnv* env, jclass , jint id, jlong filename)
 {
     IMAQdxError rv = IMAQdxWriteAttributes((IMAQdxSession)id, (const char*)filename);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: void IMAQdxReadAttributes(long id, String filename)
- * JN: void IMAQdxReadAttributes(long id, long filename)
+/* J: void IMAQdxReadAttributes(int id, String filename)
+ * JN: void IMAQdxReadAttributes(int id, long filename)
  * C: IMAQdxError IMAQdxReadAttributes(IMAQdxSession id, const char* filename)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxReadAttributes(JNIEnv* env, jclass , jlong id, jlong filename)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxReadAttributes(JNIEnv* env, jclass , jint id, jlong filename)
 {
     IMAQdxError rv = IMAQdxReadAttributes((IMAQdxSession)id, (const char*)filename);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: void IMAQdxResetEthernetCameraAddress(String name, String address, String subnet, String gateway, long timeout)
- * JN: void IMAQdxResetEthernetCameraAddress(long name, long address, long subnet, long gateway, long timeout)
+/* J: void IMAQdxResetEthernetCameraAddress(String name, String address, String subnet, String gateway, int timeout)
+ * JN: void IMAQdxResetEthernetCameraAddress(long name, long address, long subnet, long gateway, int timeout)
  * C: IMAQdxError IMAQdxResetEthernetCameraAddress(const char* name, const char* address, const char* subnet, const char* gateway, uInt32 timeout)
  */
 
-JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxResetEthernetCameraAddress(JNIEnv* env, jclass , jlong name, jlong address, jlong subnet, jlong gateway, jlong timeout)
+JNIEXPORT void JNICALL Java_com_ni_vision_NIVision__1IMAQdxResetEthernetCameraAddress(JNIEnv* env, jclass , jlong name, jlong address, jlong subnet, jlong gateway, jint timeout)
 {
     IMAQdxError rv = IMAQdxResetEthernetCameraAddress((const char*)name, (const char*)address, (const char*)subnet, (const char*)gateway, (uInt32)timeout);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);
 }
 
-/* J: IMAQdxAttributeVisibility IMAQdxGetAttributeVisibility(long id, String name)
- * JN: int IMAQdxGetAttributeVisibility(long id, long name, long visibility)
+/* J: IMAQdxAttributeVisibility IMAQdxGetAttributeVisibility(int id, String name)
+ * JN: int IMAQdxGetAttributeVisibility(int id, long name, long visibility)
  * C: IMAQdxError IMAQdxGetAttributeVisibility(IMAQdxSession id, const char* name, IMAQdxAttributeVisibility* visibility)
  */
 
-JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxGetAttributeVisibility(JNIEnv* env, jclass , jlong id, jlong name, jlong visibility)
+JNIEXPORT jint JNICALL Java_com_ni_vision_NIVision__1IMAQdxGetAttributeVisibility(JNIEnv* env, jclass , jint id, jlong name, jlong visibility)
 {
     IMAQdxError rv = IMAQdxGetAttributeVisibility((IMAQdxSession)id, (const char*)name, (IMAQdxAttributeVisibility*)visibility);
     if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);

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_java.py

@@ -70,7 +70,7 @@ java_types_map = {
         ("unsigned int", None): JavaType("int", "int", "jint", "I"),
         ("uInt32", None): JavaType("int", "int", "jint", "I"),
         ("IMAQdxSession", None): JavaType("int", "int", "jint", "I"),
-        ("bool32", None): JavaType("boolean", "boolean", "jboolean", "Z"),
+        ("bool32", None): JavaType("int", "int", "jint", "I"),
         ("long", None): JavaType("long", "long", "jlong", "J"),
         ("unsigned long", None): JavaType("long", "long", "jlong", "J"),
         ("__int64", None): JavaType("long", "long", "jlong", "J"),
@@ -209,7 +209,7 @@ if ({size_fname} > 0 && {fname}_addr != 0) {{
 strzArrayEmitSized.addWriteBuf("{buftype} {fname}_buf")
 strzArrayEmitSized.addWriteBuf("{buftype}[] {fname}_bufs")
 strzArrayEmitSized.addWrite("""
-{fname}_buf = ByteBuffer.allocateDirect({fname}.length*{pointer_sz});
+{fname}_buf = ByteBuffer.allocateDirect({fname}.length*{pointer_sz}).order(ByteOrder.nativeOrder());
 for (int i=0, off=0; i<{fname}.length; i++, off += {pointer_sz}) {{
     if ({fname}[i] == null)
         putPointer({fname}_buf, off, 0);
@@ -263,7 +263,7 @@ strzArrayEmitUnsized.addRead("""
 strzArrayEmitUnsized.addWriteBuf("{buftype} {fname}_buf")
 strzArrayEmitUnsized.addWriteBuf("{buftype}[] {fname}_bufs")
 strzArrayEmitUnsized.addWrite("""
-{fname}_buf = ByteBuffer.allocateDirect(({fname}.length+1)*{pointer_sz});
+{fname}_buf = ByteBuffer.allocateDirect(({fname}.length+1)*{pointer_sz}).order(ByteOrder.nativeOrder());
 for (int i=0, off=0; i<{fname}.length; i++, off += {pointer_sz}) {{
     if ({fname}[i] == null)
         putPointer({fname}_buf, off, 0);
@@ -295,7 +295,7 @@ if ({size_fname} > 0 && {fname}_addr != 0) {{
 }}""" % (4, 4))
 enumArrayEmit.addWriteBuf("{buftype} {fname}_buf")
 enumArrayEmit.addWrite("""
-{fname}_buf = ByteBuffer.allocateDirect({fname}.length*%d);
+{fname}_buf = ByteBuffer.allocateDirect({fname}.length*%d).order(ByteOrder.nativeOrder());
 for (int i=0, off=0; i<{fname}.length; i++, off += %d) {{
     if ({fname} != null)
         {fname}_buf.putInt(off, {fname}[i].getValue());
@@ -316,7 +316,7 @@ if ({size_fname} > 0 && {fname}_addr != 0) {{
 }}""")
 opaqueArrayEmit.addWriteBuf("{buftype} {fname}_buf")
 opaqueArrayEmit.addWrite("""
-{fname}_buf = ByteBuffer.allocateDirect({fname}.length*{pointer_sz});
+{fname}_buf = ByteBuffer.allocateDirect({fname}.length*{pointer_sz}).order(ByteOrder.nativeOrder());
 for (int i=0, off=0; i<{fname}.length; i++, off += {pointer_sz}) {{
     putPointer({fname}_buf, off, {fname}[i]);
 }}""")
@@ -368,7 +368,7 @@ if ({size_fname} > 0 && {fname}_addr != 0) {{
 structArrayEmit.addWriteBuf("{buftype} {fname}_buf")
 # FIXME: This can be optimized for the read->write case.
 structArrayEmit.addWrite("""
-{fname}_buf = ByteBuffer.allocateDirect({fname}.length*{struct_sz});
+{fname}_buf = ByteBuffer.allocateDirect({fname}.length*{struct_sz}).order(ByteOrder.nativeOrder());
 for (int i=0, off=0; i<{fname}.length; i++, off += {struct_sz}) {{
     {fname}[i].setBuffer({fname}_buf, off);
     {fname}[i].write();
@@ -400,7 +400,7 @@ if ({size_fname} > 0 && {fname}_addr != 0) {{
 }}""")
 jtypeArrayEmit.addWriteBuf("ByteBuffer {fname}_buf")
 jtypeArrayEmit.addWrite("""
-{fname}_buf = ByteBuffer.allocateDirect({fname}.length*{struct_sz});
+{fname}_buf = ByteBuffer.allocateDirect({fname}.length*{struct_sz}).order(ByteOrder.nativeOrder());
 {fname}_buf.as{buftype}().put({fname}).rewind();""")
 jtypeArrayEmit.addBackingWrite("putPointer({backing}, {foffset}, {fname}_buf);")
 jtypeArrayEmit.toArg = "getByteBufferAddress({fname}_buf)"
@@ -1151,7 +1151,7 @@ static void dxthrowJavaException(JNIEnv *env, IMAQdxError err) {{
 
 extern "C" {{
 
-JNIEXPORT void JNICALL Java_{package}_{classname}__1imaqDispose(JNIEnv* , jclass , jlong addr)
+JNIEXPORT void JNICALL Java_{package}_{classname}_imaqDispose(JNIEnv* , jclass , jlong addr)
 {{
     imaqDispose((void*)addr);
 }}""".format(packagepath=self.package.replace(".", "/"),
@@ -1332,7 +1332,7 @@ JNIEXPORT void JNICALL Java_{package}_{classname}__1imaqDispose(JNIEnv* , jclass
             return
         elif typedef.startswith("union"):
             return
-        else:
+        elif (name, arr) not in java_types_map:
             java_types_map[(name, arr)] = c_to_jtype(typedef, arr).copy()
             if arr is None:
                 java_types_map[(name, "")] = c_to_jtype(typedef, "").copy()
@@ -1495,7 +1495,7 @@ JNIEXPORT void JNICALL Java_{package}_{classname}__1imaqDispose(JNIEnv* , jclass
                 jn_passedargs[fname] = fname
             elif jtype.jni_sig == "Ljava/lang/String;":
                 if jtype.string_array:
-                    jinit.append("ByteBuffer {fname}_buf = ByteBuffer.allocateDirect({array_size});".format(fname=fname, array_size=256))
+                    jinit.append("ByteBuffer {fname}_buf = ByteBuffer.allocateDirect({array_size}).order(ByteOrder.nativeOrder());".format(fname=fname, array_size=256))
                     jinit.extend(field["backing_write"])
                     jn_passedargs[fname] = "{fname} == null ? 0 : getByteBufferAddress({fname}_buf)".format(fname=fname)
                 else:
@@ -1511,7 +1511,7 @@ JNIEXPORT void JNICALL Java_{package}_{classname}__1imaqDispose(JNIEnv* , jclass
         #print(name, jrettype, outparams, retarraysize, retsize)
         if outparams or retarraysize or retsize:
             # create a return buffer (TODO: optimize size)
-            jinit.append("ByteBuffer rv_buf = ByteBuffer.allocateDirect(%d);" % ((len(outparams)+1)*8))
+            jinit.append("ByteBuffer rv_buf = ByteBuffer.allocateDirect(%d).order(ByteOrder.nativeOrder());" % ((len(outparams)+1)*8))
             jinit.append("long rv_addr = getByteBufferAddress(rv_buf);")
 
             # create a return structure