Added support for Jenkins to generate doxygen.

Change-Id: I2febfe42cc9301446f796376cfe8e1ef6744f19a

.gitignore

@@ -1,82 +1,21 @@
-# WPIlib Specific
-
 wpilibc/build/
 hal/build/
 networktables/cpp/build/
 build/
 networktables/OutlineViewer/nbproject/private
+*~
+target/
 dist/
 bin/
 .project
+.cproject
+.settings/
 .classpath
 **/dependency-reduced-pom.xml
 
-# Created by the jenkins test script
-test-reports
-
-# Added by the users of vagrant
-jdk-7u45-linux-arm-vfp-sflt.gz
-
-
-
-
-# Created by http://www.gitignore.io
-
-### Linux ###
-*~
-
-# KDE directory preferences
-.directory
-
-
-### Windows ###
-# Windows image file caches
-Thumbs.db
-ehthumbs.db
-
-# Folder config file
-Desktop.ini
-
-# Recycle Bin used on file shares
-$RECYCLE.BIN/
-
-# Windows Installer files
-*.cab
-*.msi
-*.msm
-*.msp
-
-
-### OSX ###
-.DS_Store
-.AppleDouble
-.LSOverride
-
-# Icon must end with two \r
-Icon
-
-
-# Thumbnails
-._*
-
-# Files that might appear on external disk
-.Spotlight-V100
-.Trashes
-
-# Directories potentially created on remote AFP share
-.AppleDB
-.AppleDesktop
-Network Trash Folder
-Temporary Items
-.apdisk
-
-
-### Java ###
+#Java File extentions
 *.class
 
-# Mobile Tools for Java (J2ME)
-.mtj.tmp/
-
 # Package Files #
 *.jar
 *.war
@@ -84,90 +23,3 @@ Temporary Items
 
 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
-
-
-### C++ ###
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Compiled Dynamic libraries
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-
-
-### Maven ###
-target/
-pom.xml.tag
-pom.xml.releaseBackup
-pom.xml.versionsBackup
-pom.xml.next
-release.properties
-
-
-### CMake ###
-CMakeCache.txt
-CMakeFiles
-cmake_install.cmake
-install_manifest.txt
-
-
-### Gradle ###
-.gradle
-build/
-
-# Ignore Gradle GUI config
-gradle-app.setting
-
-
-### Vagrant ###
-.vagrant/
-
-
-### Eclipse ###
-*.pydevproject
-.metadata
-.gradle
-bin/
-tmp/
-*.tmp
-*.bak
-*.swp
-*~.nib
-local.properties
-.settings/
-.loadpath
-
-# External tool builders
-.externalToolBuilders/
-
-# Locally stored "Eclipse launch configurations"
-*.launch
-
-# CDT-specific
-.cproject
-
-# PDT-specific
-.buildpath
-
-# sbteclipse plugin 
-.target
-
-# TeXlipse plugin
-.texlipse

Vagrantfile

@@ -1,125 +0,0 @@
-# -*- mode: ruby -*-
-# vi: set ft=ruby :
-
-# Vagrantfile API/syntax version. Don't touch unless you know what you're doing!
-VAGRANTFILE_API_VERSION = "2"
-
-Vagrant.configure(VAGRANTFILE_API_VERSION) do |config|
-  # All Vagrant configuration is done here. The most common configuration
-  # options are documented and commented below. For a complete reference,
-  # please see the online documentation at vagrantup.com.
-
-  # Every Vagrant virtual environment requires a box to build off of.
-  config.vm.box = "puphpet/ubuntu1404-x64"
-
-  # Run the bootstrap.sh shell script to setup the enviroment
-  config.vm.provision :shell, path: "bootstrap.sh"
-
-  # Disable automatic box update checking. If you disable this, then
-  # boxes will only be checked for updates when the user runs
-  # `vagrant box outdated`. This is not recommended.
-  # config.vm.box_check_update = false
-
-  # Create a forwarded port mapping which allows access to a specific port
-  # within the machine from a port on the host machine. In the example below,
-  # accessing "localhost:8080" will access port 80 on the guest machine.
-  # config.vm.network "forwarded_port", guest: 80, host: 8080
-
-  # Create a private network, which allows host-only access to the machine
-  # using a specific IP.
-  # config.vm.network "private_network", ip: "192.168.33.10"
-
-  # Create a public network, which generally matched to bridged network.
-  # Bridged networks make the machine appear as another physical device on
-  # your network.
-  config.vm.network "public_network", bridge: 'en0'
-
-  # If true, then any SSH connections made will enable agent forwarding.
-  # Default value: false
-  config.ssh.forward_agent = true
-
-  # Share an additional folder to the guest VM. The first argument is
-  # the path on the host to the actual folder. The second argument is
-  # the path on the guest to mount the folder. And the optional third
-  # argument is a set of non-required options.
-  # config.vm.synced_folder "../data", "/vagrant_data"
-
-  # Provider-specific configuration so you can fine-tune various
-  # backing providers for Vagrant. These expose provider-specific options.
-  # Example for VirtualBox:
-  #
-  # config.vm.provider "virtualbox" do |vb|
-  #   # Don't boot with headless mode
-  #   vb.gui = true
-  #
-  #   # Use VBoxManage to customize the VM. For example to change memory:
-  #   vb.customize ["modifyvm", :id, "--memory", "1024"]
-  # end
-  #
-  # View the documentation for the provider you're using for more
-  # information on available options.
-
-  # Enable provisioning with CFEngine. CFEngine Community packages are
-  # automatically installed. For example, configure the host as a
-  # policy server and optionally a policy file to run:
-  #
-  # config.vm.provision "cfengine" do |cf|
-  #   cf.am_policy_hub = true
-  #   # cf.run_file = "motd.cf"
-  # end
-  #
-  # You can also configure and bootstrap a client to an existing
-  # policy server:
-  #
-  # config.vm.provision "cfengine" do |cf|
-  #   cf.policy_server_address = "10.0.2.15"
-  # end
-
-  # Enable provisioning with Puppet stand alone.  Puppet manifests
-  # are contained in a directory path relative to this Vagrantfile.
-  # You will need to create the manifests directory and a manifest in
-  # the file default.pp in the manifests_path directory.
-  #
-  # config.vm.provision "puppet" do |puppet|
-  #   puppet.manifests_path = "manifests"
-  #   puppet.manifest_file  = "site.pp"
-  # end
-
-  # Enable provisioning with chef solo, specifying a cookbooks path, roles
-  # path, and data_bags path (all relative to this Vagrantfile), and adding
-  # some recipes and/or roles.
-  #
-  # config.vm.provision "chef_solo" do |chef|
-  #   chef.cookbooks_path = "../my-recipes/cookbooks"
-  #   chef.roles_path = "../my-recipes/roles"
-  #   chef.data_bags_path = "../my-recipes/data_bags"
-  #   chef.add_recipe "mysql"
-  #   chef.add_role "web"
-  #
-  #   # You may also specify custom JSON attributes:
-  #   chef.json = { mysql_password: "foo" }
-  # end
-
-  # Enable provisioning with chef server, specifying the chef server URL,
-  # and the path to the validation key (relative to this Vagrantfile).
-  #
-  # The Opscode Platform uses HTTPS. Substitute your organization for
-  # ORGNAME in the URL and validation key.
-  #
-  # If you have your own Chef Server, use the appropriate URL, which may be
-  # HTTP instead of HTTPS depending on your configuration. Also change the
-  # validation key to validation.pem.
-  #
-  # config.vm.provision "chef_client" do |chef|
-  #   chef.chef_server_url = "https://api.opscode.com/organizations/ORGNAME"
-  #   chef.validation_key_path = "ORGNAME-validator.pem"
-  # end
-  #
-  # If you're using the Opscode platform, your validator client is
-  # ORGNAME-validator, replacing ORGNAME with your organization name.
-  #
-  # If you have your own Chef Server, the default validation client name is
-  # chef-validator, unless you changed the configuration.
-  #
-  #   chef.validation_client_name = "ORGNAME-validator"
-end

bootstrap.sh

@@ -1,61 +0,0 @@
-#!/usr/bin/env bash
-
-# Update the apt-get repository list
-apt-get update
-
-
-# Download and install Java
-apt-get --yes --force-yes install default-jre
-apt-get --yes --force-yes install default-jdk
-
-
-# Install Maven
-apt-get --yes --force-yes install maven
-
-
-# Install git-review
-apt-get --yes --force-yes install python-pip
-apt-get --yes --force-yes install python-setuptools
-easy_install pip
-yes | pip install git-review
-
-
-# Download and install the gcc linux arm-toolchains
-# Get the 32 bit c library
-apt-get --yes --force-yes install libc6-i386
-# Download the tool to unzip .zip files
-apt-get --yes --force-yes install unzip
-# The variables associated with the toolchains
-TOOL_VER="1.0.1"
-TOOL_DIR=~/../home/vagrant/wpilib/toolchains
-# Create the toolchains directory
-mkdir -p $TOOL_DIR
-# Download the toolchains to this directory
-wget -P ${TOOL_DIR}/ http://first.wpi.edu/FRC/c/maven/edu/wpi/first/wpilib/plugins/cpp/toolchains/linux/${TOOL_VER}/linux-${TOOL_VER}.zip
-# Unzip the file
-unzip -q ${TOOL_DIR}/linux-${TOOL_VER}.zip -d ${TOOL_DIR}/
-# Remove the unneeded zip file
-rm ${TOOL_DIR}/linux-${TOOL_VER}.zip
-# Change the name of the directory
-mv -f $TOOL_DIR/linux-${TOOL_VER} ${TOOL_DIR}/arm-none-linux-gnueabi-4.4.1
-chown -R vagrant $TOOL_DIR/arm-none-linux-gnueabi-4.4.1
-# Add the arm toolchains to the path variable
-echo 'PATH=$PATH:/home/vagrant/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/' >> /home/vagrant/.bashrc
-
-
-# Install the jdk-linux-arm-vfp-sflt
-# Create the target directory for the jdk
-mkdir -p /home/vagrant/jdk-linux-arm-vfp-sflt/
-# Unzip the jdk into this new directory
-tar -xzf /vagrant/jdk-7u45-linux-arm-vfp-sflt.gz -C /home/vagrant/jdk-linux-arm-vfp-sflt/
-
-
-# Install sshpass for the test system
-apt-get --yes --force-yes install sshpass
-
-# Keep this at the end of this file
-printf "\n\n"
-printf "Your virtual enviroment is now nearly set-up.\n"
-printf "You can access your enviroment using 'vagrant ssh'.\n"
-printf "Please run 'cd /vagrant' to navigate to the repository.\n"
-printf "Once you have navigated there please run 'git review -s' to complete the setup of git review.\n"

cmake/run-cpp-tests.sh

@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+
+# Temporary method to deploy C++ integration tests to the RoboRIO
+
+if [ $(which sshpass) ]
+then
+	# Send stderr to /dev/null - the only thing printed to it is the login prompt
+	sshpass -p "" ssh admin@10.1.90.2 killall FRCUserProgram java 2> /dev/null
+	sshpass -p "" scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin 2> /dev/null
+	sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $* 2> /dev/null
+else
+	ssh admin@10.1.90.2 killall FRCUserProgram
+	scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
+	ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $*
+fi
+
+
+

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

@@ -35,7 +35,7 @@ public class NewProjectMainPage extends WizardPage {
 	private Text worldText;
 	private Button worldButton;
 
-	Button iterativeRobot, commandRobot, sampleRobot;
+	Button iterativeRobot, commandRobot;
 	private boolean showPackage;
 	private boolean showProjectTypes;
 	private TeamNumberPage teamNumberPage;
@@ -109,12 +109,6 @@ public class NewProjectMainPage extends WizardPage {
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			gd.widthHint = 300;
 			commandRobot.setLayoutData(gd);
-			
-			sampleRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
-			sampleRobot.setText("Sample Robot: A robot project used for small sample programs or for highly advanced programs with more complete control over program flow");
-			gd = new GridData(GridData.FILL_HORIZONTAL);
-			gd.widthHint = 300;
-			sampleRobot.setLayoutData(gd);
 		}
 
 		label = new Label(container, SWT.NULL);
@@ -220,7 +214,6 @@ public class NewProjectMainPage extends WizardPage {
 	public ProjectType getProjectType() {
 		if (!showProjectTypes) return null;
 		else if (iterativeRobot.getSelection()) return types.get(ProjectType.ITERATIVE);
-		else if (sampleRobot.getSelection()) return types.get(ProjectType.SAMPLE);
 		else return types.get(ProjectType.COMMAND_BASED);
 	}
 

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

@@ -4,7 +4,7 @@ import java.net.URL;
 import java.util.Map;
 
 public interface ProjectType {
-	String SAMPLE = "SAMPLE";
+	String SIMPLE = "SIMPLE";
 	String ITERATIVE = "ITERATIVE";
 	String COMMAND_BASED = "COMMAND_BASED";
 	

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

@@ -29,16 +29,17 @@
 								<option id="gnu.cpp.compiler.option.debugging.level.1682909384" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
 							        <option id="gnu.cpp.compiler.option.include.paths.1597382905" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
-								  <listOptionValue builtIn="false" value="&quot;$cpp-location/include&quot;"/>
+								  <listOptionValue builtIn="false" value="$cpp-location/include"/>
 							        </option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.963785380" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1367166630" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
 							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1568604896" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
 								<option id="gnu.cpp.link.option.paths.1928585110" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
-									<listOptionValue builtIn="false" value="&quot;$cpp-location/lib&quot;"/>
+									<listOptionValue builtIn="false" value="$cpp-location/lib"/>
 								</option>
 								<option id="gnu.cpp.link.option.libs.1072058280" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="WPILibAthena"/>
 									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="HALAthena"/>
@@ -154,7 +155,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
 									<listOptionValue builtIn="false" value="$cpp-location/sim/include"/>
 									<listOptionValue builtIn="false" value="/usr/include"/>
-									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.1"/>
+									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.0"/>
 									<listOptionValue builtIn="false" value="/usr/include/sdformat-2.0"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.optimization.level.1648211502" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>

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

@@ -2,7 +2,6 @@
 #define $classname_H
 
 #include "../CommandBase.h"
-#include "WPILib.h"
 
 class $classname: public CommandBase
 {

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

@@ -5,7 +5,6 @@
 #include "Commands/Command.h"
 #include "Subsystems/ExampleSubsystem.h"
 #include "OI.h"
-#include "WPILib.h"
 
 /**
  * The base for all commands. All atomic commands should subclass CommandBase.

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

@@ -2,7 +2,6 @@
 #define $classname_H
 
 #include "Commands/CommandGroup.h"
-#include "WPILib.h"
 
 class $classname: public CommandGroup
 {

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

@@ -2,7 +2,6 @@
 #define EXAMPLE_COMMAND_H
 
 #include "../CommandBase.h"
-#include "WPILib.h"
 
 class ExampleCommand: public CommandBase
 {

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

@@ -3,6 +3,9 @@
 #include "SmartDashboard/SmartDashboard.h"
 #include "LiveWindow/LiveWindow.h"
 
+#@autogenerated_code("pid", "")
+#parse("${exporter-path}PIDSubsystem-pid.cpp")
+#end
 $classname::$classname() :
 		PIDSubsystem("$classname", 1.0, 0.0, 0.0)
 {

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

@@ -1,7 +1,6 @@
 #ifndef ROBOTMAP_H
 #define ROBOTMAP_H
 
-#include "WPILib.h"
 
 /**
  * The RobotMap is a mapping from the ports sensors and actuators are wired into

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

@@ -1,12 +1,15 @@
-#include "$classname.h"
+// TODO: convert into C++ template
+#error "This is not a C++ file. I have no idea what this is doing here, so I'm leaving this message here to let someone else clean this up"
+import edu.wpi.first.wpilibj.command.Trigger;
 
-$classname::$classname()
+/**
+ * New and improved C++
+ */
+public class $classname extends Trigger
 {
-
+public:
+	bool get()
+	{
+		return false;
+	}
 }
-
-bool $classname::Get()
-{
-	return false;
-}
-

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

@@ -1,13 +1,9 @@
-#ifndef $classname_H
-#define $classname_H
+// TODO: convert into C++ template
+#error "This is not a C++ file. I have no idea what this is doing here, so I'm leaving this message here to let someone else clean this up"
+import edu.wpi.first.wpilibj.command.Trigger;
 
-#include "WPILib.h"
-
-class $classname: public Trigger
+public class $classname extends Trigger
 {
 public:
-	$classname();
-	bool Get();
-};
-
-#endif
+	bool get();
+}

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

@@ -26,6 +26,9 @@ DriveTrain::DriveTrain() : Subsystem("DriveTrain") {
 		right_encoder->SetDistancePerPulse((double) (4.0/12.0*M_PI) / 360.0);
 	#endif
 
+	left_encoder->Start();
+	right_encoder->Start();
+
 	rangefinder = new AnalogInput(6);
 	gyro = new Gyro(1);
 

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

@@ -1,6 +1,7 @@
 #ifndef DriveTrain_H
 #define DriveTrain_H
 
+#include "Commands/Subsystem.h"
 #include "WPILib.h"
 
 /**

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

@@ -1,59 +0,0 @@
-#include "WPILib.h"
-
-class Robot: public IterativeRobot
-{
-
-	RobotDrive myRobot; // robot drive system
-	Joystick stick; // only joystick
-	LiveWindow *lw;
-	int autoLoopCounter;
-
-public:
-	Robot() :
-		myRobot(0, 1),	// these must be initialized in the same order
-		stick(1),		// as they are declared above.
-		lw(NULL),
-		autoLoopCounter(0)
-	{
-		myRobot.SetExpiration(0.1);
-	}
-
-private:
-	void RobotInit()
-	{
-		lw = LiveWindow::GetInstance();
-	}
-
-	void AutonomousInit()
-	{
-		autoLoopCounter = 0;
-	}
-
-	void AutonomousPeriodic()
-	{
-		if(autoLoopCounter < 100) //Check if we've completed 100 loops (approximately 2 seconds)
-		{
-			myRobot.Drive(-0.5, 0.0); 	// drive forwards half speed
-			autoLoopCounter++;
-			} else {
-			myRobot.Drive(0.0, 0.0); 	// stop robot
-		}
-	}
-
-	void TeleopInit()
-	{
-
-	}
-
-	void TeleopPeriodic()
-	{
-		myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
-	}
-
-	void TestPeriodic()
-	{
-		lw->Run();
-	}
-};
-
-START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Network Table Counter/Robot.cpp

@@ -0,0 +1,24 @@
+#include <networktables/NetworkTable.h>
+#include <iostream>
+using namespace std;
+
+// This is a simple robot program
+int main()
+{
+	NetworkTable::SetServerMode();
+	NetworkTable::SetTeam(190);
+	NetworkTable* table = NetworkTable::GetTable("SmartDashboard");
+	cout << "Started up" << endl;
+
+	long i = 0;
+	while (true)
+	{
+		cout << i << endl;
+		table->PutNumber("i", i);
+		i++;
+
+		sleep(1);
+	}
+
+	return 0;
+}

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

@@ -9,7 +9,7 @@
  * points than get none. When called sequentially, this command will block until
  * the hot goal is detected or until it is timed out.
  */
-class CheckForHotGoal : public Command {
+class CheckForHotGoal : Command {
 public:
 	CheckForHotGoal(double time);
 	void Initialize();

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

@@ -6,7 +6,6 @@
 #include "Commands/SetPivotSetpoint.h"
 #include "Commands/DriveForward.h"
 #include "Commands/Shoot.h"
-#include "Commands/CheckForHotGoal.h"
 
 DriveAndShootAutonomous::DriveAndShootAutonomous() {
     AddSequential(new CloseClaw());

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

@@ -43,6 +43,8 @@ DriveTrain::DriveTrain() :
 		leftEncoder->SetDistancePerPulse((4.0/*in*/*M_PI)/(360.0*12.0/*in/ft*/));
 	#endif
 
+	rightEncoder->Start();
+	leftEncoder->Start();
 	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Right Encoder", rightEncoder);
 	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Left Encoder", leftEncoder);
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Simple Robot Example/Robot.java

@@ -0,0 +1,17 @@
+package $package;
+
+/**
+ * Simplest possible robot program
+ * 
+ * @author Team $team-number
+  */
+public class Robot {
+
+    /**
+     * @param args Input....
+     */
+    public static void main(String[] args) {
+    	// Do stuff here!
+    }
+
+}

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

@@ -1,6 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <examples>
-  <!-- TODO add back in when there are enough samples to justify tags
   <tagDescription>
     <name>Simple Robot</name>
     <description>Examples for simple robot programs.</description>
@@ -11,34 +10,47 @@
     variety of tasks such as sending and receiving values to both
     dashboards and co-processors.</description>
   </tagDescription>
-  <tagDescription>
-    <name>Simulation</name>
-    <description>Examples that can be run in simulation.</description>
-  </tagDescription>-->
-  <tagDescription>
-	<name>Getting Started with C++</name>
-	<description>Examples for getting started with FRC C++</description>
-  </tagDescription>
-  <example>
-	<name>Getting Started</name>
-	<description>An example program which demonstrates the simplest autonomous and
-	teleoperated routines.</description>
-	<tags>
-	  <tag>Getting Started with C++</tag>
-	</tags>
-	<packages>
-	  <package>src</package>
-	</packages>
-	<files>
-	  <file source="examples/GettingStarted/src/Robot.cpp"
-			destination="src/Robot.cpp"></file>
-	</files>
-  </example>
-	
   <tagDescription>
     <name>CommandBased Robot</name>
     <description>Examples for CommandBased robot programs.</description>
   </tagDescription>
+  <tagDescription>
+    <name>Simulation</name>
+    <description>Examples that can be run in simulation.</description>
+  </tagDescription>
+  
+  <example>
+    <name>Simple Robot Example</name>
+    <description>The simplest possible program that compiles. This
+    shows the structure of a simple program that does nothing at
+    all.</description>
+    <tags>
+      <tag>Simple Robot</tag>
+    </tags>
+    <packages>
+      <package>src</package>
+    </packages>
+    <files>
+      <file source="examples/Simple Robot Example/Robot.java" destination="src/Robot.cpp" />
+    </files>
+  </example>
+  
+  <example>
+    <name>Network Table Counter</name>
+    <description>A simple program that increments a network table
+    variable once every second. This shows the structure of a simple
+    program that only uses network tables.</description>
+    <tags>
+      <tag>Simple Robot</tag>
+      <tag>Network Tables</tag>
+    </tags>
+    <packages>
+      <package>src</package>
+    </packages>
+    <files>
+      <file source="examples/Network Table Counter/Robot.cpp" destination="src/Robot.cpp" />
+    </files>
+  </example>
 
   <example>
     <name>GearsBot</name>
@@ -47,6 +59,7 @@
     supports simulation.</description>
     <tags>
       <tag>CommandBased Robot</tag>
+      <tag>Simulation</tag>
     </tags>
     <packages>
       <package>src</package>
@@ -124,12 +137,14 @@
             destination="src/Subsystems/Wrist.h"></file>
     </files>
   </example>
-
+  
   <example>
     <name>PacGoat</name>
     <description>A fully functional example CommandBased program for FRC Team 190&#39;s 2014 robot. This code can run on your computer if it supports simulation.</description>
     <tags>
       <tag>CommandBased Robot</tag>
+      <tag>Simulation</tag>
+      <tag>2014 Season</tag>
     </tags>
     <packages>
       <package>src</package>

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

@@ -17,7 +17,7 @@ class Robot: public SampleRobot
 
 public:
 	Robot() :
-			myRobot(0, 1),	// these must be initialized in the same order
+			myRobot(1, 2),	// these must be initialized in the same order
 			stick(1)		// as they are declared above.
 	{
 		myRobot.SetExpiration(0.1);

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

@@ -111,11 +111,6 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 			// Debug deploys are done with the Eclipse Remote System Explorer,
 			// which lets it work with Eclipse's C++ debugger.
 			
-			// Kill running program before using RSE as RSE can't
-			WPILibCPPPlugin.logInfo("Running ant file: " + activeProj.getLocation().toOSString() + File.separator + "build.xml");
-			WPILibCPPPlugin.logInfo("Targets: kill-program, Mode: " + mode);
-			AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), "kill-program", null, mode);
-			
 			// TODO: figure out UI issues. that's why this is undocumented
 			ILaunchConfigurationWorkingCopy config;
 			try {
@@ -144,37 +139,21 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 		String remote_connection = RSEUtils.getTarget(teamNumber).getName();
 		
 		ILaunchConfigurationWorkingCopy config = type.newInstance(null, activeProj.getName());
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_COREFILE_PATH, "");
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ENABLE_REGISTER_BOOKKEEPING, false);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ENABLE_VARIABLE_BOOKKEEPING, false);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ID, "org.eclipse.rse.remotecdt.RemoteGDBDebugger");
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_REGISTER_GROUPS, "");
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_START_MODE, "run");
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_STOP_AT_MAIN, true);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_STOP_AT_MAIN_SYMBOL, "main");
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_USE_TERMINAL, true);
 		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROJECT_NAME, activeProj.getName());
 		Collection<Executable> exes = ExecutablesManager.getExecutablesManager().getExecutablesForProject(activeProj);
 		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROGRAM_NAME,
 				exes.size() > 0 ? exes.toArray(new Executable[0])[0].getPath().makeRelativeTo(activeProj.getLocation()).toString():
 			 "Debug/FRCUserProgram");
-			 
-			 
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_PATH, "/home/admin/FRCUserProgram");
-		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_CONNECTION, remote_connection);
-		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_SKIP_DOWNLOAD_TO_TARGET, false);
-		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_GDBSERVER_PORT, "2345");
-		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_GDBSERVER_COMMAND, "gdbserver");
-		
 		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUG_NAME, WPILibCPPPlugin.getDefault().getToolchain() + "/bin/arm-none-linux-gnueabi-gdb");
+		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_CONNECTION, remote_connection);
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ID, "gdbserver");
 		List<String> solibs = new ArrayList<>();
 		solibs.add(WPILibCPPPlugin.getDefault().getToolchain() + "/arm-non-linux-gnueabi/libc/lib");
 		solibs.add(WPILibCPPPlugin.getDefault().getToolchain() + "/arm-non-linux-gnueabi/libc/usr/lib");
 		solibs.add(WPILibCPPPlugin.getDefault().getCPPDir() + "/lib");
 		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_SOLIB_PATH, solibs);
-		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_AUTO_SOLIB, true);
-		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_STOP_ON_SOLIB_EVENTS, false);
-		config.doSave();
+		
 		return config;
 	}
 }

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

@@ -16,10 +16,8 @@ public class RSEUtils {
 
 	public static IHost getTarget(int teamNumber) {
 		// The ip address based on the team number
-        //String hostName = "10."+(teamNumber/100)+"."+(teamNumber%100)+".2";
-        //String connectionName = hostName; //"Team "+teamNumber;
-		String hostName = "roboRIO-" + teamNumber + ".local";
-		String connectionName = hostName;
+        String hostName = "10."+(teamNumber/100)+"."+(teamNumber%100)+".2";
+        String connectionName = hostName; //"Team "+teamNumber;
    
         // get the singleton RSE registry
         try {

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/newproject/CPPProjectType.java

@@ -38,18 +38,10 @@ public class CPPProjectType implements ProjectType {
 			return files;
 		}
 	};
-	static ProjectType SAMPLE = new CPPProjectType() {
-		@Override public Map<String, String> getFiles(String packageName) {
-			Map<String, String> files = super.getFiles(packageName);
-			files.put("src/Robot.cpp", "sample/Robot.cpp");
-			return files;
-		}
-	};
 	@SuppressWarnings("serial")
 	static Map<String, ProjectType> TYPES = new HashMap<String, ProjectType>() {{
 		put(ProjectType.ITERATIVE, ITERATIVE);
 		put(ProjectType.COMMAND_BASED, COMMAND_BASED);
-		put(ProjectType.SAMPLE, SAMPLE);
 	}};
 
 	@Override

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

@@ -48,14 +48,6 @@
        trust="true"
        command="tail -F -s 0 -n 0 ${deploy.log.file}"/>
   </target>
-  
-  <target name="kill-program" depends="get-target-ip" description="Kill the currently running FRC program">
-	  <sshexec host="${target}"
-		   username="${username}"
-		   password="${password}"
-		   trust="true"
-		   command="/usr/local/frc/bin/frcKillRobot.sh"/>
-  </target>
 
   <target name="debug-deploy" depends="get-target-ip" description="Deploy the jar and start the program running in debug mode.">
     <echo>[athena-deploy] Killing running program</echo>

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

@@ -92,7 +92,7 @@
                 </artifactItem>
                 <artifactItem>
 				  <groupId>edu.wpi.first.wpilibj</groupId>
-				  <artifactId>wpilibJavaFinal</artifactId>
+				  <artifactId>wpilibJavaDevices</artifactId>
 				  <version>0.1.0-SNAPSHOT</version>
 				  <classifier>sources</classifier>
 				  <outputDirectory>${java-zip}/lib</outputDirectory>
@@ -107,13 +107,6 @@
 				  <type>javadoc</type>
 				  <outputDirectory>${java-zip}/javadoc-jar</outputDirectory>
                 </artifactItem>
-                <artifactItem>
-				  <groupId>edu.wpi.first.wpilibj</groupId>
-				  <artifactId>wpilibJava</artifactId>
-				  <version>0.1.0-SNAPSHOT</version>
-				  <type>javadoc</type>
-				  <outputDirectory>${java-zip}/javadoc-jar</outputDirectory>
-                </artifactItem>
               </artifactItems>
               
               <overWriteReleases>false</overWriteReleases>
@@ -336,12 +329,6 @@
 			  <version>0.1.0-SNAPSHOT</version>
 			  <type>jar</type>
 	</dependency>
-	<dependency>
-			  <groupId>edu.wpi.first.wpilibj</groupId>
-			  <artifactId>wpilibJavaFinal</artifactId>
-			  <version>0.1.0-SNAPSHOT</version>
-			  <classifier>sources</classifier>
-	</dependency>
 	<!-- dependency>
 			  <groupId>net.java.dev.jna</groupId>
 			  <artifactId>jna</artifactId>
@@ -374,12 +361,6 @@
 	</dependency>
 
 	<!-- Javadoc -->
-	<dependency>
-			  <groupId>edu.wpi.first.wpilibj</groupId>
-			  <artifactId>wpilibJava</artifactId>
-			  <version>0.1.0-SNAPSHOT</version>
-			  <type>javadoc</type>
-	</dependency>
 	<dependency>
 			  <groupId>edu.wpi.first.wpilibj</groupId>
 			  <artifactId>wpilibJavaDevices</artifactId>

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

@@ -1,38 +0,0 @@
-package $package;
-
-import edu.wpi.first.wpilibj.buttons.Button;
-import $package.commands.ExampleCommand;
-
-/**
- * This class is the glue that binds the controls on the physical operator
- * interface to the commands and command groups that allow control of the robot.
- */
-public class OI {
-    //// CREATING BUTTONS
-    // One type of button is a joystick button which is any button on a joystick.
-    // You create one by telling it which joystick it's on and which button
-    // number it is.
-    // Joystick stick = new Joystick(port);
-    // Button button = new JoystickButton(stick, buttonNumber);
-    
-    // There are a few additional built in buttons you can use. Additionally,
-    // by subclassing Button you can create custom triggers and bind those to
-    // commands the same as any other Button.
-    
-    //// TRIGGERING COMMANDS WITH BUTTONS
-    // Once you have a button, it's trivial to bind it to a button in one of
-    // three ways:
-    
-    // Start the command when the button is pressed and let it run the command
-    // until it is finished as determined by it's isFinished method.
-    // button.whenPressed(new ExampleCommand());
-    
-    // Run the command while the button is being held down and interrupt it once
-    // the button is released.
-    // button.whileHeld(new ExampleCommand());
-    
-    // Start the command when the button is released  and let it run the command
-    // until it is finished as determined by it's isFinished method.
-    // button.whenReleased(new ExampleCommand());
-}
-

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

@@ -18,7 +18,6 @@ import $package.subsystems.ExampleSubsystem;
 public class Robot extends IterativeRobot {
 
 	public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
-	public static OI oi;
 
     Command autonomousCommand;
 
@@ -27,7 +26,6 @@ public class Robot extends IterativeRobot {
      * used for any initialization code.
      */
     public void robotInit() {
-		oi = new OI();
         // instantiate the command used for the autonomous period
         autonomousCommand = new ExampleCommand();
     }

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

@@ -1,18 +0,0 @@
-package $package;
-/**
- * The RobotMap is a mapping from the ports sensors and actuators are wired into
- * to a variable name. This provides flexibility changing wiring, makes checking
- * the wiring easier and significantly reduces the number of magic numbers
- * floating around.
- */
-public class RobotMap {
-    // For example to map the left and right motors, you could define the
-    // following variables to use with your drivetrain subsystem.
-    // public static final int leftMotor = 1;
-    // public static final int rightMotor = 2;
-    
-    // If you are using multiple modules, make sure to define both the port
-    // number and the module. For example you with a rangefinder:
-    // public static final int rangefinderPort = 1;
-    // public static final int rangefinderModule = 1;
-}

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

@@ -1,69 +0,0 @@
-package $package;
-
-import edu.wpi.first.wpilibj.IterativeRobot;
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.RobotDrive;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
-
-/**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the IterativeRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the manifest file in the resource
- * directory.
- */
-public class Robot extends IterativeRobot {
-	RobotDrive myRobot;
-	Joystick stick;
-	int autoLoopCounter;
-	
-    /**
-     * This function is run when the robot is first started up and should be
-     * used for any initialization code.
-     */
-    public void robotInit() {
-    	myRobot = new RobotDrive(0,1);
-    	stick = new Joystick(1);
-    }
-    
-    /**
-     * This function is run once each time the robot enters autonomous mode
-     */
-    public void autonomousInit() {
-    	autoLoopCounter = 0;
-    }
-
-    /**
-     * This function is called periodically during autonomous
-     */
-    public void autonomousPeriodic() {
-    	if(autoLoopCounter < 100) //Check if we've completed 100 loops (approximately 2 seconds)
-		{
-			myRobot.drive(-0.5, 0.0); 	// drive forwards half speed
-			autoLoopCounter++;
-			} else {
-			myRobot.drive(0.0, 0.0); 	// stop robot
-		}
-    }
-    
-    /**
-     * This function is called once each time the robot enters tele-operated mode
-     */
-    public void teleopInit(){
-    }
-
-    /**
-     * This function is called periodically during operator control
-     */
-    public void teleopPeriodic() {
-        myRobot.arcadeDrive(stick);
-    }
-    
-    /**
-     * This function is called periodically during test mode
-     */
-    public void testPeriodic() {
-    	LiveWindow.run();
-    }
-    
-}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/Network Table Counter/Robot.java

@@ -0,0 +1,39 @@
+package $package;
+
+import edu.wpi.first.wpilibj.networktables.NetworkTable;
+
+/**
+ * An example of a network table counter. 
+ * 
+ * @author Team $team-number
+  */
+public class Robot {
+
+    private static NetworkTable table;
+
+    /**
+     * @param args
+     */
+    public static void main(String[] args) {
+		NetworkTable.setServerMode();
+		NetworkTable.setTeam(190);
+		table = NetworkTable.getTable("SmartDashboard");
+		System.out.println("Started up");
+			
+		long i = 0;
+		while (true) {
+		    System.out.println(i);
+		    table.putNumber("i", i);
+		    i++;
+				
+		    try {
+		    	Thread.sleep(1000);
+		    } catch (InterruptedException e) {
+		    	// TODO Auto-generated catch block
+		    	e.printStackTrace();
+		    }
+		}
+		
+    }
+
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/Simple Robot Example/Robot.java

@@ -0,0 +1,17 @@
+package $package;
+
+/**
+ * Simplest possible robot program
+ * 
+ * @author Team $team-number
+  */
+public class Robot {
+
+    /**
+     * @param args Input....
+     */
+    public static void main(String[] args) {
+    	// Do stuff here!
+    }
+
+}

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

@@ -1,49 +1,63 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <examples>
-  <!-- TODO add back in when there are enough samples to justify tags
   <tagDescription>
     <name>Simple Robot</name>
     <description>Examples for simple robot programs.</description>
   </tagDescription>
+  <tagDescription>
+    <name>CommandBased Robot</name>
+    <description>Examples for CommandBased robot programs.</description>
+  </tagDescription>
+  <tagDescription>
+    <name>Simulation</name>
+    <description>Examples that can be run in simulation.</description>
+  </tagDescription>
   <tagDescription>
     <name>Network Tables</name>
     <description>Examples of how to use Network Tables to accomplish a
     variety of tasks such as sending and receiving values to both
     dashboards and co-processors.</description>
   </tagDescription>
-  <tagDescription>
-    <name>Simulation</name>
-    <description>Examples that can be run in simulation.</description>
-  </tagDescription>-->
-  <tagDescription>
-	<name>Getting Started with Java</name>
-	<description>Examples for getting started with FRC Java</description>
-  </tagDescription>
+  
   <example>
-	<name>Getting Started</name>
-	<description>An example program which demonstrates the simplest autonomous and
-	teleoperated routines.</description>
-	<tags>
-	  <tag>Getting Started with Java</tag>
-	</tags>
-	<packages>
-	  <package>src/$package-dir</package>
-	</packages>
-	<files>
-	  <file source="examples/GettingStarted/src/org/usfirst/frc/team190/robot/Robot.java"
-			destination="src/$package-dir/Robot.java"></file>
-	</files>
+    <name>Simple Robot Example</name>
+    <description>The simplest possible program that compiles. This
+    shows the structure of a simple program that does nothing at
+    all.</description>
+    <tags>
+      <tag>Simple Robot</tag>
+    </tags>
+    <packages>
+      <package>src/$package-dir</package>
+    </packages>
+    <files>
+      <file source="examples/Simple Robot Example/Robot.java" destination="src/$package-dir/Robot.java" />
+    </files>
+  </example>
+  
+  <example>
+    <name>Network Table Counter</name>
+    <description>A simple program that increments a network table
+    variable once every second. This shows the structure of a simple
+    program that only uses network tables.</description>
+    <tags>
+      <tag>Simple Robot</tag>
+      <tag>Network Tables</tag>
+    </tags>
+    <packages>
+      <package>src/$package-dir</package>
+    </packages>
+    <files>
+      <file source="examples/Network Table Counter/Robot.java" destination="src/$package-dir/Robot.java" />
+    </files>
   </example>
-  <tagDescription>
-    <name>CommandBased Robot</name>
-    <description>Examples for CommandBased robot programs.</description>
-  </tagDescription>
 
   <example>
     <name>GearsBot</name>
     <description>A fully functional example CommandBased program for WPIs GearsBot robot. This code can run on your computer if it supports simulation.</description>
     <tags>
       <tag>CommandBased Robot</tag>
+      <tag>Simulation</tag>
     </tags>
     <packages>
       <package>src/$package-dir</package>
@@ -76,6 +90,8 @@
     <description>A fully functional example CommandBased program for FRC Team 190&#39;s 2014 robot. This code can run on your computer if it supports simulation.</description>
     <tags>
       <tag>CommandBased Robot</tag>
+      <tag>Simulation</tag>
+      <tag>2014 Season</tag>
     </tags>
     <packages>
       <package>src/$package-dir</package>

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

@@ -3,9 +3,6 @@ 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 RobotDrive class.
@@ -28,7 +25,7 @@ public class Robot extends SampleRobot {
     Joystick stick;
 
     public Robot() {
-        myRobot = new RobotDrive(0, 1);
+        myRobot = new RobotDrive(1, 2);
         myRobot.setExpiration(0.1);
         stick = new Joystick(1);
     }

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/wizards/newproject/JavaProjectType.java

@@ -8,10 +8,10 @@ import edu.wpi.first.wpilib.plugins.core.wizards.ProjectType;
 import edu.wpi.first.wpilib.plugins.java.WPILibJavaPlugin;
 
 public class JavaProjectType implements ProjectType {
-	static ProjectType SAMPLE = new JavaProjectType() {
+	static ProjectType SIMPLE = new JavaProjectType() {
 		@Override public Map<String, String> getFiles(String packageName) {
 			Map<String, String> files = super.getFiles(packageName);
-			files.put("src/"+packageName.replace(".", "/")+"/Robot.java", "sample/Robot.java");
+			files.put("src/"+packageName.replace(".", "/")+"/Robot.java", "simple/Robot.java");
 			return files;
 		}
 	};
@@ -33,8 +33,6 @@ public class JavaProjectType implements ProjectType {
 		@Override public Map<String, String> getFiles(String packageName) {
 			Map<String, String> files = super.getFiles(packageName);
 			files.put("src/"+packageName.replace(".", "/")+"/Robot.java", "command-based/Robot.java");
-			files.put("src/"+packageName.replace(".", "/")+"/RobotMap.java", "command-based/RobotMap.java");
-			files.put("src/"+packageName.replace(".", "/")+"/OI.java", "command-based/OI.java");
 			files.put("src/"+packageName.replace(".", "/")+"/commands/ExampleCommand.java", "command-based/ExampleCommand.java");
 			files.put("src/"+packageName.replace(".", "/")+"/subsystems/ExampleSubsystem.java", "command-based/ExampleSubsystem.java");
 			return files;
@@ -42,7 +40,7 @@ public class JavaProjectType implements ProjectType {
 	};
 	@SuppressWarnings("serial")
 	static Map<String, ProjectType> TYPES = new HashMap<String, ProjectType>() {{
-		put(ProjectType.SAMPLE, SAMPLE);
+		put(ProjectType.SIMPLE, SIMPLE);
 		put(ProjectType.ITERATIVE, ITERATIVE);
 		put(ProjectType.COMMAND_BASED, COMMAND_BASED);
 	}};

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

@@ -2,10 +2,9 @@
 username=admin
 password=
 deploy.dir=/home/admin
-deploy.kill.command=. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r
+deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
+deploy.debug.command = /usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar ${deploy.dir}/FRCUserProgram.jar
 deploy.log.file=/var/local/natinst/log/FRC_UserProgram.log
-deploy.log.command=tail -F -s 0 -n 0 ${deploy.log.file}
-debug.flag.dir=/tmp/
 command.dir=/home/lvuser/
 
 # Libraries to use

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

@@ -32,9 +32,9 @@
      includeAntRuntime="no"
      includeJavaRuntime="no"
      classpath="${classpath}"
-     target="${ant.java.version}"
-     source="${ant.java.version}"
-     compiler="javac${ant.java.version}"
+     target="1.7"
+     source="1.7"
+     compiler="javac1.7"
      debug="true">
     </javac>
   </target>
@@ -76,35 +76,25 @@
        username="${username}"
        password="${password}"
        trust="true"
-       command="${deploy.kill.command};"/>
+       command=". /etc/profile.d/natinst-path.sh; ${deploy.kill.command};"/>
 
     <sshexec host="${target}"
        username="${username}"
        password="${password}"
        trust="true"
-       command="${deploy.log.command}"/>
+       command="tail -F -s 0 -n 0 ${deploy.log.file}"/>
   </target>
 
   <target name="debug-deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running.">
     <echo>[athena-deploy] Copying code over.</echo>
     <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
-  	<!-- The remoteDebugCommand file is used by /usr/local/frc/bin/frcRunRobot.sh on the roboRIO  -->
-    <scp file="${wpilib.ant.dir}/robotDebugCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
-  	<!-- The frcdebug file is used as a flag for /usr/local/frc/bin/frcRunRobot.sh to run the robot program in debug mode -->
-  	<scp file="${wpilib.ant.dir}/frcdebug" todir="${username}@${target}:${debug.flag.dir}" password="${password}" trust="true"/>
 
-    <echo>[athena-deploy] Starting Debug program.</echo>
+    <echo>[athena-deploy] Starting program.</echo>
     <sshexec host="${target}"
-        username="${username}"
-        password="${password}"
-        trust="true"
-        command="${deploy.kill.command}"/>
-
-    <sshexec host="${target}"
-        username="${username}"
-        password="${password}"
-        trust="true"
-        command="${deploy.log.command}"/>
+       username="${username}"
+       password="${password}"
+       trust="true"
+       command=". /etc/profile.d/natinst-path.sh; ${deploy.debug.command}"/>
   </target>
 
   <!-- Simulate -->

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

@@ -1,2 +0,0 @@
-# This file is used as a flag to determine if debugging should be used.
-# It is uploaded to the robot when launched in debug mode and should be removed automatically once used.

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

@@ -1,3 +0,0 @@
-/usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y
--jar /home/admin/FRCUserProgram.jar
-

hal/include/HAL/Interrupts.hpp

@@ -6,9 +6,6 @@
 #include <stdint.h>
 #endif
 
-#include <iostream>
-#include "errno.h"
-
 extern "C"
 {
 	typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask, void *param);

hal/lib/Athena/Interrupts.cpp

@@ -52,10 +52,8 @@ void enableInterrupts(void* interrupt_pointer, int32_t *status)
  */
 void disableInterrupts(void* interrupt_pointer, int32_t *status)
 {
-
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
 	anInterrupt->manager->disable(status);
-
 }
 
 /**

hal/lib/Athena/ctre/CtreCanNode.h

@@ -88,11 +88,6 @@ private:
 			uint32_t arbId;
 			uint8_t toSend[8];
 			uint32_t periodMs;
-			txJob_t() : arbId(0),periodMs(0)
-			{
-				for(int i=0;i<sizeof(toSend);++i)
-					toSend[i] = 0;
-			}
 	};
 
 	class rxEvent_t{

hal/lib/Athena/ctre/PCM.cpp

@@ -101,7 +101,8 @@ PCM::PCM(UINT8 deviceNumber): CtreCanNode(deviceNumber)
 	RegisterRx(STATUS_DEBUG | deviceNumber );
 	RegisterTx(CONTROL_1 | deviceNumber, kCANPeriod);
 	/* enable close loop */
-	SetClosedLoopControl(1);
+	CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
+	toFill->closedLoopEnable = 1;
 }
 /* PCM D'tor
  */
@@ -215,7 +216,7 @@ CTR_Code PCM::GetCompressorCurrent(float &status)
 	uint32_t temp =(rx->compressorCurrentTop6);
 	temp <<= 4;
 	temp |=  rx->compressorCurrentBtm4;
-	status = temp * 0.03125; /* 5.5 fixed pt value in Amps */
+	status = 20.1612903225806 * temp;
 	return rx.err;
 }
 
@@ -229,7 +230,7 @@ CTR_Code PCM::GetSolenoidVoltage(float &status)
 	uint32_t raw =(rx->solenoidVoltageTop8);
 	raw <<= 2;
 	raw |=  rx->solenoidVoltageBtm2;
-	status = (double) raw * 0.03125; /* 5.5 fixed pt value in Volts */
+	status = (double) raw * 24.7800586510264 / 1000;
 	return rx.err;
 }
 
@@ -296,7 +297,7 @@ CTR_Code PCM::GetSolenoidStickyFault(bool &status)
 CTR_Code PCM::GetBatteryVoltage(float &status)
 {
 	GET_PCM_STATUS();
-	status = (float)rx->battVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
+	status = (float)rx->battVoltage * ((59.0420332355816) / 1000.0);;
 	return rx.err;
 }
 /* Return status of module enable/disable

hal/lib/Athena/ctre/PDP.cpp

@@ -110,7 +110,7 @@ CTR_Code PDP::GetChannelCurrent(UINT8 idx, double &current)
 		}
 	}
 	/* convert to amps */
-	current = (double)raw * 0.125;  /* 7.3 fixed pt value in Amps */
+	current = 0.06724511900000001*raw + 1.527114967;
 	/* signal caller with success */
 	return retval;
 }
@@ -118,14 +118,14 @@ CTR_Code PDP::GetVoltage(double &voltage)
 {
 	GET_STATUS3();
 	uint32_t raw = rx->busVoltage;
-	voltage = (double)raw * 0.05 + 4.0; /* 50mV per unit plus 4V. */;
+	voltage = 0.0554413328606877 * raw;
 	return rx.err;
 }
 CTR_Code PDP::GetTemperature(double &tempC)
 {
 	GET_STATUS3();
 	uint32_t raw = rx->temp;
-	tempC =	(double)raw * 1.03250836957542 - 67.8564500484966;
+	tempC =	((double)raw-67.8564500484966)*1.03250836957542;
 	return rx.err;
 }
 //------------------ C interface --------------------------------------------//

jenkins/docs/Makefile

@@ -1,5 +1,4 @@
 allwpilib=../..
-version=DEVELOPMENT
 
 all: java cpp site
 
@@ -9,7 +8,7 @@ java:
 	cp -r $(allwpilib)/wpilibj/wpilibJava/src/main/java/* build/java/
 	cp -r $(allwpilib)/wpilibj/wpilibJavaDevices/src/main/java/* build/java/
 	# cp -r $(allwpilib)/networktables/java/src/main/java/* build/java/
-	( cat java.doxy ; echo "PROJECT_NUMBER=${version}" ) | doxygen -
+	doxygen java.doxy
 
 cpp:
 	mkdir -p build/cpp/
@@ -20,7 +19,7 @@ cpp:
 	cp -r $(allwpilib)/wpilibc/wpilibC++Devices/include build/cpp/
 	# cp -r $(allwpilib)/networktables/cpp/lib build/cpp/
 	# cp -r $(allwpilib)/networktables/cpp/include build/cpp/
-	( cat cpp.doxy ; echo "PROJECT_NUMBER=${version}" ) | doxygen -
+	doxygen cpp.doxy
 
 # TODO: HAL
 

jenkins/docs/cpp.doxy

@@ -794,9 +794,7 @@ EXCLUDE_SYMLINKS       = NO
 # Note that the wildcards are matched against the file with absolute path, so to
 # exclude all test directories for example use the pattern */test/*
 
-EXCLUDE_PATTERNS       = nivision.h \
-                         pcre.h \
-                         */NetworkCommunication/*
+EXCLUDE_PATTERNS       =
 
 # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
 # (namespaces, classes, functions, etc.) that should be excluded from the

networktables/OutlineViewer/build.gradle

@@ -1,24 +0,0 @@
-apply plugin: 'java'
-apply plugin: 'maven'
-
-group = "edu.wpi.frc.wpilib"
-version = "2.0"
-
-sourceCompatibility = 1.7
-
-sourceSets {
-	main {
-	     java {
-	     	  srcDirs = ["src"]
-	     }
-	}
-}
-
-repositories {
-       mavenCentral()
-       mavenLocal()
-}
-
-dependencies {
-	     compile project(":java")
-}

networktables/cpp/build.gradle

@@ -1,19 +0,0 @@
-apply plugin: 'cpp'
-
-libraries {
-  main {}
-}
-
-sources {
-  main {
-    cpp {
-      source {
-        srcDirs = ["lib/share", "lib/Athena"]
-        // includes = "**/*.cpp"
-      }
-      exportedHeaders {
-        srcDirs = ["include"]
-      }
-    }
-  }
-}

networktables/java-table-viewer/build.gradle

@@ -1,24 +0,0 @@
-apply plugin: 'java'
-apply plugin: 'maven'
-
-group = "edu.wpi.frc.wpilib"
-version = "2.0"
-
-sourceCompatibility = 1.7
-
-sourceSets {
-	main {
-	     java {
-	     	  srcDirs = ["src"]
-	     }
-	}
-}
-
-repositories {
-       mavenCentral()
-       mavenLocal()
-}
-
-dependencies {
-	     compile project(":java")
-}

networktables/java/build.gradle

@@ -1,39 +0,0 @@
-apply plugin: 'java'
-apply plugin: 'maven'
-
-group = "edu.wpi.frc.wpilib"
-version = "2.0"
-
-sourceSets {
-	main {
-	     java {
-	     	  srcDirs = ["src/main/java", "Athena/src/main/java"]
-	     }
-	}
-	test {
-	     java {
-		  srcDirs = ["Athena/src/test/java"]
-		  excludes = ["edu/wpi/first/wpilibj/networktables2/system/SystemTest.java"]
-	     }
-	}
-}
-
-repositories {
-       mavenCentral()
-       mavenLocal()
-}
-
-dependencies {
-       testCompile group: 'junit', name: 'junit', version: '4.+'
-       testCompile group: 'org.jmock', name: 'jmock-junit4', version: '2.6.0'
-       testCompile group: 'org.jmock', name: 'jmock-legacy', version: '2.6.0'
-}
-
-uploadArchives {
-    repositories {
-        mavenDeployer {
-            repository(url: "file://localhost/tmp/myRepo/")
-            pom.artifactId = 'networktables'
-	}
-    }
-}

networktables/settings.gradle

@@ -1 +0,0 @@
-include "java", "java-table-viewer"

simulation/debs/Makefile

@@ -16,32 +16,42 @@ libwpilibsim-package-version = $(libwpilibsim-version)-$(package-version)
 frcsim-version = 0.1
 frcsim-package-version = $(frcsim-version)-$(package-version)
 
-# Main Targets
-.PHONY: all jenkins allwpilib pull debs update-repository clean-repository clean install
+all: debs update-repository
 
-all: update-repository
-
-jenkins: update-repository
+jenkins: download-models pull-eclipse-toolchain pull all
 
 allwpilib:
 	cd $(allwpilib) && mvn -T 8 clean package -Dwith-eclipse-plugins -DskipTests -DskipIT
 
-orig: orig-frcsim-gazebo-plugins orig-frcsim-gazebo-models orig-frcsim-eclipse-plugins \
-	  orig-frcsim-eclipse-toolchain-plugin orig-frcsim-libwpilibsim-cpp orig-frcsim
+orig: pre-orig-clean
+	cd frcsim-gazebo-plugins && tar --exclude="./debian" -czvf \
+		frcsim-gazebo-plugins_${gazebo-plugins-version}.orig.tar.gz frcsim-gazebo-plugins
+	cd frcsim-gazebo-models && tar --exclude="./debian" -czvf \
+		frcsim-gazebo-models_${gazebo-models-version}.orig.tar.gz frcsim-gazebo-models
+	cd frcsim-eclipse-plugins && tar --exclude="./debian" -czvf \
+		frcsim-eclipse-plugins_${eclipse-plugins-version}.orig.tar.gz frcsim-eclipse-plugins
+	cd frcsim-eclipse-toolchain-plugin && tar --exclude="./debian" -czvf \
+		frcsim-eclipse-toolchain-plugin_${eclipse-toolchain-version}.orig.tar.gz frcsim-eclipse-toolchain-plugin
+	cd frcsim-libwpilibsim-cpp && tar --exclude="./debian" -czvf \
+		frcsim-libwpilibsim-cpp_${libwpilibsim-version}.orig.tar.gz frcsim-libwpilibsim-cpp
+	cd frcsim && tar --exclude="./debian" -czvf \
+		frcsim_${frcsim-version}.orig.tar.gz frcsim
 
-debs: debs-frcsim-gazebo-plugins debs-frcsim-gazebo-models debs-frcsim-eclipse-plugins \
-	  debs-frcsim-eclipse-toolchain-plugin debs-frcsim-libwpilibsim-cpp debs-frcsim
+debs:
+	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild -us -uc -iamd64
+	cd frcsim-gazebo-models/frcsim-gazebo-models && debuild -us -uc
+	cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild -us -uc
+	cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild -us -uc
+	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild -us -uc
+	cd frcsim/frcsim && debuild -us -uc
 
-update-repository: debs clean-repository 
+update-repository: clean-repository
 	cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
-	cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
-	cd repository && reprepro includedeb $(codename) ../frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim/frcsim_$(frcsim-package-version)_all.deb
-	echo Repository Updated
 
 clean-repository:
 	cd repository && reprepro remove $(codename) frcsim-gazebo-plugins
@@ -51,53 +61,39 @@ clean-repository:
 	cd repository && reprepro remove $(codename) frcsim-libwpilibsim-cpp
 	cd repository && reprepro remove $(codename) frcsim
 
-clean:
-	-rm frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
-	-rm frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
-	-rm frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
-	-rm frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
-	-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
-	-rm frcsim/frcsim_$(frcsim-version).orig.tar.gz
+pre-orig-clean:
+	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild clean
+	cd frcsim-gazebo-models/frcsim-gazebo-models && debuild clean
+	cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild clean
+	cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild clean
+	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild clean
+	cd frcsim/frcsim && debuild clean
 
-	-rm frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
-	-rm frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb
-	-rm frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
-	-rm frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
-	-rm frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
-	-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
-	-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
-	-rm frcsim/frcsim_$(frcsim-package-version)_all.deb
+	rm -f frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
+	rm -f frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
+	rm -f frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
+	rm -f frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
+	rm -f frcsim-libwpilib-cpp/frcsim-libwpilib-cpp_$(libwpilibsim-version).orig.tar.gz
+	rm -f frcsim/frcsim_$(frcsim-version).orig.tar.gz
 
-install:
-	sudo dpkg -i frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb \
-	frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb \
-	frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb \
-	frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb \
-	frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb \
-	frcsim/frcsim_$(frcsim-package-version)_all.deb
+clean: pre-orig-clean
+	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
+	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
 
-# orig support (for faster parallel builds)
-.PHONY: orig-frcsim-gazebo-plugins orig-frcsim-gazebo-models orig-frcsim-eclipse-plugins \
-	  	orig-frcsim-eclipse-toolchain-plugin orig-frcsim-libwpilibsim-cpp orig-frcsim
-.PHONY:	pull-gazebo-plugins pull-eclipse-plugins pull-libwpilibsim-cpp
+	rm -rf frcsim-gazebo-plugins/frcsim-gazebo-plugins/src
 
-orig-frcsim-gazebo-models: frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
-frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz:
-	cd frcsim-gazebo-models && \
-	    wget --no-check-certificate $(gazebo-models-orig-url) -O frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz && \
-	    tar xvf frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
+	rm -rf frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/src
+	rm -rf frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/include
+	rm -f frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/Makefile
+	rm -f frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/CMakeLists.txt
+	rm -rf frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/target
+
+pull: clean pull-gazebo-plugins pull-eclipse-plugins pull-libwpilibsim-cpp orig
 
-orig-frcsim-gazebo-plugins: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
 pull-gazebo-plugins:
 	cp -rf -t frcsim-gazebo-plugins/frcsim-gazebo-plugins/ $(allwpilib)/simulation/frc_gazebo_plugins/*
 	echo Increment version?
-frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz: pull-gazebo-plugins
-	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild clean
-	rm -f frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
-	cd frcsim-gazebo-plugins && tar --exclude="./debian" -czvf \
-		frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz frcsim-gazebo-plugins
 
-orig-frcsim-eclipse-plugins: frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
 pull-eclipse-plugins:
 	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
 	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
@@ -110,13 +106,7 @@ pull-eclipse-plugins:
 	cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.cpp.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
 	cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.core.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
 	echo Increment version?
-frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz: pull-eclipse-plugins
-	cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild clean
-	rm -f frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
-	cd frcsim-eclipse-plugins && tar --exclude="./debian" -czvf \
-		frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz frcsim-eclipse-plugins
 
-orig-frcsim-eclipse-toolchain-plugin: frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
 pull-eclipse-toolchain:
 	rm -rf frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/plugins
 	rm -rf frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/features
@@ -125,76 +115,24 @@ pull-eclipse-toolchain:
 	cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux_* frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/plugins/
 	cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature_* frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/features/
 	echo Increment version?
-frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz: pull-eclipse-toolchain
-	cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild clean
-	rm -f frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
-	cd frcsim-eclipse-toolchain-plugin && tar --exclude="./debian" -czvf \
-		frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz frcsim-eclipse-toolchain-plugin
 
-orig-frcsim-libwpilibsim-cpp: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
 pull-libwpilibsim-cpp:
 	cp -rf -t frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/ $(allwpilib)/wpilibc/wpilibC++Sim/*
-	mkdir -p frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib
-	cp -rf $(allwpilib)/hal frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib
-	mkdir -p frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/networktables
-	cp -rf $(allwpilib)/networktables/cpp frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/networktables
-	mkdir -p frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/wpilibc
-	cp -r $(allwpilib)/wpilibc/wpilibC++ frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/wpilibc 
 	echo Increment version?
-frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz: pull-libwpilibsim-cpp
-	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild clean
-	rm -f frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
-	cd frcsim-libwpilibsim-cpp && tar --exclude="./debian" -czvf \
-		frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz frcsim-libwpilibsim-cpp
 
-orig-frcsim: frcsim/frcsim_$(frcsim-version).orig.tar.gz
-frcsim/frcsim_$(frcsim-version).orig.tar.gz:
-	cd frcsim/frcsim && debuild clean
-	rm -f frcsim/frcsim_$(frcsim-version).orig.tar.gz
-	cd frcsim && tar --exclude="./debian" -czvf \
-		frcsim_$(frcsim-version).orig.tar.gz frcsim
+download-models:
+	cd frcsim-gazebo-models && \
+	    wget --no-check-certificate $(gazebo-models-orig-url) -O frcsim-gazebo-models_${gazebo-models-version}.orig.tar.gz && \
+	    tar xvf frcsim-gazebo-models_${gazebo-models-version}.orig.tar.gz
 
-# debs support (for faster parallel builds)
-.PHONY: debs-frcsim-gazebo-plugins debs-frcsim-gazebo-models debs-frcsim-eclipse-plugins \
-		debs-frcsim-eclipse-toolchain-plugin debs-frcsim-libwpilibsim-cpp debs-frcsim
+install:
+	sudo dpkg -i frcsim-gazebo-plugins/frcsim-gazebo-plugins_0.2-1_amd64.deb \
+                 frcsim-gazebo-models/frcsim-gazebo-models_0.2-1_all.deb \
+                 frcsim-eclipse-plugins/frcsim-eclipse-plugins_0.1-1_all.deb \
+                 frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_0.1-1_all.deb \
+                 frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_0.1-1_amd64.deb \
+                 frcsim/frcsim_0.1-1_all.deb
 
-debs-frcsim-gazebo-plugins: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb
-frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
-	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && make clean
-	cd frcsim-gazebo-plugins && sbuild --arch=i386 -A -d trusty-i386 frcsim-gazebo-plugins_$(gazebo-plugins-package-version).dsc
-frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
-	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild --no-lintian -us -uc -aamd64
+deploy:
+	rsync -r -v -C -p repository/ adhenning@ccc.wpi.edu:public_html/frcsim/
 
-debs-frcsim-gazebo-models: frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
-frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb: frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
-	cd frcsim-gazebo-models/frcsim-gazebo-models && debuild --no-lintian -us -uc
-
-debs-frcsim-eclipse-plugins: frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
-frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb: frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
-	cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild --no-lintian -us -uc
-
-debs-frcsim-eclipse-toolchain-plugin: frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
-frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb: frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
-	cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild --no-lintian -us -uc
-
-debs-frcsim-libwpilibsim-cpp: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
-frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
-	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && make clean
-	cd frcsim-libwpilibsim-cpp && sbuild --arch=i386 -A -d trusty-i386 frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version).dsc
-frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
-	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild --no-lintian -us -uc -aamd64
-
-debs-frcsim: frcsim/frcsim_$(frcsim-package-version)_all.deb
-frcsim/frcsim_$(frcsim-package-version)_all.deb: frcsim/frcsim_$(frcsim-version).orig.tar.gz
-	cd frcsim/frcsim && debuild --no-lintian -us -uc
-
-### SBUILD
-#
-# For building 32-bit builds on 64-bit machines
-#
-# $ mk-sbuild --arch i386 --personality=linux32 trusty
-# To CHANGE the golden image: sudo schroot -c source:trusty-i386 -u root
-# To ENTER an image snapshot: schroot -c trusty-i386
-# To BUILD within a snapshot: sbuild -A -d trusty-i386 PACKAGE*.dsc
-# 
-# sbuild --arch=i386 -A -d trusty-i386 frcsim-gazebo-plugins_0.2-1.dsc

simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/rules

@@ -1,6 +1,3 @@
 #!/usr/bin/make -f
 %:
 	dh $@
-
-override_dh_strip:
-	strip --remove-section=.comment --remove-section=.note --strip-unneeded debian/frcsim-gazebo-plugins/usr/lib/frcsim/plugins/libgz_potentiometer.so

simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/rules

@@ -3,9 +3,7 @@
 	dh $@
 
 override_dh_auto_build:
-	$(MAKE) allwpilib=allwpilib
+	$(MAKE) allwpilib=../../../..
 
 override_dh_auto_install:
-	$(MAKE) DESTDIR=$$(pwd)/debian/frcsim-libwpilibsim-cpp allwpilib=allwpilib install
-
-override_dh_strip:
+	$(MAKE) DESTDIR=$$(pwd)/debian/frcsim-libwpilibsim-cpp allwpilib=../../../.. install

simulation/debs/frcsim/frcsim/frcsim

@@ -1,5 +1,4 @@
 #!/bin/bash
 export GAZEBO_PLUGIN_PATH="${GAZEBO_PLUGIN_PATH}:/usr/lib/frcsim/plugins"
 export GAZEBO_MODEL_PATH="${GAZEBO_MODEL_PATH}:/usr/share/frcsim/models"
-export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/usr/lib/frcsim/plugins"
 gazebo $@

simulation/debs/install.sh

@@ -104,15 +104,15 @@ function install-frcsim {
     fi
 
     # Add FRCSim Repository and Key
-    if ! echo "deb http://first.wpi.edu/FRC/roborio/release/linux `lsb_release -cs` main" > /etc/apt/sources.list.d/frcsim-latest.list
+    if ! echo "deb http://users.wpi.edu/~adhenning/frcsim `lsb_release -cs` main" > /etc/apt/sources.list.d/frcsim-latest.list
     then
         echo "*** Cannot add FRCSim repository!" 1>&2
         install-fail
     fi
-    if ! (wget first.wpi.edu/FRC/roborio/wpilib.gpg.key -O - | apt-key add -)
+    if ! (wget users.wpi.edu/~adhenning/frcsim.key -O - | apt-key add -)
     then
         echo "*** Cannot add FRCSim repository key!" 1>&2
-        if ! ping first.wpi.edu -c 1 >/dev/null; then
+        if ! ping users.wpi.edu -c 1 >/dev/null; then
             echo "*** The package host for FRCSim appears to be down. Try again later." 1>&2
         fi
         install-fail

test-scripts/.gitattributes

@@ -1,4 +0,0 @@
-# Set the default behavior, in case people don't have core.autocrlf set.
-* text=auto
-
-*.sh text eol=lf

test-scripts/README.html

@@ -1,381 +0,0 @@
-<!DOCTYPE html><html><head><meta charset="utf-8"><style>/* Fonts */
-@font-face{
-  font-family: octicons-anchor;
-  src: url(data:font/woff;charset=utf-8;base64,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) format('woff');
-}
-
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-}
-</style><title>README</title></head><body><h1 id="wpilib-test-scripts"><a name="user-content-wpilib-test-scripts" href="#wpilib-test-scripts" class="headeranchor-link"  aria-hidden="true"><span class="headeranchor"></span></a>WPILIB TEST SCRIPTS</h1>
-<h2 id="overview"><a name="user-content-overview" href="#overview" class="headeranchor-link"  aria-hidden="true"><span class="headeranchor"></span></a>Overview</h2>
-<p>These test scripts are designed to allow the user of the WPILib test framework to quickly and easily deploy and run their tests on the WPI roboRIO.</p>
-<p>In order for the automated test system to work there is a driver station onboard the roboRIO that handles a queue of users waiting to use the driver station. All of the interaction with this queue is handled internally by test scripts contained within this file.</p>
-<h2 id="running-tests"><a name="user-content-running-tests" href="#running-tests" class="headeranchor-link"  aria-hidden="true"><span class="headeranchor"></span></a>Running Tests</h2>
-<p>See screen steps live: [TODO: Add link to screen steps live]</p></body></html>

test-scripts/README.md

@@ -1,9 +0,0 @@
-# WPILIB TEST SCRIPTS
-## Overview
-These test scripts are designed to allow the user of the WPILib test framework to quickly and easily deploy and run their tests on the WPI roboRIO.
-
-In order for the automated test system to work there is a driver station onboard the roboRIO that handles a queue of users waiting to use the driver station. All of the interaction with this queue is handled internally by test scripts contained within this file.
-
-## Running Tests
-
-See screen steps live: [TODO: Add link to screen steps live]

test-scripts/config.sh

@@ -1,38 +0,0 @@
-#!/usr/bin/env bash
-#*----------------------------------------------------------------------------*#
-#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
-#* Open Source Software - may be modified and shared by FRC teams. The code   *#
-#* must be accompanied by the FIRST BSD license file in the root directory of *#
-#* the project.															      *#
-#*----------------------------------------------------------------------------*#
-
-# If this is changed, update the .gitignore
-# so that test results are not commited to the repo
-DEFAULT_LOCAL_TEST_RESULTS_DIR=../test-reports
-
-
-ROBOT_ADDRESS=admin@roboRIO-190.local
-DEFAULT_LOCAL_RUN_TEST_SCRIPT="run-tests-on-robot.sh"
-
-DEFAULT_DESTINATION_DIR=/home/admin
-DEFAULT_TEST_SCP_DIR=${DEFAULT_DESTINATION_DIR}/deployedTests
-DEFAULT_DESTINATION_TEST_RESULTS_DIR=${DEFAULT_DESTINATION_DIR}/testResults
-
-# C++ test variables
-DEFAULT_CPP_TEST_NAME=FRCUserProgram
-DEFAULT_CPP_TEST_ARGS="--gtest_color=yes"
-DEFAULT_LOCAL_CPP_TEST_FILE=../cmake/target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram
-CPP_REPORT=cppreport.xml
-DEFAULT_LOCAL_CPP_TEST_RESULT=${DEFAULT_LOCAL_TEST_RESULTS_DIR}/${CPP_REPORT}
-DEFAULT_DESTINATION_CPP_TEST_RESULTS=${DEFAULT_DESTINATION_TEST_RESULTS_DIR}/${CPP_REPORT}
-
-# Java test variables
-DEFAULT_JAVA_TEST_NAME=FRCUserProgram.jar
-DEFAULT_JAVA_TEST_ARGS=""
-DEFAULT_LOCAL_JAVA_TEST_FILE=../wpilibj/wpilibJavaIntegrationTests/target/wpilibJavaIntegrationTests-0.1.0-SNAPSHOT.jar
-JAVA_REPORT=javareport.xml
-DEFAULT_LOCAL_JAVA_TEST_RESULT=${DEFAULT_LOCAL_TEST_RESULTS_DIR}/${JAVA_REPORT}
-DEFAULT_DESTINATION_JAVA_TEST_RESULTS=${DEFAULT_DESTINATION_TEST_RESULTS_DIR}/AntReports/TEST-edu.wpi.first.wpilibj.test.TestSuite.xml
-
-
-

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

@@ -1,82 +0,0 @@
-#!/usr/bin/env bash
-#*----------------------------------------------------------------------------*#
-#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
-#* Open Source Software - may be modified and shared by FRC teams. The code   *#
-#* must be accompanied by the FIRST BSD license file in the root directory of *#
-#* the project.															      *#
-#*----------------------------------------------------------------------------*#
-
-# Configurable variables
-source config.sh
-
-# Java variables
-DEFAULT_DESTINATION_JAVA_TEST_FILE=${DEFAULT_TEST_SCP_DIR}/${DEFAULT_JAVA_TEST_NAME}
-
-# C++ Variables
-DEFAULT_DESTINATION_CPP_TEST_FILE=${DEFAULT_TEST_SCP_DIR}/${DEFAULT_CPP_TEST_NAME}
-
-DEFAULT_DESTINATION_RUN_TEST_SCRIPT=${DEFAULT_DESTINATION_DIR}/${DEFAULT_LOCAL_RUN_TEST_SCRIPT}
-
-usage="$(basename "$0") [-h] (java|cpp) [-A] [arg] [arg]...
-A script designed to run the integration tests.
-This script should only be run on the roborio.
-Where:
-    -h    Show this help text.
-    -A    Disable language recomended arguments.
-    arg   Additional arguments to be passed to test."
-
-
-# These variables are set when the language is selected
-LANGUAGE=none
-LOCAL_TEST_FILE=none
-DESTINATION_TEST_FILE=none
-TEST_RUN_ARGS=""
-
-# Begin searching for options from the third paramater on
-PARAM_ARGS=${@:2}
-
-if [[ "$1" = java ]]; then
-	LANGUAGE=$1
-	LOCAL_TEST_FILE=$DEFAULT_LOCAL_JAVA_TEST_FILE
-	DESTINATION_TEST_FILE=$DEFAULT_DESTINATION_JAVA_TEST_FILE
-elif [[ "$1" = cpp ]]; then
-	LANGUAGE=$1
-	LOCAL_TEST_FILE=$DEFAULT_LOCAL_CPP_TEST_FILE
-	DESTINATION_TEST_FILE=$DEFAULT_DESTINATION_CPP_TEST_FILE
-elif [[ "$1" = "-h" ]]; then
-	printf "Usage:\n"
-	echo "$usage"
-	exit
-else
-	printf "Invalid language selection: %s\n\n" "$1" >&2
-	echo "$usage" >&2
-	exit 1
-fi
-
-# Check if the test file to upload exists
-if [[ ! -e ${LOCAL_TEST_FILE} ]]; then
-	printf "The test file does not exist: %s\nAre you sure that you compiled the tests??\n\n" "${LOCAL_TEST_FILE}" >&2
-	echo "$usage" >&2
-	exit 1
-fi
-
-TEST_RUN_ARGS="${@:2}"
-
-shopt -s huponexit
-
-SCP_TEST_SCRIPT="scp config.sh ${DEFAULT_LOCAL_RUN_TEST_SCRIPT} ${ROBOT_ADDRESS}:/${DEFAULT_DESTINATION_DIR}"
-SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR="ssh -t ${ROBOT_ADDRESS} chmod a+x ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT}; mkdir ${DEFAULT_TEST_SCP_DIR} 2>/dev/null"
-SCP_TEST_PROGRAM="scp ${LOCAL_TEST_FILE} ${ROBOT_ADDRESS}:/${DESTINATION_TEST_FILE}"
-SSH_RUN_TESTS="ssh -t ${ROBOT_ADDRESS} ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT} ${LANGUAGE} $(whoami) -d ${DEFAULT_TEST_SCP_DIR} ${TEST_RUN_ARGS}"
-
-if [ $(which sshpass) ]; then
-	sshpass -p "" ${SCP_TEST_SCRIPT}
-	sshpass -p "" ${SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR}
-	sshpass -p "" ${SCP_TEST_PROGRAM}
-	sshpass -p "" ${SSH_RUN_TESTS}
-else
-	eval ${SCP_TEST_SCRIPT}
-	eval ${SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR}
-	eval ${SCP_TEST_PROGRAM}
-	eval ${SSH_RUN_TESTS}
-fi

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

@@ -1,50 +0,0 @@
-#!/usr/bin/env bash
-#*----------------------------------------------------------------------------*#
-#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
-#* Open Source Software - may be modified and shared by FRC teams. The code   *#
-#* must be accompanied by the FIRST BSD license file in the root directory of *#
-#* the project.															      *#
-#*----------------------------------------------------------------------------*#
-
-# Configurable variables
-source config.sh
-
-# If there are already test results in the repository then remove them
-if [[ -e ${DEFAULT_LOCAL_TEST_RESULTS_DIR} ]]; then
-	rm -R ${DEFAULT_LOCAL_TEST_RESULTS_DIR}
-fi
-
-# Make the directory where the tests should live
-mkdir ${DEFAULT_LOCAL_TEST_RESULTS_DIR} 2>/dev/null
-
-# Remove the preivous test results from the the robot
-SSH_REMOVE_OLD_TEST_RESULTS="ssh -t ${ROBOT_ADDRESS} rm -R ${DEFAULT_DESTINATION_TEST_RESULTS_DIR}; mkdir ${DEFAULT_DESTINATION_TEST_RESULTS_DIR}"
-if [ $(which sshpass) ]; then
-	sshpass -p "" ${SSH_REMOVE_OLD_TEST_RESULTS}
-else
-	eval ${SSH_REMOVE_OLD_TEST_RESULTS}
-fi
-
-printf "Running cpp test\n"
-
-# Run the C++ Tests
-./deploy-and-run-test-on-robot.sh cpp -A "--gtest_output=xml:${DEFAULT_DESTINATION_CPP_TEST_RESULTS}"
-
-# Retrive the C++ Test Results
-SCP_GET_CPP_TEST_RESULT="scp ${ROBOT_ADDRESS}:${DEFAULT_DESTINATION_CPP_TEST_RESULTS} ${DEFAULT_LOCAL_CPP_TEST_RESULT}"
-if [ $(which sshpass) ]; then
-	sshpass -p "" ${SCP_GET_CPP_TEST_RESULT}
-else
-	eval ${SCP_GET_CPP_TEST_RESULT}
-fi
-
-# Run the Java Tests
-./deploy-and-run-test-on-robot.sh java
-
-# Retrive the Java Test Results
-SCP_GET_JAVA_TEST_RESULT="scp ${ROBOT_ADDRESS}:${DEFAULT_DESTINATION_JAVA_TEST_RESULTS} ${DEFAULT_LOCAL_JAVA_TEST_RESULT}"
-if [ $(which sshpass) ]; then
-	sshpass -p "" ${SCP_GET_JAVA_TEST_RESULT}
-else
-	eval ${SCP_GET_JAVA_TEST_RESULT}
-fi

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

@@ -1,166 +0,0 @@
-#!/usr/bin/env bash
-#*----------------------------------------------------------------------------*#
-#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
-#* Open Source Software - may be modified and shared by FRC teams. The code   *#
-#* must be accompanied by the FIRST BSD license file in the root directory of *#
-#* the project.															      *#
-#*----------------------------------------------------------------------------*#
-
-# This file is intended to be run in the DEFAULT_TEST_DIR on the roboRIO.
-# Do not attempt to run this file on your local system.
-# There is one file (delploy-and-run-test-on-robot.sh) that is designed to
-# deploy this file allong with the compiled tests for you.
-
-# Configurable variables
-source config.sh
-
-DEFAULT_TEST_DIR=${DEFAULT_DESTINATION_DIR}
-DEFAULT_PATH_TO_JRE=/usr/local/frc/JRE/bin/java
-
-usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-A] [arg] [arg]...
-A script designed to run the integration tests.
-This script should only be run on the roborio.
-Where:
-    -h    Show this help text
-    name  The name of the user trying to run the tests (used for driver station)
-    -d    The directory where the tests have been placed.
-          This is done to prevent overwriting an already running program
-          in the case where another user already has the driver station mutex.
-          This scrip will automatically move the test into the ${DEFAULT_TEST_DIR}
-          directory when the driver station mutex is released.
-          Default: Assumes the test is in the same directory as this scrip.
-    -A    Do not use the default arguments for the given language.
-    arg   The arguments to be passed to test."
-
-mutexTaken=false
-# This function should run even if the script exits abnormally
-function finish {
-	if [ "$mutexTaken" == true ]; then
-		/usr/local/frc/bin/teststand ds --name="${NAME}" disable
-		/usr/local/frc/bin/teststand give --name="${NAME}"
-		mutexTaken=false
-	fi
-}
-trap finish EXIT SIGINT
-
-# This function should be run asynchronysly to enable the tests 10
-# seconds after they have been run.
-function enableIn10Seconds {
-	sleep 10
-	/usr/local/frc/bin/teststand ds --name="${NAME}" enable
-}
-
-# Are you trying to run this program on a platform other than the roboRIO?
-if [[ ! -e "${DEFAULT_TEST_DIR}" ]]; then
-	printf "Failed to find %s\nAre you trying to run this file on your local computer?\n" "${DEFAULT_TEST_DIR}"
-	printf "This script should only be run on the roboRIO.\n\n"
-	echo "$usage"
-	exit 1
-fi
-
-LANGUAGE=none
-TEST_FILE=none
-NAME=$2
-TEST_DIR="$DEFAULT_TEST_DIR"
-# Begin searching for options from the third paramater on
-PARAM_ARGS=${@:3}
-# Where the test arguments start
-TEST_RUN_ARGS=${@:3}
-RUN_WITH_DEFAULT_ARGS=true
-DEFAULT_ARGS=""
-
-# Determine the language that we are attempting to run
-if [[ "$1" = java ]]; then
-	LANGUAGE=$1
-	TEST_FILE=$DEFAULT_JAVA_TEST_NAME
-	DEFAULT_ARGS=$DEFAULT_JAVA_TEST_ARGS
-elif [[ "$1" = cpp ]]; then
-	LANGUAGE=$1
-	TEST_FILE=$DEFAULT_CPP_TEST_NAME
-	DEFAULT_ARGS=$DEFAULT_CPP_TEST_ARGS
-elif [[ "$1" = "-h" ]]; then
-	#If the first argument is the help option
-	#Allow it to be searhced for in getopts
-	PARAM_ARGS=${@}
-else
-	printf "Invalid language selection: %s\n\n" "$1" >&2
-	echo "$usage" >&2
-	exit 1
-fi
-
-PARAM_COUNTER=2
-printf "Param Args ${PARAM_ARGS}\n"
-
-# Check for optional paramaters
-while  getopts ':hd:A' option $PARAM_ARGS ; do
-	case "$option" in
-	h)
-		# Print the help message
-		printf "Usage:\n"
-		echo "$usage"
-		exit
-		;;
-	A)
-		# Remove the default arguments
-		RUN_WITH_DEFAULT_ARGS=false
-		PARAM_COUNTER=$[$PARAM_COUNTER +1]
-		;;
-	d)
-		TEST_DIR=$OPTARG
-		# Since we are selecting the directory the run args start from the 5th argument
-		PARAM_COUNTER=$[$PARAM_COUNTER +2]
-		;;
-	?)
-		# When an unknown param is found then we are done so break
-		break
-		;;
-	esac
-done
-
-TEST_RUN_ARGS=${@:$[$PARAM_COUNTER +1]}
-
-if [[ "$RUN_WITH_DEFAULT_ARGS" == true ]]; then
-	TEST_RUN_ARGS="${DEFAULT_ARGS} ${TEST_RUN_ARGS}"
-fi
-
-# Make sure at least two paramaters are passed or four if running with -d option
-if [[ $# -lt $PARAM_COUNTER ]]; then
-	printf "Invalid arg count. Should be %s, was %s.\n" "${PARAM_COUNTER}" "$#"
-	echo "$usage"
-	exit 1
-fi
-
-# Attempt to take the mutex for the driver station
-mutexTaken=true
-/usr/local/frc/bin/teststand take --name="${NAME}"
-
-# Kill all running robot programs
-killall java FRCUserProgram
-
-# Once we have the mutex no other tests are running
-# If we are running with the -d argument move the test to the DEFAULT_TEST_DIR
-if [[ ! -e "${TEST_DIR}/${TEST_FILE}" ]]; then
-	printf "Failed to find %s.\nDid you copy the test file correctly?\n" "${TEST_DIR}/${TEST_FILE}"
-	echo "$usage"
-	exit 1
-elif [[ $TEST_DIR != "$DEFAULT_TEST_DIR" ]]; then
-	mv "${TEST_DIR}/${TEST_FILE}" "${DEFAULT_TEST_DIR}"
-fi
-
-# Make sure the excecutable file has permission to run
-
-# Setup the driver station to enable automatically in 10 seconds without waiting for the function to excecute.
-enableIn10Seconds&
-
-# Store the run command for the language
-RUN_COMMAND=none
-if [[ ${LANGUAGE} = java ]]; then
-	chmod a+x ${DEFAULT_JAVA_TEST_NAME}
-	RUN_COMMAND="${DEFAULT_PATH_TO_JRE} -ea -jar ${DEFAULT_JAVA_TEST_NAME} ${TEST_RUN_ARGS}"
-elif [[ ${LANGUAGE} = cpp ]]; then
-	chmod a+x ${DEFAULT_CPP_TEST_NAME}
-	RUN_COMMAND="./${DEFAULT_CPP_TEST_NAME} ${TEST_RUN_ARGS}"
-fi
-
-printf "Running: %s\n\n" "${RUN_COMMAND}"
-eval ${RUN_COMMAND}

test-scripts/spawn_driver_station.sh

@@ -1,41 +0,0 @@
-#!/usr/bin/env bash
-#*----------------------------------------------------------------------------*#
-#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
-#* Open Source Software - may be modified and shared by FRC teams. The code   *#
-#* must be accompanied by the FIRST BSD license file in the root directory of *#
-#* the project.															      *#
-#*----------------------------------------------------------------------------*#
-
-source config.sh
-
-TESTSTAND_SERVE_COMMAND=".scratch/teststand serve"
-
-#Checks to see if the mutex driver station is running. If it isn't then start it.
-
-SSH_CHECK_FOR_TESTSTAND="ssh -qn ${ROBOT_ADDRESS} 'pidof ${TESTSTAND_SERVE_COMMAND}' &>/dev/null"
-
-if [ $(which sshpass) ]; then
-	SSH_CHECK_FOR_TESTSTAND="sshpass -p '' ${SSH_CHECK_FOR_TESTSTAND}"
-fi
-
-echo $SSH_CHECK_FOR_TESTSTAND
-
-if  $(eval $SSH_CHECK_FOR_TESTSTAND); then
-	echo "Driver Station is already running";
-	exit 0;
-fi
-
-echo "Starting Driver Station";
-
-function startDS {
-	SSH_START_TESTSTAND_DRIVER_STATION="ssh ${ROBOT_ADDRESS} ${TESTSTAND_SERVE_COMMAND}"
-	if [ $(which sshpass) ]; then
-		sshpass -p "" ${SSH_START_TESTSTAND_DRIVER_STATION}
-	else
-		eval ${SSH_START_TESTSTAND_DRIVER_STATION}
-	fi
-}
-
-startDS&
-
-sleep 1

wpilibc/wpilibC++/CMakeLists.txt

@@ -6,7 +6,7 @@ include_directories(include/ ${NWT_API_INCLUDES} ${HAL_API_INCLUDES})
 add_library(WPILib STATIC ${SRC_FILES})
 set(CMAKE_CXX_FLAGS "-fPIC")
 target_link_libraries(WPILib)
-INSTALL(TARGETS WPILib ARCHIVE DESTINATION lib COMPONENT lib)
+INSTALL(TARGETS WPILib ARCHIVE DESTINATION src COMPONENT src)
 INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT headers)
 # lib/ c m gcc_s ld-linux
 # usr/lib stdc++

wpilibc/wpilibC++Devices/CMakeLists.txt

@@ -5,7 +5,7 @@ file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(include/ ${WPILIB_INCLUDES} ${HAL_API_INCLUDES} ${NWT_API_INCLUDES})
 add_library(WPILibAthena STATIC ${SRC_FILES})
 target_link_libraries(WPILibAthena WPILib HALAthena NetworkTables ${NI_LIBS})
-INSTALL(TARGETS WPILibAthena ARCHIVE DESTINATION lib COMPONENT lib)
+INSTALL(TARGETS WPILibAthena ARCHIVE DESTINATION src COMPONENT src)
 INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT headers)
 # lib/ c m gcc_s ld-linux
 # usr/lib stdc++

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

@@ -5,8 +5,6 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
-#include <stdint.h>
-
 /**
  * Interface for counting the number of ticks on a digital input channel.
  * Encoders, Gear tooth sensors, and counters should all subclass this so it can

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

@@ -11,7 +11,7 @@
 
 /**
  * DoubleSolenoid class for running 2 channels of high voltage Digital Output
- * (PCM).
+ * (9472 module).
  *
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.

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

@@ -10,10 +10,10 @@
 #include "tables/ITableListener.h"
 
 /**
- * Solenoid class for running high voltage Digital Output (PCM).
+ * Solenoid class for running high voltage Digital Output (9472 module).
  * 
  * The Solenoid class is typically used for pneumatics solenoids, but could be used
- * for any device within the current spec of the PCM.
+ * for any device within the current spec of the 9472 module.
  */
 class Solenoid : public SolenoidBase, public LiveWindowSendable, public ITableListener
 {

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

@@ -50,8 +50,6 @@ RobotBase::RobotBase()
 	, m_ds (NULL)
 {
 	m_ds = DriverStation::GetInstance();
-	RobotState::SetImplementation(DriverStation::GetInstance()); \
-	HLUsageReporting::SetImplementation(new HardwareHLReporting()); \
 }
 
 /**
@@ -154,6 +152,9 @@ void RobotBase::startRobotTask(FUNCPTR factory)
 	printf("WPILib was compiled without -D'SVN_REV=nnnn'\n");
 #endif
 
+    RobotState::SetImplementation(DriverStation::GetInstance());
+    HLUsageReporting::SetImplementation(new HardwareHLReporting());
+
 #ifdef __vxworks
 	// Check for startup code already running
 	int32_t oldId = taskNameToId(const_cast<char*>("FRC_RobotTask"));

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

@@ -9,7 +9,7 @@
 #include "CANJaguar.h"
 #include "GenericHID.h"
 #include "Joystick.h"
-#include "Talon.h"
+#include "Jaguar.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "Utility.h"
 #include "WPIErrors.h"
@@ -46,15 +46,15 @@ void RobotDrive::InitRobotDrive() {
 /** Constructor for RobotDrive with 2 motors specified with channel numbers.
  * Set up parameters for a two wheel drive system where the
  * left and right motor pwm channels are specified in the call.
- * This call assumes Talons for controlling the motors.
+ * This call assumes Jaguars for controlling the motors.
  * @param leftMotorChannel The PWM channel number that drives the left motor.
  * @param rightMotorChannel The PWM channel number that drives the right motor.
  */
 RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
 {
 	InitRobotDrive();
-	m_rearLeftMotor = new Talon(leftMotorChannel);
-	m_rearRightMotor = new Talon(rightMotorChannel);
+	m_rearLeftMotor = new Jaguar(leftMotorChannel);
+	m_rearRightMotor = new Jaguar(rightMotorChannel);
 	for (int32_t i=0; i < kMaxNumberOfMotors; i++)
 	{
 		m_invertedMotors[i] = 1;
@@ -67,7 +67,7 @@ RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
  * Constructor for RobotDrive with 4 motors specified with channel numbers.
  * Set up parameters for a four wheel drive system where all four motor
  * pwm channels are specified in the call.
- * This call assumes Talons for controlling the motors.
+ * This call assumes Jaguars for controlling the motors.
  * @param frontLeftMotor Front left motor channel number
  * @param rearLeftMotor Rear Left motor channel number
  * @param frontRightMotor Front right motor channel number
@@ -77,10 +77,10 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
 		uint32_t frontRightMotor, uint32_t rearRightMotor)
 {
 	InitRobotDrive();
-	m_rearLeftMotor = new Talon(rearLeftMotor);
-	m_rearRightMotor = new Talon(rearRightMotor);
-	m_frontLeftMotor = new Talon(frontLeftMotor);
-	m_frontRightMotor = new Talon(frontRightMotor);
+	m_rearLeftMotor = new Jaguar(rearLeftMotor);
+	m_rearRightMotor = new Jaguar(rearRightMotor);
+	m_frontLeftMotor = new Jaguar(frontLeftMotor);
+	m_frontRightMotor = new Jaguar(frontRightMotor);
 	for (int32_t i=0; i < kMaxNumberOfMotors; i++)
 	{
 		m_invertedMotors[i] = 1;

wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp

@@ -142,8 +142,6 @@ TEST_F(CANJaguarTest, Disable) {
 	m_jaguar->EnableControl();
 	m_jaguar->DisableControl();
 
-	Wait(kEncoderSettlingTime);
-
 	double initialPosition = m_jaguar->GetPosition();
 
 	SetJaguar(kMotorTime, 1.0f);

wpilibc/wpilibC++IntegrationTests/src/DIOLoopTest.cpp

@@ -9,8 +9,6 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-static const double kCounterTime = 0.001;
-
 static const double kDelayTime = 0.1;
 
 static const double kSynchronousInterruptTime = 2.0;
@@ -72,11 +70,11 @@ TEST_F(DIOLoopTest, FakeCounter) {
 	/* Count 100 ticks.  The counter value should be 100 after this loop. */
 	for(int i = 0; i < 100; i++) {
 		m_output->Set(true);
-		Wait(kCounterTime);
 		m_output->Set(false);
-		Wait(kCounterTime);
 	}
 
+	Wait(kDelayTime);
+
 	EXPECT_EQ(100, counter.Get()) << "Counter did not count up to 100.";
 }
 

wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp

@@ -9,7 +9,7 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-static const double kDelayTime = 0.01;
+static const double kDelayTime = 0.001;
 
 class FakeEncoderTest : public testing::Test {
 protected:
@@ -42,10 +42,6 @@ TEST_F(FakeEncoderTest, TestDefaultState) {
  * Test the encoder by setting the digital outputs and reading the value.
  */
 TEST_F(FakeEncoderTest, TestCountUp) {
-	m_outputA->Set(false);
-	m_outputB->Set(false);
-	m_encoder->Reset();
-
 	//Sets the outputs such that the encoder moves in the positive direction
 	for(int i = 0; i < 100; i++) {
 		m_outputA->Set(true);

wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp

@@ -17,7 +17,7 @@ std::ostream &operator<<(std::ostream &os, MotorEncoderTestType const &type) {
 	case TEST_JAGUAR: os << "Jaguar"; break;
 	case TEST_TALON: os << "Talon"; break;
 	}
-
+	
 	return os;
 }
 
@@ -32,7 +32,7 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
 protected:
 	SpeedController *m_speedController;
 	Encoder *m_encoder;
-
+	
 	virtual void SetUp() {
 		switch(GetParam()) {
 		case TEST_VICTOR:
@@ -40,27 +40,27 @@ protected:
 			m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
 				TestBench::kVictorEncoderChannelB);
 			break;
-
+		
 		case TEST_JAGUAR:
 			m_speedController = new Jaguar(TestBench::kJaguarChannel);
 			m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
 				TestBench::kJaguarEncoderChannelB);
 			break;
-
+		
 		case TEST_TALON:
 			m_speedController = new Talon(TestBench::kTalonChannel);
 			m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
 				TestBench::kTalonEncoderChannelB);
 			break;
 		}
-
+		
 	}
-
+	
 	virtual void TearDown() {
 		delete m_speedController;
 		delete m_encoder;
 	}
-
+	
 	void Reset() {
 		m_speedController->Set(0.0f);
 		m_encoder->Reset();
@@ -73,12 +73,12 @@ protected:
  */
 TEST_P(MotorEncoderTest, Increment) {
 	Reset();
-
+	
 	/* Drive the speed controller briefly to move the encoder */
 	m_speedController->Set(1.0);
 	Wait(kMotorTime);
 	m_speedController->Set(0.0);
-
+	
 	/* The encoder should be positive now */
 	EXPECT_GT(m_encoder->Get(), 0)
 		<< "Encoder should have incremented after the motor moved";
@@ -90,12 +90,12 @@ TEST_P(MotorEncoderTest, Increment) {
  */
 TEST_P(MotorEncoderTest, Decrement) {
 	Reset();
-
+	
 	/* Drive the speed controller briefly to move the encoder */
 	m_speedController->Set(-1.0f);
 	Wait(kMotorTime);
 	m_speedController->Set(0.0f);
-
+	
 	/* The encoder should be positive now */
 	EXPECT_LT(m_encoder->Get(), 0.0f)
 		<< "Encoder should have decremented after the motor moved";
@@ -106,15 +106,15 @@ TEST_P(MotorEncoderTest, Decrement) {
  */
 TEST_P(MotorEncoderTest, ClampSpeed) {
 	Reset();
-
+	
 	m_speedController->Set(2.0f);
 	Wait(kMotorTime);
-
+	
 	EXPECT_FLOAT_EQ(1.0f, m_speedController->Get());
-
+	
 	m_speedController->Set(-2.0f);
 	Wait(kMotorTime);
-
+	
 	EXPECT_FLOAT_EQ(-1.0f, m_speedController->Get());
 }
 
@@ -123,19 +123,19 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
  */
 TEST_P(MotorEncoderTest, PIDController) {
 	Reset();
-
+	
 	PIDController pid(0.003f, 0.001f, 0.0f, m_encoder, m_speedController);
 	pid.SetAbsoluteTolerance(20.0f);
 	pid.SetOutputRange(-0.2f, 0.2f);
 	pid.SetSetpoint(2500);
-
-	/* 10 seconds should be plenty time to get to the setpoint */
+	
+	/* 5 seconds should be plenty time to get to the setpoint */
 	pid.Enable();
-	Wait(10.0);
+	Wait(5.0);
 	pid.Disable();
-
-	RecordProperty("PIDError", pid.GetError());
-
+	
+	RecordProperty("PID Error", pid.GetError());
+	
 	EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 5 seconds.";
 }
 
@@ -144,9 +144,10 @@ TEST_P(MotorEncoderTest, PIDController) {
  */
 TEST_P(MotorEncoderTest, Reset) {
 	Reset();
-
+	
 	EXPECT_EQ(0, m_encoder->Get()) << "Encoder did not reset to 0";
 }
 
 INSTANTIATE_TEST_CASE_P(Test, MotorEncoderTest,
 	testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
+

wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp

@@ -9,12 +9,12 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-/* The PCM switches the compressor up to a couple seconds after the pressure
-	switch changes. */
-static const double kCompressorDelayTime = 3.0;
+/* The PCM switches the compressor up to 2 seconds after the pressure switch
+	changes. */
+static const double kCompressorDelayTime = 2.0;
 
 /* Solenoids should change much more quickly */
-static const double kSolenoidDelayTime = 0.5;
+static const double kSolenoidDelayTime = 0.1;
 
 /* The voltage divider on the test bench should bring the compressor output
 	to around these values. */
@@ -56,7 +56,7 @@ protected:
 /**
  * Test if the compressor turns on and off when the pressure switch is toggled
  */
-TEST_F(PCMTest, DISABLED_PressureSwitch) {
+TEST_F(PCMTest, PressureSwitch) {
 	Reset();
 
 	m_compressor->SetClosedLoopControl(true);
@@ -77,7 +77,7 @@ TEST_F(PCMTest, DISABLED_PressureSwitch) {
 /**
  * Test if the correct solenoids turn on and off when they should
  */
-TEST_F(PCMTest, DISABLED_Solenoid) {
+TEST_F(PCMTest, Solenoid) {
 	Reset();
 	Solenoid solenoid1(TestBench::kSolenoidChannel1);
 	Solenoid solenoid2(TestBench::kSolenoidChannel2);
@@ -115,7 +115,7 @@ TEST_F(PCMTest, DISABLED_Solenoid) {
  * Test if the correct solenoids turn on and off when they should when used
  * with the DoubleSolenoid class.
  */
-TEST_F(PCMTest, DISABLED_DoubleSolenoid) {
+TEST_F(PCMTest, DoubleSolenoid) {
 	DoubleSolenoid solenoid(TestBench::kSolenoidChannel1, TestBench::kSolenoidChannel2);
 
 	solenoid.Set(DoubleSolenoid::kOff);

wpilibc/wpilibC++IntegrationTests/src/PowerDistributionPanelTest.cpp

@@ -9,83 +9,92 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-static const double kMotorTime = 0.25;
+/* The current returned when the motor is not being driven */
+static const double kLowCurrent =  1.52;
+static const double kCurrentTolerance =  0.1;
 
 class PowerDistributionPanelTest : public testing::Test {
 protected:
-	PowerDistributionPanel *m_pdp;
-	Talon *m_talon;
-	Victor *m_victor;
-	Jaguar *m_jaguar;
+  PowerDistributionPanel *m_pdp;
+  Talon *m_talon;
+  Victor *m_victor;
+  Jaguar *m_jaguar;
 
-	virtual void SetUp() {
-		m_pdp = new PowerDistributionPanel();
-		m_talon = new Talon(TestBench::kTalonChannel);
-		m_victor = new Victor(TestBench::kVictorChannel);
-		m_jaguar = new Jaguar(TestBench::kJaguarChannel);
-	}
+  virtual void SetUp() {
+    m_pdp = new PowerDistributionPanel();
+    m_talon = new Talon(TestBench::kTalonChannel);
+    m_victor = new Victor(TestBench::kVictorChannel);
+    m_jaguar = new Jaguar(TestBench::kJaguarChannel);
+  }
 
-	virtual void TearDown() {
-		delete m_pdp;
-		delete m_talon;
-		delete m_victor;
-		delete m_jaguar;
-	}
+  virtual void TearDown() {
+    delete m_pdp;
+    delete m_talon;
+    delete m_victor;
+    delete m_jaguar;
+  }
+
+  void Reset() {
+    /* Reset all speed controllers to 0.0 */
+    m_talon->Set(0.0f);
+    m_victor->Set(0.0f);
+    m_jaguar->Set(0.0f);
+  }
 };
 
 /**
  * Test if the current changes when the motor is driven using a talon
  */
-TEST_F(PowerDistributionPanelTest,  CheckCurrentTalon) {
-	Wait(kMotorTime);
+TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
+  Reset();
 
-	/* The Current should be 0 */
-	EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kTalonPDPChannel))
-		<< "The Talon current was non-zero";
+  /* The Current should be kLowCurrent */
+  EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kCurrentTolerance)
+    << "The low current was not within the expected range.";
 
-	/* Set the motor to full forward */
-	m_talon->Set(1.0);
-	Wait(kMotorTime);
+  /* Set the motor to full forward */
+  m_talon->Set(1.0);
+  Wait(0.02);
 
-	/* The current should now be positive */
-	ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), 0)
-		<< "The Talon current was not positive";
+  /* The current should now be greater than the low current */
+  ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kLowCurrent)
+    << "The driven current is not greater than the resting current.";
 }
 
 /**
  * Test if the current changes when the motor is driven using a victor
  */
-TEST_F(PowerDistributionPanelTest, CheckCurrentVictor) {
-	Wait(kMotorTime);
+TEST_F(PowerDistributionPanelTest,CheckCurrentVictor) {
+  Reset();
 
-	/* The Current should be 0 */
-	EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kVictorPDPChannel))
-		<< "The Victor current was non-zero";
+  /* The Current should be kLowCurrent */
+  EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kCurrentTolerance)
+    << "The low current was not within the expected range.";
 
-	/* Set the motor to full forward */
-	m_victor->Set(1.0);
-	Wait(kMotorTime);
+  /* Set the motor to full forward */
+  m_victor->Set(1.0);
+  Wait(0.02);
 
-	/* The current should now be positive */
-	ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), 0)
-		<< "The Victor current was not positive";
+  /* The current should now be greater than the low current */
+  ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kLowCurrent)
+    << "The driven current is not greater than the resting current.";
 }
 
 /**
  * Test if the current changes when the motor is driven using a jaguar
  */
-TEST_F(PowerDistributionPanelTest,  CheckCurrentJaguar) {
-	Wait(kMotorTime);
+TEST_F(PowerDistributionPanelTest, CheckCurrentJaguar) {
+  Reset();
 
-	/* The Current should be 0 */
-	EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel))
-		<< "The Jaguar current was non-zero";
+  /* The Current should be kLowCurrent */
+  EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kCurrentTolerance)
+    << "The low current was not within the expected range.";
 
-	/* Set the motor to full forward */
-	m_jaguar->Set(1.0);
-	Wait(kMotorTime);
+  /* Set the motor to full forward */
+  m_jaguar->Set(1.0);
+  Wait(0.02);
 
-	/* The current should now be positive */
-	ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), 0)
-		<< "The Jaguar current was not positive";
+  /* The current should now be greater than the low current */
+  ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kLowCurrent)
+    << "The driven current is not greater than the resting current.";
 }

wpilibc/wpilibC++IntegrationTests/src/RelayTest.cpp

@@ -10,8 +10,6 @@
 #include "TestBench.h"
 #include "Relay.h"
 
-static const double kDelayTime = 0.01;
-
 class RelayTest : public testing::Test {
 protected:
 	Relay *m_relay;
@@ -43,7 +41,6 @@ protected:
 
 		//set the relay to forward
 		m_relay->Set(Relay::kForward);
-		Wait(kDelayTime);
 		EXPECT_TRUE(m_forward->Get())
 		<<"Relay did not set forward";
 		EXPECT_FALSE(m_reverse->Get())
@@ -52,7 +49,6 @@ protected:
 
 		//set the relay to reverse
 		m_relay->Set(Relay::kReverse);
-		Wait(kDelayTime);
 		EXPECT_TRUE(m_reverse->Get())
 		<<"Relay did not set reverse";
 		EXPECT_FALSE(m_forward->Get())
@@ -60,7 +56,6 @@ protected:
 
 		//set the relay to off
 		m_relay->Set(Relay::kOff);
-		Wait(kDelayTime);
 		EXPECT_FALSE(m_forward->Get())
 		<<"Relay did not set off";
 		EXPECT_FALSE(m_reverse->Get())
@@ -69,7 +64,6 @@ protected:
 
 		//set the relay to on
 		m_relay->Set(Relay::kOn);
-		Wait(kDelayTime);
 		EXPECT_TRUE(m_forward->Get())
 		<<"Relay did not set on";
 		EXPECT_TRUE(m_reverse->Get())

wpilibc/wpilibC++Sim/include/DoubleSolenoid.h

@@ -11,7 +11,7 @@
 
 /**
  * DoubleSolenoid class for running 2 channels of high voltage Digital Output
- * (PCM).
+ * (9472 module).
  * 
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.

wpilibc/wpilibC++Sim/include/Solenoid.h

@@ -10,10 +10,10 @@
 #include "tables/ITableListener.h"
 
 /**
- * Solenoid class for running high voltage Digital Output (PCM).
+ * Solenoid class for running high voltage Digital Output (9472 module).
  * 
  * The Solenoid class is typically used for pneumatics solenoids, but could be used
- * for any device within the current spec of the PCM.
+ * for any device within the current spec of the 9472 module.
  */
 class Solenoid : public LiveWindowSendable, public ITableListener
 {

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

@@ -88,7 +88,10 @@ DriverStation* DriverStation::GetInstance()
 }
 
 /**
- * Read the battery voltage. Hardcoded to 12 volts for Simulation.
+ * Read the battery voltage from the specified AnalogInput.
+ *
+ * This accessor assumes that the battery voltage is being measured
+ * through the voltage divider on an analog breakout.
  *
  * @return The battery voltage.
  */

wpilibj/wpilibJava/pom.xml

@@ -63,18 +63,6 @@
         <groupId>org.apache.maven.plugins</groupId>
         <artifactId>maven-source-plugin</artifactId>
       </plugin>
-      <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>
-        </configuration>
-      </plugin>
     </plugins>
   </build>
 </project>

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

@@ -92,7 +92,6 @@ public class AnalogTriggerOutput extends DigitalSource {
 
 	@Override
 	public void free() {
-		
 	}
 
 	/**
@@ -114,8 +113,8 @@ public class AnalogTriggerOutput extends DigitalSource {
 	}
 
 	@Override
-	public byte getModuleForRouting() {
-		return (byte) (m_trigger.m_index >> 2);
+	public int getModuleForRouting() {
+		return m_trigger.m_index >> 2;
 	}
 
 	@Override
@@ -123,6 +122,27 @@ public class AnalogTriggerOutput extends DigitalSource {
 		return true;
 	}
 
+	/**
+	 * Request interrupts asynchronously on this digital input.
+	 *
+	 * @param handler
+	 *            the interrupt service routine
+	 * @param param
+	 *            a parameter for the ISR
+	 */
+	// public void requestInterrupts(/*tInterruptHandler*/Object handler, Object
+	// param) {
+	// TODO: add interrupt support
+	// TODO: throw exception
+	// }
+
+	/**
+	 * Request interrupts synchronously on this digital input.
+	 */
+	// public void requestInterrupts() {
+	// TODO: throw exception
+	// }
+	
 	/**
 	 * Defines the state in which the AnalogTrigger triggers
 	 * @author jonathanleitschuh

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

@@ -12,10 +12,14 @@ import java.nio.ByteOrder;
 
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.InterruptJNI;
 import edu.wpi.first.wpilibj.hal.DIOJNI;
+import edu.wpi.first.wpilibj.hal.InterruptJNI.InterruptHandlerFunction;
 import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
+import edu.wpi.first.wpilibj.util.AllocationException;
+import edu.wpi.first.wpilibj.util.CheckedAllocationException;
 
 /**
  * Class to read a digital input. This class will read digital inputs and return
@@ -63,15 +67,97 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 		return m_channel;
 	}
 
-	@Override
 	public boolean getAnalogTriggerForRouting() {
 		return false;
 	}
 
+	/**
+	 * Request interrupts asynchronously on this digital input.
+	 *
+	 * @param handler
+	 *            The address of the interrupt handler function of type
+	 *            tInterruptHandler that will be called whenever there is an
+	 *            interrupt on the digitial input port. Request interrupts in
+	 *            synchronus mode where the user program interrupt handler will
+	 *            be called when an interrupt occurs. The default is interrupt
+	 *            on rising edges only.
+	 */
+	public void requestInterrupts(InterruptHandlerFunction handler) {
+		// TODO: add interrupt support
+
+		try {
+			m_interruptIndex = interrupts.allocate();
+		} catch (CheckedAllocationException e) {
+			throw new AllocationException(
+					"No interrupts are left to be allocated");
+		}
+
+		allocateInterrupts(false);
+
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		// set the byte order
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		InterruptJNI.requestInterrupts(m_interrupt, (byte) getModuleForRouting(),
+				getChannelForRouting(),
+				(byte) (getAnalogTriggerForRouting() ? 1 : 0), status.asIntBuffer());
+		setUpSourceEdge(true, false);
+		InterruptJNI.attachInterruptHandler(m_interrupt, handler, null, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+	}
+
+	/**
+	 * Request interrupts synchronously on this digital input. Request
+	 * interrupts in synchronus mode where the user program will have to
+	 * explicitly wait for the interrupt to occur. The default is interrupt on
+	 * rising edges only.
+	 */
+	public void requestInterrupts() {
+		try {
+			m_interruptIndex = interrupts.allocate();
+		} catch (CheckedAllocationException e) {
+			throw new AllocationException(
+					"No interrupts are left to be allocated");
+		}
+
+		allocateInterrupts(true);
+
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		// set the byte order
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		InterruptJNI.requestInterrupts(m_interrupt, (byte) getModuleForRouting(),
+				getChannelForRouting(),
+				(byte) (getAnalogTriggerForRouting() ? 1 : 0), status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		setUpSourceEdge(true, false);
+
+	}
+
+	/**
+	 * Set which edge to trigger interrupts on
+	 *
+	 * @param risingEdge
+	 *            true to interrupt on rising edge
+	 * @param fallingEdge
+	 *            true to interrupt on falling edge
+	 */
+	public void setUpSourceEdge(boolean risingEdge, boolean fallingEdge) {
+		if (m_interrupt != null) {
+			ByteBuffer status = ByteBuffer.allocateDirect(4);
+			// set the byte order
+			status.order(ByteOrder.LITTLE_ENDIAN);
+			InterruptJNI.setInterruptUpSourceEdge(m_interrupt,
+					(byte) (risingEdge ? 1 : 0), (byte) (fallingEdge ? 1 : 0),
+					status.asIntBuffer());
+			HALUtil.checkStatus(status.asIntBuffer());
+		} else {
+			throw new IllegalArgumentException(
+					"You must call RequestInterrupts before setUpSourceEdge");
+		}
+	}
+
 	/*
 	 * Live Window code, only does anything if live window is activated.
 	 */
-	@Override
 	public String getSmartDashboardType() {
 		return "Digital Input";
 	}
@@ -81,7 +167,6 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public void initTable(ITable subtable) {
 		m_table = subtable;
 		updateTable();
@@ -90,7 +175,6 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public void updateTable() {
 		if (m_table != null) {
 			m_table.putBoolean("Value", get());
@@ -100,7 +184,6 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public ITable getTable() {
 		return m_table;
 	}
@@ -108,14 +191,12 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public void startLiveWindowMode() {
 	}
 
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public void stopLiveWindowMode() {
 	}
 }

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

@@ -7,21 +7,24 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.nio.IntBuffer;
+import java.nio.ByteBuffer;
 
+//import com.sun.jna.Pointer;
+
+
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.DIOJNI;
-import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.hal.PWMJNI;
+import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.tables.ITableListener;
-//import com.sun.jna.Pointer;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 
 /**
- * Class to write digital outputs. This class will write digital outputs. Other
+ * Class to write digital outputs. This class will wrtie digital outputs. Other
  * devices that are implemented elsewhere will automatically allocate digital
  * inputs and outputs as required.
  */
@@ -45,7 +48,6 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * Free the resources associated with a digital output.
 	 */
-	@Override
 	public void free() {
 		// disable the pwm only if we have allocated it
 		if (m_pwmGenerator != null) {
@@ -102,7 +104,6 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	 * @param pulseLength
 	 *            The length of the pulse.
 	 */
-	@Deprecated
 	public void pulse(final int channel, final int pulseLength) {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		// set the byte order
@@ -211,7 +212,6 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/*
 	 * Live Window code, only does anything if live window is activated.
 	 */
-	@Override
 	public String getSmartDashboardType() {
 		return "Digital Output";
 	}
@@ -222,7 +222,6 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public void initTable(ITable subtable) {
 		m_table = subtable;
 		updateTable();
@@ -231,7 +230,6 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public ITable getTable() {
 		return m_table;
 	}
@@ -239,7 +237,6 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public void updateTable() {
 		// TODO: Put current value.
 	}
@@ -247,10 +244,8 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public void startLiveWindowMode() {
 		m_table_listener = new ITableListener() {
-			@Override
 			public void valueChanged(ITable itable, String key, Object value,
 					boolean bln) {
 				set(((Boolean) value).booleanValue());
@@ -262,7 +257,6 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
-	@Override
 	public void stopLiveWindowMode() {
 		// TODO: Broken, should only remove the listener from "Value" only.
 		m_table.removeTableListener(m_table_listener);

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

@@ -7,8 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.nio.IntBuffer;
+import java.nio.ByteBuffer;
 
 import edu.wpi.first.wpilibj.hal.DIOJNI;
 import edu.wpi.first.wpilibj.hal.HALUtil;
@@ -53,7 +54,6 @@ public abstract class DigitalSource extends InterruptableSensorBase {
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
-	@Override
 	public void free() {
 		channels.free(m_channel);
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -69,7 +69,6 @@ public abstract class DigitalSource extends InterruptableSensorBase {
 	 *
 	 * @return channel routing number
 	 */
-	@Override
 	public int getChannelForRouting() {
 		return m_channel;
 	}
@@ -79,16 +78,15 @@ public abstract class DigitalSource extends InterruptableSensorBase {
 	 *
 	 * @return 0
 	 */
-	@Override
-	public byte getModuleForRouting() {
+	public int getModuleForRouting() {
 		return 0;
 	}
 
 	/**
 	 * Is this an analog trigger
+	 *
 	 * @return true if this is an analog trigger
 	 */
-	@Override
 	public boolean getAnalogTriggerForRouting() {
 		return false;
 	}

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

@@ -16,7 +16,8 @@ import edu.wpi.first.wpilibj.util.AllocationException;
 import edu.wpi.first.wpilibj.util.CheckedAllocationException;
 
 /**
- * DoubleSolenoid class for running 2 channels of high voltage Digital Output.
+ * DoubleSolenoid class for running 2 channels of high voltage Digital Output
+ * (9472 module).
  *
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.
@@ -49,28 +50,28 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
      * Common function to implement constructor behavior.
      */
     private synchronized void initSolenoid() {
-        checkSolenoidModule(m_moduleNumber);
-        checkSolenoidChannel(m_forwardChannel);
-        checkSolenoidChannel(m_reverseChannel);
-
-        try {
-            m_allocated.allocate(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
-        } catch (CheckedAllocationException e) {
-            throw new AllocationException(
-                "Solenoid channel " + m_forwardChannel + " on module " + m_moduleNumber + " is already allocated");
-        }
-        try {
-            m_allocated.allocate(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
-        } catch (CheckedAllocationException e) {
-            throw new AllocationException(
-                "Solenoid channel " + m_reverseChannel + " on module " + m_moduleNumber + " is already allocated");
-        }
-        m_forwardMask = (byte) (1 << m_forwardChannel);
-        m_reverseMask = (byte) (1 << m_reverseChannel);
-
-        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_forwardChannel, m_moduleNumber);
-        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_reverseChannel, m_moduleNumber);
-        LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
+//        checkSolenoidModule(m_moduleNumber);
+//        checkSolenoidChannel(m_forwardChannel);
+//        checkSolenoidChannel(m_reverseChannel);
+//
+//        try {
+//            m_allocated.allocate((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
+//        } catch (CheckedAllocationException e) {
+//            throw new AllocationException(
+//                "Solenoid channel " + m_forwardChannel + " on module " + m_moduleNumber + " is already allocated");
+//        }
+//        try {
+//            m_allocated.allocate((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
+//        } catch (CheckedAllocationException e) {
+//            throw new AllocationException(
+//                "Solenoid channel " + m_reverseChannel + " on module " + m_moduleNumber + " is already allocated");
+//        }
+//        m_forwardMask = (byte) (1 << (m_forwardChannel - 1));
+//        m_reverseMask = (byte) (1 << (m_reverseChannel - 1));
+//
+//        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_forwardChannel, m_moduleNumber-1);
+//        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_reverseChannel, m_moduleNumber-1);
+//        LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
     }
 
     /**
@@ -104,8 +105,8 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
      * Destructor.
      */
     public synchronized void free() {
-        m_allocated.free(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
-        m_allocated.free(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
+//        m_allocated.free((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
+//        m_allocated.free((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
     }
 
     /**

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

@@ -1,57 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-package edu.wpi.first.wpilibj;
-
-import edu.wpi.first.wpilibj.hal.InterruptJNI.InterruptJNIHandlerFunction;
-
-
-/**
- * It is recommended that you use this class in conjunction with classes from 
- * {@link java.util.concurrent.atomic} as these objects are all thread safe.
- * 
- * @author Jonathan Leitschuh
- *
- * @param <T> The type of the parameter that should be returned to the the
- *  method {@link #interruptFired(int, Object)}
- */
-public abstract class InterruptHandlerFunction<T>{
-	/**
-	 * The entry point for the interrupt. When the interrupt fires the
-	 * {@link #apply(int, Object)} method is called.
-	 * The outer class is provided as an interface to allow the implementer to
-	 * pass a generic object to the interrupt fired method.
-	 * @author Jonathan Leitschuh
-	 */
-	private class Function implements InterruptJNIHandlerFunction{
-		@SuppressWarnings("unchecked")
-		@Override
-		public void apply(int interruptAssertedMask, Object param) {
-			interruptFired(interruptAssertedMask, (T)param);
-		}
-	}
-	final Function function = new Function();
-	
-	/**
-	 * This method is run every time an interrupt is fired.
-	 * @param interruptAssertedMask
-	 * @param param The parameter provided by overriding the {@link #overridableParamater()}
-	 * method. 
-	 */
-	abstract void interruptFired(int interruptAssertedMask, T param);
-	
-	
-	/**
-	 * Override this method if you would like to pass a specific
-	 * parameter to the {@link #interruptFired(int, Object)} when it is fired by the interrupt.
-	 * This method is called once when {@link InterruptableSensorBase#requestInterrupts(InterruptHandlerFunction)}
-	 * is run.
-	 * @return The object that should be passed to the interrupt when it runs
-	 */
-	public T overridableParamater(){
-		return null;
-	}
-}

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

@@ -7,40 +7,26 @@
 
 package edu.wpi.first.wpilibj;
 
+import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
 
-import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.hal.InterruptJNI;
-import edu.wpi.first.wpilibj.util.AllocationException;
-import edu.wpi.first.wpilibj.util.CheckedAllocationException;
+import edu.wpi.first.wpilibj.hal.InterruptJNI.InterruptHandlerFunction;
+import edu.wpi.first.wpilibj.hal.HALUtil;
 
 /**
  * Base for sensors to be used with interrupts
  */
 public abstract class InterruptableSensorBase extends SensorBase {
-	/** 
-	 * This is done to store the JVM variable in the InterruptJNI
-	 * This is done because the HAL must have access to the JVM variable
-	 * in order to attach the newly spawned thread when an interrupt is fired.
-	 */
-	static{
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.initializeInterruptJVM(status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
-	}
 
 	/**
 	 * The interrupt resource
 	 */
-	protected ByteBuffer m_interrupt = null;
-	
+	protected ByteBuffer m_interrupt;
 	/**
-	 * Flags if the interrupt being allocated is synchronous
+	 * The interrupt manager resource
 	 */
-	protected boolean m_isSynchronousInterrupt = false;
-	
+	protected InterruptHandlerFunction m_manager;
 	/**
 	 * The index of the interrupt
 	 */
@@ -54,102 +40,25 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * Create a new InterrupatableSensorBase
 	 */
 	public InterruptableSensorBase() {
+		m_manager = null;
 		m_interrupt = null;
 	}
-	
-	/**
-	 * @return
-	 */
-	abstract boolean getAnalogTriggerForRouting();
-
-	/**
-	 * @return
-	 */
-	abstract int getChannelForRouting();
-
-	/**
-	 * @return
-	 */
-	abstract byte getModuleForRouting();
-	
-	/**
-	 * Request interrupts asynchronously on this digital input.
-	 *
-	 * @param handler
-	 *            The {@link #InterruptHandlerFunction} that contains the method
-	 *            {@link InterruptHandlerFunction#interruptFired(int, Object)} that
-	 *            will be called whenever there is an interrupt on this device.
-	 *            Request interrupts in synchronus mode where the user program
-	 *            interrupt handler will be called when an interrupt occurs. The 
-	 *            default is interrupt on rising edges only.
-	 */
-	public void requestInterrupts(InterruptHandlerFunction<?> handler) {
-		if(m_interrupt != null){
-			throw new AllocationException("The interrupt has already been allocated");
-		}
-		
-		allocateInterrupts(false);
-		
-		assert (m_interrupt != null);
-
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		// set the byte order
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(),
-				getChannelForRouting(),
-				(byte) (getAnalogTriggerForRouting() ? 1 : 0), status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
-		setUpSourceEdge(true, false);
-		InterruptJNI.attachInterruptHandler(m_interrupt, handler.function, handler.overridableParamater(), status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
-	}
-
-	/**
-	 * Request 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. The default is interrupt on
-	 * rising edges only.
-	 */
-	public void requestInterrupts() {
-		if(m_interrupt != null){
-			throw new AllocationException("The interrupt has already been allocated");
-		}
-		
-		allocateInterrupts(true);
-
-		assert (m_interrupt != null);
-
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		// set the byte order
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(),
-				getChannelForRouting(),
-				(byte) (getAnalogTriggerForRouting() ? 1 : 0), status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
-		setUpSourceEdge(true, false);
-
-	}
 
 	/**
 	 * Allocate the interrupt
 	 * 
-	 * @param watcher true if the interrupt should be in synchronous mode where the user
-	 * program will have to explicitly wait for the interrupt to occur.
+	 * @param watcher
 	 */
-	protected void allocateInterrupts(boolean watcher) {
-		try {
-			m_interruptIndex = interrupts.allocate();
-		} catch (CheckedAllocationException e) {
-			throw new AllocationException(
-					"No interrupts are left to be allocated");
+	public void allocateInterrupts(boolean watcher) {
+		if (!watcher) {
+			throw new IllegalArgumentException(
+					"Interrupt callbacks not yet supported");
 		}
-		m_isSynchronousInterrupt = watcher;
-
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
+		// Expects the calling leaf class to allocate an interrupt index.
+		IntBuffer status = IntBuffer.allocate(1);
 		m_interrupt = InterruptJNI.initializeInterrupts(m_interruptIndex,
-				(byte) (watcher ? 1 : 0), status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
+				(byte) (watcher ? 1 : 0), status);
+		HALUtil.checkStatus(status);
 	}
 
 	/**
@@ -157,15 +66,13 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * structures and disables any interrupts.
 	 */
 	public void cancelInterrupts() {
-		if (m_interrupt == null) {
-			throw new IllegalStateException("The interrupt is not allocated.");
+		if (m_interrupt == null || m_manager == null) {
+			throw new IllegalStateException();
 		}
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.cleanInterrupts(m_interrupt, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
-		m_interrupt = null;
-		interrupts.free(m_interruptIndex);
+		IntBuffer status = IntBuffer.allocate(1);
+		InterruptJNI.cleanInterrupts(m_interrupt, status);
+		HALUtil.checkStatus(status);
+		
 	}
 
 	/**
@@ -175,13 +82,12 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 *            Timeout in seconds
 	 */
 	public void waitForInterrupt(double timeout) {
-		if (m_interrupt == null) {
-			throw new IllegalStateException("The interrupt is not allocated.");
+		if (m_interrupt == null || m_manager == null) {
+			throw new IllegalStateException();
 		}
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.waitForInterrupt(m_interrupt, (float) timeout, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
+		IntBuffer status = IntBuffer.allocate(1);
+		InterruptJNI.waitForInterrupt(m_interrupt, (float) timeout, status);
+		HALUtil.checkStatus(status);
 	}
 
 	/**
@@ -190,32 +96,24 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * other options before starting to field interrupts.
 	 */
 	public void enableInterrupts() {
-		if (m_interrupt == null) {
-			throw new IllegalStateException("The interrupt is not allocated.");
+		if (m_interrupt == null || m_manager == null) {
+			throw new IllegalStateException();
 		}
-		if(m_isSynchronousInterrupt){
-			throw new IllegalStateException("You do not need to enable synchronous interrupts");
-		}
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.enableInterrupts(m_interrupt, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
+		IntBuffer status = IntBuffer.allocate(1);
+		InterruptJNI.enableInterrupts(m_interrupt, status);
+		HALUtil.checkStatus(status);
 	}
 
 	/**
 	 * Disable Interrupts without without deallocating structures.
 	 */
 	public void disableInterrupts() {
-		if (m_interrupt == null) {
-			throw new IllegalStateException("The interrupt is not allocated.");
+		if (m_interrupt == null || m_manager == null) {
+			throw new IllegalStateException();
 		}
-		if(m_isSynchronousInterrupt){
-			throw new IllegalStateException("You can not disable synchronous interrupts");
-		}
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.disableInterrupts(m_interrupt, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
+		IntBuffer status = IntBuffer.allocate(1);
+		InterruptJNI.disableInterrupts(m_interrupt, status);
+		HALUtil.checkStatus(status);
 	}
 
 	/**
@@ -225,36 +123,12 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * @return Timestamp in seconds since boot.
 	 */
 	public double readInterruptTimestamp() {
-		if (m_interrupt == null) {
-			throw new IllegalStateException("The interrupt is not allocated.");
+		if (m_interrupt == null || m_manager == null) {
+			throw new IllegalStateException();
 		}
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		double timestamp = InterruptJNI.readInterruptTimestamp(m_interrupt, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
+		IntBuffer status = IntBuffer.allocate(1);
+		double timestamp = InterruptJNI.readInterruptTimestamp(m_interrupt, status);
+		HALUtil.checkStatus(status);
 		return timestamp;
 	}
-	
-	/**
-	 * Set which edge to trigger interrupts on
-	 *
-	 * @param risingEdge
-	 *            true to interrupt on rising edge
-	 * @param fallingEdge
-	 *            true to interrupt on falling edge
-	 */
-	public void setUpSourceEdge(boolean risingEdge, boolean fallingEdge) {
-		if (m_interrupt != null) {
-			ByteBuffer status = ByteBuffer.allocateDirect(4);
-			// set the byte order
-			status.order(ByteOrder.LITTLE_ENDIAN);
-			InterruptJNI.setInterruptUpSourceEdge(m_interrupt,
-					(byte) (risingEdge ? 1 : 0), (byte) (fallingEdge ? 1 : 0),
-					status.asIntBuffer());
-			HALUtil.checkStatus(status.asIntBuffer());
-		} else {
-			throw new IllegalArgumentException(
-					"You must call RequestInterrupts before setUpSourceEdge");
-		}
-	}
 }

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

@@ -79,7 +79,7 @@ public class RobotDrive implements MotorSafety {
     /** Constructor for RobotDrive with 2 motors specified with channel numbers.
      * Set up parameters for a two wheel drive system where the
      * left and right motor pwm channels are specified in the call.
-     * This call assumes Talons for controlling the motors.
+     * This call assumes Jaguars for controlling the motors.
      * @param leftMotorChannel The PWM channel number that drives the left motor.
      * @param rightMotorChannel The PWM channel number that drives the right motor.
      */
@@ -87,9 +87,9 @@ public class RobotDrive implements MotorSafety {
         m_sensitivity = kDefaultSensitivity;
         m_maxOutput = kDefaultMaxOutput;
         m_frontLeftMotor = null;
-        m_rearLeftMotor = new Talon(leftMotorChannel);
+        m_rearLeftMotor = new Jaguar(leftMotorChannel);
         m_frontRightMotor = null;
-        m_rearRightMotor = new Talon(rightMotorChannel);
+        m_rearRightMotor = new Jaguar(rightMotorChannel);
         for (int i = 0; i < kMaxNumberOfMotors; i++) {
             m_invertedMotors[i] = 1;
         }
@@ -102,7 +102,7 @@ public class RobotDrive implements MotorSafety {
      * Constructor for RobotDrive with 4 motors specified with channel numbers.
      * Set up parameters for a four wheel drive system where all four motor
      * pwm channels are specified in the call.
-     * This call assumes Talons for controlling the motors.
+     * This call assumes Jaguars for controlling the motors.
      * @param frontLeftMotor Front left motor channel number
      * @param rearLeftMotor Rear Left motor channel number
      * @param frontRightMotor Front right motor channel number
@@ -112,10 +112,10 @@ public class RobotDrive implements MotorSafety {
                       final int frontRightMotor, final int rearRightMotor) {
         m_sensitivity = kDefaultSensitivity;
         m_maxOutput = kDefaultMaxOutput;
-        m_rearLeftMotor = new Talon(rearLeftMotor);
-        m_rearRightMotor = new Talon(rearRightMotor);
-        m_frontLeftMotor = new Talon(frontLeftMotor);
-        m_frontRightMotor = new Talon(frontRightMotor);
+        m_rearLeftMotor = new Jaguar(rearLeftMotor);
+        m_rearRightMotor = new Jaguar(rearRightMotor);
+        m_frontLeftMotor = new Jaguar(frontLeftMotor);
+        m_frontRightMotor = new Jaguar(frontRightMotor);
         for (int i = 0; i < kMaxNumberOfMotors; i++) {
             m_invertedMotors[i] = 1;
         }

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

@@ -24,7 +24,7 @@ public abstract class SensorBase { // TODO: Refactor
      */
     public static final int kSystemClockTicksPerMicrosecond = 40;
     /**
-     * Number of digital channels per roboRIO
+     * Number of digital channels per digital sidecar
      */
     public static final int kDigitalChannels = 26;
     /**
@@ -44,11 +44,11 @@ public abstract class SensorBase { // TODO: Refactor
      */
     public static final int kSolenoidModules = 2;
     /**
-     * Number of PWM channels per roboRIO
+     * Number of PWM channels per sidecar
      */
     public static final int kPwmChannels = 20;
     /**
-     * Number of relay channels per roboRIO
+     * Number of relay channels per sidecar
      */
     public static final int kRelayChannels = 4;
     /**
@@ -179,7 +179,7 @@ public abstract class SensorBase { // TODO: Refactor
     /**
      * Get the number of the default solenoid module.
      *
-     * @return The number of the default solenoid module.
+     * @return The number of the default analog module.
      */
     public static int getDefaultSolenoidModule() {
         return SensorBase.m_defaultSolenoidModule;

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

@@ -86,10 +86,10 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
      * @param on Turn the solenoid output off or on.
      */
     public void set(boolean on) {
-        byte value = (byte) (on ? 0xFF : 0x00);
-        byte mask = (byte) (1 << m_channel);
-
-    	set(value, mask);
+    	ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+    	SolenoidJNI.setSolenoid(m_solenoid_port, (byte) (on ? 1 : 0), status.asIntBuffer());
+    	HALUtil.checkStatus(status.asIntBuffer());
     }
 
     /**
@@ -98,8 +98,11 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
      * @return The current value of the solenoid.
      */
     public boolean get() {
-        int value = getAll() & ( 1 << m_channel);
-        return (value != 0);
+    	ByteBuffer status = ByteBuffer.allocateDirect(4);
+    	status.order(ByteOrder.LITTLE_ENDIAN);
+    	boolean value = SolenoidJNI.getSolenoid(m_solenoid_port, status.asIntBuffer()) != 0;
+    	HALUtil.checkStatus(status.asIntBuffer());
+    	return value;
     }
 
     /*

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

@@ -11,7 +11,6 @@ import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
 
 import edu.wpi.first.wpilibj.hal.HALUtil;
-import edu.wpi.first.wpilibj.hal.SolenoidJNI;
 
 /**
  * SolenoidBase class is the common base class for the Solenoid and
@@ -21,7 +20,8 @@ public abstract class SolenoidBase extends SensorBase {
 
     private ByteBuffer[] m_ports;
     protected int m_moduleNumber; ///< The number of the solenoid module being used.
-    protected Resource m_allocated = new Resource(63* SensorBase.kSolenoidChannels);
+    // XXX: Move this to be both HAL calls
+    //protected Resource m_allocated = new Resource(SolenoidJNI.getModuleCount() * SensorBase.kSolenoidChannels);
 
     /**
      * Constructor.
@@ -30,13 +30,13 @@ public abstract class SolenoidBase extends SensorBase {
      */
     public SolenoidBase(final int moduleNumber) {
         m_moduleNumber = moduleNumber;
-        m_ports = new ByteBuffer[SensorBase.kSolenoidChannels];
-        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
-            ByteBuffer port = SolenoidJNI.getPortWithModule((byte) moduleNumber, (byte) i);
-            IntBuffer status = IntBuffer.allocate(1);
-            m_ports[i] = SolenoidJNI.initializeSolenoidPort(port, status);
-            HALUtil.checkStatus(status);
-        }
+//        m_ports = new ByteBuffer[SensorBase.kSolenoidChannels];
+//        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
+//            ByteBuffer port = SolenoidJNI.getPortWithModule((byte) moduleNumber, (byte) (i+1));
+//            IntBuffer status = IntBuffer.allocate(1);
+//            m_ports[i] = SolenoidJNI.initializeSolenoidPort(port, status);
+//            HALUtil.checkStatus(status);
+//        }
     }
 
     /**
@@ -46,13 +46,13 @@ public abstract class SolenoidBase extends SensorBase {
      * @param mask The channels you want to be affected.
      */
     protected synchronized void set(int value, int mask) {
-        IntBuffer status = IntBuffer.allocate(1);
-        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
-            int local_mask = 1 << i;
-            if ((mask & local_mask) != 0)
-                SolenoidJNI.setSolenoid(m_ports[i], (byte) (value & local_mask), status);
-        }
-        HALUtil.checkStatus(status);
+//        IntBuffer status = IntBuffer.allocate(1);
+//        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
+//            int local_mask = 1 << i;
+//            if ((mask & local_mask) != 0)
+//                SolenoidJNI.setSolenoid(m_ports[i], (byte) (value & local_mask), status);
+//        }
+//        HALUtil.checkStatus(status);
     }
 
     /**
@@ -62,11 +62,32 @@ public abstract class SolenoidBase extends SensorBase {
      */
     public byte getAll() {
         byte value = 0;
-        IntBuffer status = IntBuffer.allocate(1);
-        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
-            value |= SolenoidJNI.getSolenoid(m_ports[i], status) << i;
-        }
-        HALUtil.checkStatus(status);
+//        IntBuffer status = IntBuffer.allocate(1);
+//        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
+//            value |= SolenoidJNI.getSolenoid(m_ports[i], status) << i;
+//        }
+//        HALUtil.checkStatus(status);
         return value;
     }
+
+    /**
+     * Read all 8 solenoids in the default solenoid module as a single byte
+     *
+     * @return The current value of all 8 solenoids on the default module.
+     */
+    public static byte getAllFromDefaultModule() {
+        return getAllFromModule(getDefaultSolenoidModule());
+    }
+
+    /**
+     * Read all 8 solenoids in the specified solenoid module as a single byte
+     *
+     * @return The current value of all 8 solenoids on the specified module.
+     */
+    public static byte getAllFromModule(int moduleNumber) {
+    	byte value = 0;
+//        checkSolenoidModule(moduleNumber);
+//        throw new RuntimeException("Not supported right now.");
+    	return value;
+    }
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java

@@ -435,11 +435,11 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	public static native void FRCNetworkCommunicationGetVersionString(ByteBuffer version);
 	public static native void FRCNetworkCommunicationObserveUserProgramStarting();
 	public static native void FRCNetworkCommunicationObserveUserProgramDisabled();
-	public static native void FRCNetworkCommunicationObserveUserProgramAutonomous();
 	public static native void FRCNetworkCommunicationObserveUserProgramAutonomous();
 	public static native void FRCNetworkCommunicationObserveUserProgramTeleop();
 	public static native void FRCNetworkCommunicationObserveUserProgramTest();
-
+	public static native void FRCNetworkCommunicationReserve();
+
 	private static native int NativeHALGetControlWord();
 	public static HALControlWord HALGetControlWord() {
 		int word = NativeHALGetControlWord();

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

@@ -1,7 +1,7 @@
 package edu.wpi.first.wpilibj.hal;
 
-import java.nio.ByteBuffer;
 import java.nio.IntBuffer;
+import java.nio.ByteBuffer;
 
 public class HALUtil extends JNIWrapper {
 	public static final int NULL_PARAMETER = -5;
@@ -28,12 +28,6 @@ public class HALUtil extends JNIWrapper {
 	public static native boolean getFPGAButton(IntBuffer status);
 
 	public static native String getHALErrorMessage(int code);
-	
-	public static native int getHALErrno();
-	public static native String getHALstrerror(int errno);
-	public static String getHALstrerror(){
-		return getHALstrerror(getHALErrno());
-	}
 
 	public static void checkStatus(IntBuffer status)
 	{