Improved Command-based examples (#906)

Robot.cpp has been split into header-source pairs and the Command-based
examples now define an example subsystem in the Robot class.

.travis.yml

@@ -9,7 +9,7 @@ addons:
       - ubuntu-toolchain-r-test
     packages:
       - g++-6
-      - python3.5
+      - python3.5-dev
 
 before_install:
   - sudo sh -c 'echo "deb http://apt.llvm.org/trusty/ llvm-toolchain-trusty-5.0 main" > /etc/apt/sources.list.d/llvm.list'

hal/src/main/native/athena/Notifier.cpp

@@ -169,13 +169,17 @@ void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
     // the notifier can call back into our callback, so don't hold the lock
     // here (the atomic fetch_sub will prevent multiple parallel entries
     // into this function)
-    if (notifierAlarm) notifierAlarm->writeEnable(false, status);
-    if (notifierManager) notifierManager->disable(status);
 
-    std::lock_guard<wpi::mutex> lock(notifierMutex);
-    notifierAlarm = nullptr;
-    notifierManager = nullptr;
-    closestTrigger = UINT64_MAX;
+    // Cleaning up the manager takes up to a second to complete, so don't do
+    // that here. Fix it more permanently in 2019...
+
+    // if (notifierAlarm) notifierAlarm->writeEnable(false, status);
+    // if (notifierManager) notifierManager->disable(status);
+
+    // std::lock_guard<wpi::mutex> lock(notifierMutex);
+    // notifierAlarm = nullptr;
+    // notifierManager = nullptr;
+    // closestTrigger = UINT64_MAX;
   }
 }
 

hal/src/main/native/athena/PWM.cpp

@@ -104,6 +104,9 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
   digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet,
                                                status);
 
+  // Defaults to allow an always valid config.
+  HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
+
   return handle;
 }
 void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {

hal/src/main/native/athena/SerialPort.cpp

@@ -43,6 +43,13 @@ void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status) {
   if (*status > 0) *status = 0;
 }
 
+void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
+                                    int32_t* status) {
+  *status = viOpen(resourceManagerHandle, const_cast<char*>(portName), VI_NULL,
+                   VI_NULL, reinterpret_cast<ViSession*>(&portHandles[port]));
+  if (*status > 0) *status = 0;
+}
+
 void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status) {
   *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_BAUD, baud);
   if (*status > 0) *status = 0;

hal/src/main/native/athena/ctre/CtreCanNode.cpp

@@ -68,17 +68,13 @@ void CtreCanNode::UnregisterTx(uint32_t arbId)
 		_txJobs.erase(iter);
 	}
 }
-timespec diff(const timespec & start, const timespec & end)
-{
-	timespec temp;
-	if ((end.tv_nsec-start.tv_nsec)<0) {
-		temp.tv_sec = end.tv_sec-start.tv_sec-1;
-		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
-	} else {
-		temp.tv_sec = end.tv_sec-start.tv_sec;
-		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
-	}
-	return temp;
+static int64_t GetTimeMs() {
+	std::chrono::time_point < std::chrono::system_clock > now;
+	now = std::chrono::system_clock::now();
+	auto duration = now.time_since_epoch();
+	auto millis = std::chrono::duration_cast < std::chrono::milliseconds
+					> (duration).count();
+	return (int64_t) millis;
 }
 CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
 {
@@ -90,10 +86,11 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
 	if(timeoutMs > 999)
 		timeoutMs = 999;
 	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
+	std::lock_guard<wpi::mutex> lock(_lck);
 	if(status == 0){
 		/* fresh update */
 		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
-		clock_gettime(2,&r.time); 			/* fill in time */
+		r.time = GetTimeMs();
 		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
 	}else{
 		/* did not get the message */
@@ -107,16 +104,13 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
 			/* we've gotten this message before but not recently */
 			memcpy(dataBytes,i->second.bytes,8);
 			/* get the time now */
-			struct timespec temp;
-			clock_gettime(2,&temp); /* get now */
+			int64_t now = GetTimeMs(); /* get now */
 			/* how long has it been? */
-			temp = diff(i->second.time,temp); /* temp = now - last */
-			if(temp.tv_sec > 0){
-				retval = CTR_RxTimeout;
-			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
-				retval = CTR_RxTimeout;
-			}else {
-				/* our last update was recent enough */
+			int64_t temp = now - i->second.time; /* temp = now - last */
+			if (temp > ((int64_t) timeoutMs)) {
+					retval = CTR_RxTimeout;
+			} else {
+					/* our last update was recent enough */
 			}
 		}
 	}

hal/src/main/native/athena/ctre/CtreCanNode.h

@@ -4,6 +4,7 @@
 #include <map>
 #include <string.h> // memcpy
 #include <sys/time.h>
+#include <support/mutex.h>
 class CtreCanNode
 {
 public:
@@ -108,7 +109,7 @@ private:
 	class rxEvent_t{
 		public:
 			uint8_t bytes[8];
-			struct timespec time;
+			int64_t time;
 			rxEvent_t()
 			{
 				bytes[0] = 0;
@@ -127,5 +128,7 @@ private:
 
 	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
 	rxRxEvents_t _rxRxEvents;
+
+	wpi::mutex _lck;
 };
 #endif

hal/src/main/native/include/HAL/SerialPort.h

@@ -21,6 +21,8 @@ extern "C" {
 #endif
 
 void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status);
+void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
+                                    int32_t* status);
 void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status);
 void HAL_SetSerialDataBits(HAL_SerialPort port, int32_t bits, int32_t* status);
 void HAL_SetSerialParity(HAL_SerialPort port, int32_t parity, int32_t* status);

hal/src/main/native/sim/DIO.cpp

@@ -198,6 +198,23 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
   SimDIOData[port->channel].SetValue(value);
 }
 
+/**
+ * Set direction of a DIO channel.
+ *
+ * @param channel The Digital I/O channel
+ * @param input true to set input, false for output
+ */
+void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
+                         int32_t* status) {
+  auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  SimDIOData[port->channel].SetIsInput(input);
+}
+
 /**
  * Read a digital I/O bit from the FPGA.
  * Get a single value from a digital I/O channel.

hal/src/main/native/sim/PWM.cpp

@@ -57,6 +57,9 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
 
   SimPWMData[origChannel].SetInitialized(true);
 
+  // Defaults to allow an always valid config.
+  HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
+
   return handle;
 }
 void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {

hal/src/main/native/sim/SerialPort.cpp

@@ -16,6 +16,9 @@ void InitializeSerialPort() {}
 extern "C" {
 void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status) {}
 
+void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
+                                    int32_t* status) {}
+
 void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status) {
 }
 

wpilibc/src/main/native/cpp/Drive/DifferentialDrive.cpp

@@ -7,6 +7,7 @@
 
 #include "Drive/DifferentialDrive.h"
 
+#include <algorithm>
 #include <cmath>
 
 #include <HAL/HAL.h>
@@ -171,6 +172,14 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
     }
   }
 
+  // Normalize the wheel speeds
+  double maxMagnitude =
+      std::max(std::abs(leftMotorOutput), std::abs(rightMotorOutput));
+  if (maxMagnitude > 1.0) {
+    leftMotorOutput /= maxMagnitude;
+    rightMotorOutput /= maxMagnitude;
+  }
+
   m_leftMotor.Set(leftMotorOutput * m_maxOutput);
   m_rightMotor.Set(-rightMotorOutput * m_maxOutput);
 

wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp

@@ -134,12 +134,12 @@ void MecanumDrive::InitSendable(SendableBuilder& builder) {
                             [=]() { return m_frontLeftMotor.Get(); },
                             [=](double value) { m_frontLeftMotor.Set(value); });
   builder.AddDoubleProperty(
-      "Front Right Motor Speed", [=]() { return m_frontRightMotor.Get(); },
-      [=](double value) { m_frontRightMotor.Set(value); });
+      "Front Right Motor Speed", [=]() { return -m_frontRightMotor.Get(); },
+      [=](double value) { m_frontRightMotor.Set(-value); });
   builder.AddDoubleProperty("Rear Left Motor Speed",
                             [=]() { return m_rearLeftMotor.Get(); },
                             [=](double value) { m_rearLeftMotor.Set(value); });
-  builder.AddDoubleProperty("Rear Right Motor Speed",
-                            [=]() { return m_rearRightMotor.Get(); },
-                            [=](double value) { m_rearRightMotor.Set(value); });
+  builder.AddDoubleProperty(
+      "Rear Right Motor Speed", [=]() { return -m_rearRightMotor.Get(); },
+      [=](double value) { m_rearRightMotor.Set(-value); });
 }

wpilibc/src/main/native/cpp/Drive/RobotDriveBase.cpp

@@ -21,9 +21,11 @@ using namespace frc;
 RobotDriveBase::RobotDriveBase() { m_safetyHelper.SetSafetyEnabled(true); }
 
 /**
- * Change the default value for deadband scaling. The default value is
- * 0.02. Values smaller then the deadband are set to 0, while values
- * larger then the deadband are scaled from 0.0 to 1.0. See ApplyDeadband().
+ * Sets the deadband applied to the drive inputs (e.g., joystick values).
+ *
+ * The default value is 0.02. Inputs smaller than the deadband are set to 0.0
+ * while inputs larger than the deadband are scaled from 0.0 to 1.0. See
+ * ApplyDeadband().
  *
  * @param deadband The deadband to set.
  */

wpilibc/src/main/native/cpp/Joystick.cpp

@@ -131,7 +131,7 @@ int Joystick::GetThrottleChannel() const { return m_axes[Axis::kThrottle]; }
  *             here to complete the GenericHID interface.
  */
 double Joystick::GetX(JoystickHand hand) const {
-  return GetRawAxis(m_axes[kDefaultXAxis]);
+  return GetRawAxis(m_axes[Axis::kX]);
 }
 
 /**
@@ -143,7 +143,7 @@ double Joystick::GetX(JoystickHand hand) const {
  *             here to complete the GenericHID interface.
  */
 double Joystick::GetY(JoystickHand hand) const {
-  return GetRawAxis(m_axes[kDefaultYAxis]);
+  return GetRawAxis(m_axes[Axis::kY]);
 }
 
 /**
@@ -151,16 +151,14 @@ double Joystick::GetY(JoystickHand hand) const {
  *
  * This depends on the mapping of the joystick connected to the current port.
  */
-double Joystick::GetZ() const { return GetRawAxis(m_axes[kDefaultZAxis]); }
+double Joystick::GetZ() const { return GetRawAxis(m_axes[Axis::kZ]); }
 
 /**
  * Get the twist value of the current joystick.
  *
  * This depends on the mapping of the joystick connected to the current port.
  */
-double Joystick::GetTwist() const {
-  return GetRawAxis(m_axes[kDefaultTwistAxis]);
-}
+double Joystick::GetTwist() const { return GetRawAxis(m_axes[Axis::kTwist]); }
 
 /**
  * Get the throttle value of the current joystick.
@@ -168,7 +166,7 @@ double Joystick::GetTwist() const {
  * This depends on the mapping of the joystick connected to the current port.
  */
 double Joystick::GetThrottle() const {
-  return GetRawAxis(m_axes[kDefaultThrottleAxis]);
+  return GetRawAxis(m_axes[Axis::kThrottle]);
 }
 
 /**

wpilibc/src/main/native/cpp/PWM.cpp

@@ -311,8 +311,8 @@ void PWM::SetZeroLatch() {
 }
 
 void PWM::InitSendable(SendableBuilder& builder) {
-  builder.SetSmartDashboardType("Speed Controller");
+  builder.SetSmartDashboardType("PWM");
   builder.SetSafeState([=]() { SetDisabled(); });
-  builder.AddDoubleProperty("Value", [=]() { return GetSpeed(); },
-                            [=](double value) { SetSpeed(value); });
+  builder.AddDoubleProperty("Value", [=]() { return GetRaw(); },
+                            [=](double value) { SetRaw(value); });
 }

wpilibc/src/main/native/cpp/PWMSpeedController.cpp

@@ -7,6 +7,8 @@
 
 #include "PWMSpeedController.h"
 
+#include "SmartDashboard/SendableBuilder.h"
+
 using namespace frc;
 
 /**
@@ -52,3 +54,10 @@ void PWMSpeedController::StopMotor() { SafePWM::StopMotor(); }
  * @param output Write out the PWM value as was found in the PIDController
  */
 void PWMSpeedController::PIDWrite(double output) { Set(output); }
+
+void PWMSpeedController::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Speed Controller");
+  builder.SetSafeState([=]() { SetDisabled(); });
+  builder.AddDoubleProperty("Value", [=]() { return GetSpeed(); },
+                            [=](double value) { SetSpeed(value); });
+}

wpilibc/src/main/native/cpp/SerialPort.cpp

@@ -61,6 +61,57 @@ SerialPort::SerialPort(int baudRate, Port port, int dataBits,
   HAL_Report(HALUsageReporting::kResourceType_SerialPort, 0);
 }
 
+/**
+ * Create an instance of a Serial Port class.
+ *
+ * @param baudRate The baud rate to configure the serial port.
+ * @param port     The physical port to use
+ * @param portName The direct port name to use
+ * @param dataBits The number of data bits per transfer.  Valid values are
+ *                 between 5 and 8 bits.
+ * @param parity   Select the type of parity checking to use.
+ * @param stopBits The number of stop bits to use as defined by the enum
+ *                 StopBits.
+ */
+SerialPort::SerialPort(int baudRate, llvm::StringRef portName, Port port,
+                       int dataBits, SerialPort::Parity parity,
+                       SerialPort::StopBits stopBits) {
+  int32_t status = 0;
+
+  m_port = port;
+
+  llvm::SmallVector<char, 64> buf;
+  const char* portNameC = portName.c_str(buf);
+
+  HAL_InitializeSerialPortDirect(static_cast<HAL_SerialPort>(port), portNameC,
+                                 &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  // Don't continue if initialization failed
+  if (status < 0) return;
+  HAL_SetSerialBaudRate(static_cast<HAL_SerialPort>(port), baudRate, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  HAL_SetSerialDataBits(static_cast<HAL_SerialPort>(port), dataBits, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  HAL_SetSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  HAL_SetSerialStopBits(static_cast<HAL_SerialPort>(port), stopBits, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+  // Set the default timeout to 5 seconds.
+  SetTimeout(5.0);
+
+  // Don't wait until the buffer is full to transmit.
+  SetWriteBufferMode(kFlushOnAccess);
+
+  EnableTermination();
+
+  // viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler,
+  // this);
+  // viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
+
+  HAL_Report(HALUsageReporting::kResourceType_SerialPort, 0);
+}
+
 /**
  * Destructor.
  */

wpilibc/src/main/native/cpp/SmartDashboard/SendableChooserBase.cpp

@@ -12,3 +12,8 @@ using namespace frc;
 const char* SendableChooserBase::kDefault = "default";
 const char* SendableChooserBase::kOptions = "options";
 const char* SendableChooserBase::kSelected = "selected";
+
+/**
+ * Instantiates a SendableChooser.
+ */
+SendableChooserBase::SendableChooserBase() : SendableBase(false) {}

wpilibc/src/main/native/cpp/TimedRobot.cpp

@@ -43,10 +43,15 @@ void TimedRobot::SetPeriod(double period) {
   m_period = period;
 
   if (m_startLoop) {
-    m_loop->StartPeriodic(m_period);
+    m_loop->StartPeriodic(period);
   }
 }
 
+/**
+ * Get time period between calls to Periodic() functions.
+ */
+double TimedRobot::GetPeriod() const { return m_period; }
+
 TimedRobot::TimedRobot() {
   m_loop = std::make_unique<Notifier>(&TimedRobot::LoopFunc, this);
 

wpilibc/src/main/native/include/PWMSpeedController.h

@@ -28,6 +28,7 @@ class PWMSpeedController : public SafePWM, public SpeedController {
 
  protected:
   explicit PWMSpeedController(int channel);
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   bool m_isInverted = false;

wpilibc/src/main/native/include/SerialPort.h

@@ -10,6 +10,7 @@
 #include <string>
 
 #include <llvm/StringRef.h>
+#include <support/deprecated.h>
 
 #include "ErrorBase.h"
 
@@ -56,6 +57,10 @@ class SerialPort : public ErrorBase {
 
   SerialPort(int baudRate, Port port = kOnboard, int dataBits = 8,
              Parity parity = kParity_None, StopBits stopBits = kStopBits_One);
+  WPI_DEPRECATED("Will be removed for 2019")
+  SerialPort(int baudRate, llvm::StringRef portName, Port port = kOnboard,
+             int dataBits = 8, Parity parity = kParity_None,
+             StopBits stopBits = kStopBits_One);
   ~SerialPort();
 
   SerialPort(const SerialPort&) = delete;

wpilibc/src/main/native/include/SmartDashboard/SendableChooser.inc

@@ -62,7 +62,7 @@ void SendableChooser<T>::AddDefault(llvm::StringRef name, T object) {
 template <class T>
 auto SendableChooser<T>::GetSelected()
     -> decltype(_unwrap_smart_ptr(m_choices[""])) {
-  llvm::StringRef selected = m_defaultChoice;
+  std::string selected = m_defaultChoice;
   if (m_selectedEntry) {
     selected = m_selectedEntry.GetString(m_defaultChoice);
   }

wpilibc/src/main/native/include/SmartDashboard/SendableChooserBase.h

@@ -23,6 +23,7 @@ namespace frc {
  */
 class SendableChooserBase : public SendableBase {
  public:
+  SendableChooserBase();
   ~SendableChooserBase() override = default;
 
  protected:

wpilibc/src/main/native/include/TimedRobot.h

@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <atomic>
 #include <memory>
 
 #include "IterativeRobotBase.h"
@@ -30,13 +31,14 @@ class TimedRobot : public IterativeRobotBase {
   void StartCompetition() override;
 
   void SetPeriod(double seconds);
+  double GetPeriod() const;
 
  protected:
   TimedRobot();
   virtual ~TimedRobot();
 
  private:
-  double m_period = kDefaultPeriod;
+  std::atomic<double> m_period{kDefaultPeriod};
 
   // Prevents loop from starting if user calls SetPeriod() in RobotInit()
   bool m_startLoop = false;

wpilibcExamples/src/main/cpp/templates/commandbased/Commands/ExampleCommand.cpp

@@ -7,9 +7,11 @@
 
 #include "ExampleCommand.h"
 
+#include "../Robot.h"
+
 ExampleCommand::ExampleCommand() {
 	// Use Requires() here to declare subsystem dependencies
-	// eg. Requires(&Robot::chassis);
+	Requires(&Robot::m_subsystem);
 }
 
 // Called just before this Command runs the first time

wpilibcExamples/src/main/cpp/templates/commandbased/Commands/MyAutoCommand.cpp

@@ -7,9 +7,11 @@
 
 #include "MyAutoCommand.h"
 
+#include "../Robot.h"
+
 MyAutoCommand::MyAutoCommand() {
 	// Use Requires() here to declare subsystem dependencies
-	// eg. Requires(&Robot::chassis);
+	Requires(&Robot::m_subsystem);
 }
 
 // Called just before this Command runs the first time

wpilibcExamples/src/main/cpp/templates/commandbased/Robot.cpp

@@ -5,93 +5,77 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include <Commands/Command.h>
+#include "Robot.h"
+
 #include <Commands/Scheduler.h>
-#include <LiveWindow/LiveWindow.h>
-#include <SmartDashboard/SendableChooser.h>
 #include <SmartDashboard/SmartDashboard.h>
-#include <TimedRobot.h>
 
-#include "Commands/ExampleCommand.h"
-#include "Commands/MyAutoCommand.h"
+ExampleSubsystem Robot::m_subsystem;
+OI Robot::m_oi;
 
-class Robot : public frc::TimedRobot {
-public:
-	void RobotInit() override {
-		m_chooser.AddDefault("Default Auto", &m_defaultAuto);
-		m_chooser.AddObject("My Auto", &m_myAuto);
-		frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+void Robot::RobotInit() {
+	m_chooser.AddDefault("Default Auto", &m_defaultAuto);
+	m_chooser.AddObject("My Auto", &m_myAuto);
+	frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+}
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {
+	frc::Scheduler::GetInstance()->Run();
+}
+
+/**
+ * This autonomous (along with the chooser code above) shows how to select
+ * between different autonomous modes using the dashboard. The sendable chooser
+ * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
+ * remove all of the chooser code and uncomment the GetString code to get the
+ * auto name from the text box below the Gyro.
+ *
+ * You can add additional auto modes by adding additional commands to the
+ * chooser code above (like the commented example) or additional comparisons to
+ * the if-else structure below with additional strings & commands.
+ */
+void Robot::AutonomousInit() {
+	// std::string autoSelected = frc::SmartDashboard::GetString(
+	// 		"Auto Selector", "Default");
+	// if (autoSelected == "My Auto") {
+	// 	m_autonomousCommand = &m_myAuto;
+	// } else {
+	// 	m_autonomousCommand = &m_defaultAuto;
+	// }
+
+	m_autonomousCommand = m_chooser.GetSelected();
+
+	if (m_autonomousCommand != nullptr) {
+		m_autonomousCommand->Start();
 	}
+}
 
-	/**
-	 * This function is called once each time the robot enters Disabled
-	 * mode.
-	 * You can use it to reset any subsystem information you want to clear
-	 * when
-	 * the robot is disabled.
-	 */
-	void DisabledInit() override {}
+void Robot::AutonomousPeriodic() {
+	frc::Scheduler::GetInstance()->Run();
+}
 
-	void DisabledPeriodic() override {
-		frc::Scheduler::GetInstance()->Run();
+void Robot::TeleopInit() {
+	// This makes sure that the autonomous stops running when
+	// teleop starts running. If you want the autonomous to
+	// continue until interrupted by another command, remove
+	// this line or comment it out.
+	if (m_autonomousCommand != nullptr) {
+		m_autonomousCommand->Cancel();
+		m_autonomousCommand = nullptr;
 	}
+}
 
-	/**
-	 * This autonomous (along with the chooser code above) shows how to
-	 * select
-	 * between different autonomous modes using the dashboard. The sendable
-	 * chooser code works with the Java SmartDashboard. If you prefer the
-	 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
-	 * GetString code to get the auto name from the text box below the Gyro.
-	 *
-	 * You can add additional auto modes by adding additional commands to
-	 * the
-	 * chooser code above (like the commented example) or additional
-	 * comparisons
-	 * to the if-else structure below with additional strings & commands.
-	 */
-	void AutonomousInit() override {
-		std::string autoSelected = frc::SmartDashboard::GetString(
-				"Auto Selector", "Default");
-		if (autoSelected == "My Auto") {
-			m_autonomousCommand = &m_myAuto;
-		} else {
-			m_autonomousCommand = &m_defaultAuto;
-		}
+void Robot::TeleopPeriodic() {
+	frc::Scheduler::GetInstance()->Run();
+}
 
-		m_autonomousCommand = m_chooser.GetSelected();
-
-		if (m_autonomousCommand != nullptr) {
-			m_autonomousCommand->Start();
-		}
-	}
-
-	void AutonomousPeriodic() override {
-		frc::Scheduler::GetInstance()->Run();
-	}
-
-	void TeleopInit() override {
-		// This makes sure that the autonomous stops running when
-		// teleop starts running. If you want the autonomous to
-		// continue until interrupted by another command, remove
-		// this line or comment it out.
-		if (m_autonomousCommand != nullptr) {
-			m_autonomousCommand->Cancel();
-			m_autonomousCommand = nullptr;
-		}
-	}
-
-	void TeleopPeriodic() override { frc::Scheduler::GetInstance()->Run(); }
-
-	void TestPeriodic() override {}
-
-private:
-	// Have it null by default so that if testing teleop it
-	// doesn't have undefined behavior and potentially crash.
-	frc::Command* m_autonomousCommand = nullptr;
-	ExampleCommand m_defaultAuto;
-	MyAutoCommand m_myAuto;
-	frc::SendableChooser<frc::Command*> m_chooser;
-};
+void Robot::TestPeriodic() {}
 
 START_ROBOT_CLASS(Robot)

wpilibcExamples/src/main/cpp/templates/commandbased/Robot.h

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <Commands/Command.h>
+#include <SmartDashboard/SendableChooser.h>
+#include <TimedRobot.h>
+
+#include "Commands/ExampleCommand.h"
+#include "Commands/MyAutoCommand.h"
+#include "OI.h"
+#include "Subsystems/ExampleSubsystem.h"
+
+class Robot : public frc::TimedRobot {
+public:
+	static ExampleSubsystem m_subsystem;
+	static OI m_oi;
+
+	void RobotInit() override;
+	void DisabledInit() override;
+	void DisabledPeriodic() override;
+	void AutonomousInit() override;
+	void AutonomousPeriodic() override;
+	void TeleopInit() override;
+	void TeleopPeriodic() override;
+	void TestPeriodic() override;
+
+private:
+	// Have it null by default so that if testing teleop it
+	// doesn't have undefined behavior and potentially crash.
+	frc::Command* m_autonomousCommand = nullptr;
+	ExampleCommand m_defaultAuto;
+	MyAutoCommand m_myAuto;
+	frc::SendableChooser<frc::Command*> m_chooser;
+};

wpilibcExamples/src/main/cpp/templates/iterative/Robot.cpp

@@ -5,69 +5,54 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include <iostream>
-#include <string>
+#include "Robot.h"
+
+#include <iostream>
 
-#include <IterativeRobot.h>
-#include <LiveWindow/LiveWindow.h>
-#include <SmartDashboard/SendableChooser.h>
 #include <SmartDashboard/SmartDashboard.h>
 
-class Robot : public frc::IterativeRobot {
-public:
-	void RobotInit() {
-		m_chooser.AddDefault(kAutoNameDefault, kAutoNameDefault);
-		m_chooser.AddObject(kAutoNameCustom, kAutoNameCustom);
-		frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+void Robot::RobotInit() {
+	m_chooser.AddDefault(kAutoNameDefault, kAutoNameDefault);
+	m_chooser.AddObject(kAutoNameCustom, kAutoNameCustom);
+	frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+}
+
+/**
+ * This autonomous (along with the chooser code above) shows how to select
+ * between different autonomous modes using the dashboard. The sendable chooser
+ * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
+ * remove all of the chooser code and uncomment the GetString line to get the
+ * auto name from the text box below the Gyro.
+ *
+ * You can add additional auto modes by adding additional comparisons to the
+ * if-else structure below with additional strings. If using the SendableChooser
+ * make sure to add them to the chooser code above as well.
+ */
+void Robot::AutonomousInit() {
+	m_autoSelected = m_chooser.GetSelected();
+	// m_autoSelected = SmartDashboard::GetString(
+	// 		"Auto Selector", kAutoNameDefault);
+	std::cout << "Auto selected: " << m_autoSelected << std::endl;
+
+	if (m_autoSelected == kAutoNameCustom) {
+		// Custom Auto goes here
+	} else {
+		// Default Auto goes here
 	}
+}
 
-	/*
-	 * This autonomous (along with the chooser code above) shows how to
-	 * select
-	 * between different autonomous modes using the dashboard. The sendable
-	 * chooser code works with the Java SmartDashboard. If you prefer the
-	 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
-	 * GetString line to get the auto name from the text box below the Gyro.
-	 *
-	 * You can add additional auto modes by adding additional comparisons to
-	 * the
-	 * if-else structure below with additional strings. If using the
-	 * SendableChooser make sure to add them to the chooser code above as
-	 * well.
-	 */
-	void AutonomousInit() override {
-		m_autoSelected = m_chooser.GetSelected();
-		// m_autoSelected = SmartDashboard::GetString(
-		// 		"Auto Selector", kAutoNameDefault);
-		std::cout << "Auto selected: " << m_autoSelected << std::endl;
-
-		if (m_autoSelected == kAutoNameCustom) {
-			// Custom Auto goes here
-		} else {
-			// Default Auto goes here
-		}
+void Robot::AutonomousPeriodic() {
+	if (m_autoSelected == kAutoNameCustom) {
+		// Custom Auto goes here
+	} else {
+		// Default Auto goes here
 	}
+}
 
-	void AutonomousPeriodic() {
-		if (m_autoSelected == kAutoNameCustom) {
-			// Custom Auto goes here
-		} else {
-			// Default Auto goes here
-		}
-	}
+void Robot::TeleopInit() {}
 
-	void TeleopInit() {}
+void Robot::TeleopPeriodic() {}
 
-	void TeleopPeriodic() {}
-
-	void TestPeriodic() {}
-
-private:
-	frc::LiveWindow& m_lw = *LiveWindow::GetInstance();
-	frc::SendableChooser<std::string> m_chooser;
-	const std::string kAutoNameDefault = "Default";
-	const std::string kAutoNameCustom = "My Auto";
-	std::string m_autoSelected;
-};
+void Robot::TestPeriodic() {}
 
 START_ROBOT_CLASS(Robot)

wpilibcExamples/src/main/cpp/templates/iterative/Robot.h

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <IterativeRobot.h>
+#include <SmartDashboard/SendableChooser.h>
+
+class Robot : public frc::IterativeRobot {
+public:
+	void RobotInit() override;
+	void AutonomousInit() override;
+	void AutonomousPeriodic() override;
+	void TeleopInit() override;
+	void TeleopPeriodic() override;
+	void TestPeriodic() override;
+
+private:
+	frc::SendableChooser<std::string> m_chooser;
+	const std::string kAutoNameDefault = "Default";
+	const std::string kAutoNameCustom = "My Auto";
+	std::string m_autoSelected;
+};

wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp

@@ -5,121 +5,87 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include <iostream>
-#include <string>
+#include "Robot.h"
+
+#include <iostream>
 
-#include <Drive/DifferentialDrive.h>
-#include <Joystick.h>
-#include <SampleRobot.h>
-#include <SmartDashboard/SendableChooser.h>
 #include <SmartDashboard/SmartDashboard.h>
-#include <Spark.h>
 #include <Timer.h>
 
+Robot::Robot() {
+	// Note SmartDashboard is not initialized here, wait until
+	// RobotInit to make SmartDashboard calls
+	m_robotDrive.SetExpiration(0.1);
+}
+
+void Robot::RobotInit() {
+	m_chooser.AddDefault(kAutoNameDefault, kAutoNameDefault);
+	m_chooser.AddObject(kAutoNameCustom, kAutoNameCustom);
+	frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+}
+
 /**
- * This is a demo program showing the use of the DifferentialDrive class.
- * The SampleRobot class is the base of a robot application that will
- * automatically call your Autonomous and OperatorControl methods at the right
- * time as controlled by the switches on the driver station or the field
- * controls.
+ * This autonomous (along with the chooser code above) shows how to select
+ * between different autonomous modes using the dashboard. The sendable chooser
+ * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
+ * remove all of the chooser code and uncomment the GetString line to get the
+ * auto name from the text box below the Gyro.
  *
- * WARNING: While it may look like a good choice to use for your code if you're
- * inexperienced, don't. Unless you know what you are doing, complex code will
- * be much more difficult under this system. Use IterativeRobot or Command-Based
- * instead if you're new.
+ * You can add additional auto modes by adding additional comparisons to the
+ * if-else structure below with additional strings. If using the SendableChooser
+ * make sure to add them to the chooser code above as well.
  */
-class Robot : public frc::SampleRobot {
-public:
-	Robot() {
-		// Note SmartDashboard is not initialized here, wait until
-		// RobotInit to make SmartDashboard calls
-		m_robotDrive.SetExpiration(0.1);
+void Robot::Autonomous() {
+	std::string autoSelected = m_chooser.GetSelected();
+	// std::string autoSelected = frc::SmartDashboard::GetString(
+	// "Auto Selector", kAutoNameDefault);
+	std::cout << "Auto selected: " << autoSelected << std::endl;
+
+	// MotorSafety improves safety when motors are updated in loops
+	// but is disabled here because motor updates are not looped in
+	// this autonomous mode.
+	m_robotDrive.SetSafetyEnabled(false);
+
+	if (autoSelected == kAutoNameCustom) {
+		// Custom Auto goes here
+		std::cout << "Running custom Autonomous" << std::endl;
+
+		// Spin at half speed for two seconds
+		m_robotDrive.ArcadeDrive(0.0, 0.5);
+		frc::Wait(2.0);
+
+		// Stop robot
+		m_robotDrive.ArcadeDrive(0.0, 0.0);
+	} else {
+		// Default Auto goes here
+		std::cout << "Running default Autonomous" << std::endl;
+
+		// Drive forwards at half speed for two seconds
+		m_robotDrive.ArcadeDrive(-0.5, 0.0);
+		frc::Wait(2.0);
+
+		// Stop robot
+		m_robotDrive.ArcadeDrive(0.0, 0.0);
 	}
+}
 
-	void RobotInit() {
-		m_chooser.AddDefault(kAutoNameDefault, kAutoNameDefault);
-		m_chooser.AddObject(kAutoNameCustom, kAutoNameCustom);
-		frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+/**
+ * Runs the motors with arcade steering.
+ */
+void Robot::OperatorControl() {
+	m_robotDrive.SetSafetyEnabled(true);
+	while (IsOperatorControl() && IsEnabled()) {
+		// Drive with arcade style (use right stick)
+		m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX());
+
+		// The motors will be updated every 5ms
+		frc::Wait(0.005);
 	}
+}
 
-	/*
-	 * This autonomous (along with the chooser code above) shows how to
-	 * select between different autonomous modes using the dashboard. The
-	 * sendable chooser code works with the Java SmartDashboard. If you
-	 * prefer the LabVIEW Dashboard, remove all of the chooser code and
-	 * uncomment the GetString line to get the auto name from the text box
-	 * below the Gyro.
-	 *
-	 * You can add additional auto modes by adding additional comparisons to
-	 * the if-else structure below with additional strings. If using the
-	 * SendableChooser make sure to add them to the chooser code above as
-	 * well.
-	 */
-	void Autonomous() {
-		std::string autoSelected = m_chooser.GetSelected();
-		// std::string autoSelected = frc::SmartDashboard::GetString(
-		// "Auto Selector", kAutoNameDefault);
-		std::cout << "Auto selected: " << autoSelected << std::endl;
-
-		// MotorSafety improves safety when motors are updated in loops
-		// but is disabled here because motor updates are not looped in
-		// this autonomous mode.
-		m_robotDrive.SetSafetyEnabled(false);
-
-		if (autoSelected == kAutoNameCustom) {
-			// Custom Auto goes here
-			std::cout << "Running custom Autonomous" << std::endl;
-
-			// Spin at half speed for two seconds
-			m_robotDrive.ArcadeDrive(0.0, 0.5);
-			frc::Wait(2.0);
-
-			// Stop robot
-			m_robotDrive.ArcadeDrive(0.0, 0.0);
-		} else {
-			// Default Auto goes here
-			std::cout << "Running default Autonomous" << std::endl;
-
-			// Drive forwards at half speed for two seconds
-			m_robotDrive.ArcadeDrive(-0.5, 0.0);
-			frc::Wait(2.0);
-
-			// Stop robot
-			m_robotDrive.ArcadeDrive(0.0, 0.0);
-		}
-	}
-
-	/*
-	 * Runs the motors with arcade steering.
-	 */
-	void OperatorControl() override {
-		m_robotDrive.SetSafetyEnabled(true);
-		while (IsOperatorControl() && IsEnabled()) {
-			// Drive with arcade style (use right stick)
-			m_robotDrive.ArcadeDrive(
-					-m_stick.GetY(), m_stick.GetX());
-
-			// The motors will be updated every 5ms
-			frc::Wait(0.005);
-		}
-	}
-
-	/*
-	 * Runs during test mode
-	 */
-	void Test() override {}
-
-private:
-	// Robot drive system
-	frc::Spark m_leftMotor{0};
-	frc::Spark m_rightMotor{1};
-	frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
-
-	frc::Joystick m_stick{0};
-
-	frc::SendableChooser<std::string> m_chooser;
-	const std::string kAutoNameDefault = "Default";
-	const std::string kAutoNameCustom = "My Auto";
-};
+/**
+ * Runs during test mode
+ */
+void Robot::Test() {}
 
 START_ROBOT_CLASS(Robot)

wpilibcExamples/src/main/cpp/templates/sample/Robot.h

@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <Drive/DifferentialDrive.h>
+#include <Joystick.h>
+#include <SampleRobot.h>
+#include <SmartDashboard/SendableChooser.h>
+#include <Spark.h>
+
+/**
+ * This is a demo program showing the use of the DifferentialDrive class.
+ * The SampleRobot class is the base of a robot application that will
+ * automatically call your Autonomous and OperatorControl methods at the right
+ * time as controlled by the switches on the driver station or the field
+ * controls.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're
+ * inexperienced, don't. Unless you know what you are doing, complex code will
+ * be much more difficult under this system. Use IterativeRobot or Command-Based
+ * instead if you're new.
+ */
+class Robot : public frc::SampleRobot {
+public:
+	Robot();
+
+	void RobotInit() override;
+	void Autonomous() override;
+	void OperatorControl() override;
+	void Test() override;
+
+private:
+	// Robot drive system
+	frc::Spark m_leftMotor{0};
+	frc::Spark m_rightMotor{1};
+	frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
+
+	frc::Joystick m_stick{0};
+
+	frc::SendableChooser<std::string> m_chooser;
+	const std::string kAutoNameDefault = "Default";
+	const std::string kAutoNameCustom = "My Auto";
+};

wpilibcExamples/src/main/cpp/templates/timed/Robot.cpp

@@ -5,68 +5,54 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include "Robot.h"
+
 #include <iostream>
-#include <string>
 
-#include <LiveWindow/LiveWindow.h>
-#include <SmartDashboard/SendableChooser.h>
 #include <SmartDashboard/SmartDashboard.h>
-#include <TimedRobot.h>
 
-class Robot : public frc::TimedRobot {
-public:
-	void RobotInit() {
-		m_chooser.AddDefault(kAutoNameDefault, kAutoNameDefault);
-		m_chooser.AddObject(kAutoNameCustom, kAutoNameCustom);
-		frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+void Robot::RobotInit() {
+	m_chooser.AddDefault(kAutoNameDefault, kAutoNameDefault);
+	m_chooser.AddObject(kAutoNameCustom, kAutoNameCustom);
+	frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+}
+
+/**
+ * This autonomous (along with the chooser code above) shows how to select
+ * between different autonomous modes using the dashboard. The sendable chooser
+ * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
+ * remove all of the chooser code and uncomment the GetString line to get the
+ * auto name from the text box below the Gyro.
+ *
+ * You can add additional auto modes by adding additional comparisons to the
+ * if-else structure below with additional strings. If using the SendableChooser
+ * make sure to add them to the chooser code above as well.
+ */
+void Robot::AutonomousInit() {
+	m_autoSelected = m_chooser.GetSelected();
+	// m_autoSelected = SmartDashboard::GetString("Auto Selector",
+	//		 kAutoNameDefault);
+	std::cout << "Auto selected: " << m_autoSelected << std::endl;
+
+	if (m_autoSelected == kAutoNameCustom) {
+		// Custom Auto goes here
+	} else {
+		// Default Auto goes here
 	}
+}
 
-	/*
-	 * This autonomous (along with the chooser code above) shows how to
-	 * select between different autonomous modes using the dashboard. The
-	 * sendable chooser code works with the Java SmartDashboard. If you
-	 * prefer the LabVIEW Dashboard, remove all of the chooser code and
-	 * uncomment the GetString line to get the auto name from the text box
-	 * below the Gyro.
-	 *
-	 * You can add additional auto modes by adding additional comparisons to
-	 * the if-else structure below with additional strings. If using the
-	 * SendableChooser make sure to add them to the chooser code above as
-	 * well.
-	 */
-	void AutonomousInit() override {
-		m_autoSelected = m_chooser.GetSelected();
-		// m_autoSelected = SmartDashboard::GetString("Auto Selector",
-		//		 kAutoNameDefault);
-		std::cout << "Auto selected: " << m_autoSelected << std::endl;
-
-		if (m_autoSelected == kAutoNameCustom) {
-			// Custom Auto goes here
-		} else {
-			// Default Auto goes here
-		}
+void Robot::AutonomousPeriodic() {
+	if (m_autoSelected == kAutoNameCustom) {
+		// Custom Auto goes here
+	} else {
+		// Default Auto goes here
 	}
+}
 
-	void AutonomousPeriodic() {
-		if (m_autoSelected == kAutoNameCustom) {
-			// Custom Auto goes here
-		} else {
-			// Default Auto goes here
-		}
-	}
+void Robot::TeleopInit() {}
 
-	void TeleopInit() {}
+void Robot::TeleopPeriodic() {}
 
-	void TeleopPeriodic() {}
-
-	void TestPeriodic() {}
-
-private:
-	frc::LiveWindow& m_lw = *LiveWindow::GetInstance();
-	frc::SendableChooser<std::string> m_chooser;
-	const std::string kAutoNameDefault = "Default";
-	const std::string kAutoNameCustom = "My Auto";
-	std::string m_autoSelected;
-};
+void Robot::TestPeriodic() {}
 
 START_ROBOT_CLASS(Robot)

wpilibcExamples/src/main/cpp/templates/timed/Robot.h

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <SmartDashboard/SendableChooser.h>
+#include <TimedRobot.h>
+
+class Robot : public frc::TimedRobot {
+public:
+	void RobotInit() override;
+	void AutonomousInit() override;
+	void AutonomousPeriodic() override;
+	void TeleopInit() override;
+	void TeleopPeriodic() override;
+	void TestPeriodic() override;
+
+private:
+	frc::SendableChooser<std::string> m_chooser;
+	const std::string kAutoNameDefault = "Default";
+	const std::string kAutoNameCustom = "My Auto";
+	std::string m_autoSelected;
+};

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java

@@ -80,6 +80,10 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
     setName("ADXRS450_Gyro", port.value);
   }
 
+  public boolean isConnected() {
+    return m_spi != null;
+  }
+
   @Override
   public void calibrate() {
     if (m_spi == null) {
@@ -128,7 +132,9 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
 
   @Override
   public void reset() {
-    m_spi.resetAccumulator();
+    if (m_spi != null) {
+      m_spi.resetAccumulator();
+    }
   }
 
   /**

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

@@ -252,39 +252,43 @@ public class CameraServer {
     }
 
     NetworkTableEntry entry = table.getEntry(name);
-    switch (event.propertyKind) {
-      case kBoolean:
-        if (isNew) {
-          entry.setDefaultBoolean(event.value != 0);
-        } else {
-          entry.setBoolean(event.value != 0);
-        }
-        break;
-      case kInteger:
-      case kEnum:
-        if (isNew) {
-          entry.setDefaultDouble(event.value);
-          table.getEntry(infoName + "/min").setDouble(
-              CameraServerJNI.getPropertyMin(event.propertyHandle));
-          table.getEntry(infoName + "/max").setDouble(
-              CameraServerJNI.getPropertyMax(event.propertyHandle));
-          table.getEntry(infoName + "/step").setDouble(
-              CameraServerJNI.getPropertyStep(event.propertyHandle));
-          table.getEntry(infoName + "/default").setDouble(
-              CameraServerJNI.getPropertyDefault(event.propertyHandle));
-        } else {
-          entry.setDouble(event.value);
-        }
-        break;
-      case kString:
-        if (isNew) {
-          entry.setDefaultString(event.valueStr);
-        } else {
-          entry.setString(event.valueStr);
-        }
-        break;
-      default:
-        break;
+    try {
+      switch (event.propertyKind) {
+        case kBoolean:
+          if (isNew) {
+            entry.setDefaultBoolean(event.value != 0);
+          } else {
+            entry.setBoolean(event.value != 0);
+          }
+          break;
+        case kInteger:
+        case kEnum:
+          if (isNew) {
+            entry.setDefaultDouble(event.value);
+            table.getEntry(infoName + "/min").setDouble(
+                CameraServerJNI.getPropertyMin(event.propertyHandle));
+            table.getEntry(infoName + "/max").setDouble(
+                CameraServerJNI.getPropertyMax(event.propertyHandle));
+            table.getEntry(infoName + "/step").setDouble(
+                CameraServerJNI.getPropertyStep(event.propertyHandle));
+            table.getEntry(infoName + "/default").setDouble(
+                CameraServerJNI.getPropertyDefault(event.propertyHandle));
+          } else {
+            entry.setDouble(event.value);
+          }
+          break;
+        case kString:
+          if (isNew) {
+            entry.setDefaultString(event.valueStr);
+          } else {
+            entry.setString(event.valueStr);
+          }
+          break;
+        default:
+          break;
+      }
+    } catch (VideoException ex) {
+      // ignore
     }
   }
 
@@ -388,8 +392,12 @@ public class CameraServer {
         case kSourcePropertyChoicesUpdated: {
           NetworkTable table = m_tables.get(event.sourceHandle);
           if (table != null) {
-            String[] choices = CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
-            table.getEntry("PropertyInfo/" + event.name + "/choices").setStringArray(choices);
+            try {
+              String[] choices = CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
+              table.getEntry("PropertyInfo/" + event.name + "/choices").setStringArray(choices);
+            } catch (VideoException ex) {
+              // ignore
+            }
           }
           break;
         }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java

@@ -99,6 +99,18 @@ public class Notifier {
       }
     });
     m_thread.setDaemon(true);
+    m_thread.setUncaughtExceptionHandler((thread, error) -> {
+      Throwable cause = error.getCause();
+      if (cause != null) {
+        error = cause;
+      }
+      DriverStation.reportError("Unhandled exception: " + error.toString(), error.getStackTrace());
+      DriverStation.reportWarning("Robots should not quit, but yours did!", false);
+      DriverStation.reportError(
+          "The loopFunc() method (or methods called by it) should have handled "
+              + "the exception above.", false);
+      System.exit(1);
+    });
     m_thread.start();
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java

@@ -244,8 +244,8 @@ public class PWM extends SendableBase implements Sendable {
 
   @Override
   public void initSendable(SendableBuilder builder) {
-    builder.setSmartDashboardType("Speed Controller");
+    builder.setSmartDashboardType("PWM");
     builder.setSafeState(this::setDisabled);
-    builder.addDoubleProperty("Value", this::getSpeed, this::setSpeed);
+    builder.addDoubleProperty("Value", this::getRaw, value -> setRaw((int) value));
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java

@@ -7,6 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+
 /**
  * Common base class for all PWM Speed Controllers.
  */
@@ -66,4 +68,11 @@ public abstract class PWMSpeedController extends SafePWM implements SpeedControl
   public void pidWrite(double output) {
     set(output);
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Speed Controller");
+    builder.setSafeState(this::setDisabled);
+    builder.addDoubleProperty("Value", this::getSpeed, this::setSpeed);
+  }
 }

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

@@ -94,6 +94,42 @@ public class SerialPort {
     }
   }
 
+  /**
+   * Create an instance of a Serial Port class.
+   *
+   * @param baudRate The baud rate to configure the serial port.
+   * @param port     The Serial port to use
+   * @param portName The direct portName to use
+   * @param dataBits The number of data bits per transfer. Valid values are between 5 and 8 bits.
+   * @param parity   Select the type of parity checking to use.
+   * @param stopBits The number of stop bits to use as defined by the enum StopBits.
+   * @deprecated     Will be removed for 2019
+   */
+  @Deprecated
+  public SerialPort(final int baudRate, String portName, Port port, final int dataBits,
+                    Parity parity, StopBits stopBits) {
+    m_port = (byte) port.value;
+
+    SerialPortJNI.serialInitializePortDirect(m_port, portName);
+    SerialPortJNI.serialSetBaudRate(m_port, baudRate);
+    SerialPortJNI.serialSetDataBits(m_port, (byte) dataBits);
+    SerialPortJNI.serialSetParity(m_port, (byte) parity.value);
+    SerialPortJNI.serialSetStopBits(m_port, (byte) stopBits.value);
+
+    // Set the default read buffer size to 1 to return bytes immediately
+    setReadBufferSize(1);
+
+    // Set the default timeout to 5 seconds.
+    setTimeout(5.0);
+
+    // Don't wait until the buffer is full to transmit.
+    setWriteBufferMode(WriteBufferMode.kFlushOnAccess);
+
+    disableTermination();
+
+    HAL.report(tResourceType.kResourceType_SerialPort, 0);
+  }
+
   /**
    * Create an instance of a Serial Port class.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

@@ -21,7 +21,7 @@ import edu.wpi.first.wpilibj.hal.HAL;
 public class TimedRobot extends IterativeRobotBase {
   public static final double DEFAULT_PERIOD = 0.02;
 
-  private double m_period = DEFAULT_PERIOD;
+  private volatile double m_period = DEFAULT_PERIOD;
 
   // Prevents loop from starting if user calls setPeriod() in robotInit()
   private boolean m_startLoop = false;
@@ -68,4 +68,11 @@ public class TimedRobot extends IterativeRobotBase {
       m_loop.startPeriodic(m_period);
     }
   }
+
+  /**
+   * Get time period between calls to Periodic() functions.
+   */
+  public double getPeriod() {
+    return m_period;
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java

@@ -261,6 +261,13 @@ public class DifferentialDrive extends RobotDriveBase {
       }
     }
 
+    // Normalize the wheel speeds
+    double maxMagnitude = Math.max(Math.abs(leftMotorOutput), Math.abs(rightMotorOutput));
+    if (maxMagnitude > 1.0) {
+      leftMotorOutput /= maxMagnitude;
+      rightMotorOutput /= maxMagnitude;
+    }
+
     m_leftMotor.set(leftMotorOutput * m_maxOutput);
     m_rightMotor.set(-rightMotorOutput * m_maxOutput);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

@@ -189,11 +189,11 @@ public class MecanumDrive extends RobotDriveBase {
     builder.setSmartDashboardType("MecanumDrive");
     builder.addDoubleProperty("Front Left Motor Speed", m_frontLeftMotor::get,
         m_frontLeftMotor::set);
-    builder.addDoubleProperty("Front Right Motor Speed", m_frontRightMotor::get,
-        m_frontRightMotor::set);
+    builder.addDoubleProperty("Front Right Motor Speed", () -> -m_frontRightMotor.get(),
+        value -> m_frontRightMotor.set(-value));
     builder.addDoubleProperty("Rear Left Motor Speed", m_rearLeftMotor::get,
         m_rearLeftMotor::set);
-    builder.addDoubleProperty("Rear Right Motor Speed", m_rearRightMotor::get,
-        m_rearRightMotor::set);
+    builder.addDoubleProperty("Rear Right Motor Speed", () -> -m_rearRightMotor.get(),
+        value -> m_rearRightMotor.set(-value));
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java

@@ -43,9 +43,11 @@ public abstract class RobotDriveBase extends SendableBase implements MotorSafety
   }
 
   /**
-   * Change the default value for deadband scaling. The default value is
-   * {@value #kDefaultDeadband}. Values smaller then the deadband are set to 0, while values
-   * larger then the deadband are scaled from 0.0 to 1.0. See {@link #applyDeadband}.
+   * Sets the deadband applied to the drive inputs (e.g., joystick values).
+   *
+   * <p>The default value is {@value #kDefaultDeadband}. Inputs smaller than the deadband are set to
+   * 0.0 while inputs larger than the deadband are scaled from 0.0 to 1.0. See
+   * {@link #applyDeadband}.
    *
    * @param deadband The deadband to set.
    */

wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/DIOJNI.java

@@ -15,8 +15,11 @@ public class DIOJNI extends JNIWrapper {
 
   public static native void freeDIOPort(int dioPortHandle);
 
+  // TODO(Thad): Switch this to use boolean
   public static native void setDIO(int dioPortHandle, short value);
 
+  public static native void setDIODirection(int dioPortHandle, boolean input);
+
   public static native boolean getDIO(int dioPortHandle);
 
   public static native boolean getDIODirection(int dioPortHandle);

wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/SerialPortJNI.java

@@ -10,6 +10,8 @@ package edu.wpi.first.wpilibj.hal;
 public class SerialPortJNI extends JNIWrapper {
   public static native void serialInitializePort(byte port);
 
+  public static native void serialInitializePortDirect(byte port, String portName);
+
   public static native void serialSetBaudRate(byte port, int baud);
 
   public static native void serialSetDataBits(byte port, byte bits);

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java

@@ -51,6 +51,7 @@ public class SendableChooser<V> extends SendableBase implements Sendable {
    * Instantiates a {@link SendableChooser}.
    */
   public SendableChooser() {
+    super(false);
   }
 
   /**

wpilibj/src/main/native/cpp/DIOJNI.cpp

@@ -90,6 +90,22 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO(
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    setDIODirection
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIODirection(
+  JNIEnv *env, jclass, jint id, jboolean input) {
+  // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
+  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  // DIOJNI_LOG(logDEBUG) << "IsInput = " << input;
+  int32_t status = 0;
+  HAL_SetDIODirection((HAL_DigitalHandle)id, input, &status);
+  // DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
  * Method:    getDIO

wpilibj/src/main/native/cpp/EncoderJNI.cpp

@@ -36,7 +36,7 @@ extern "C" {
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
     JNIEnv* env, jclass, jint digitalSourceHandleA, jint analogTriggerTypeA,
-    jint digitalSourceHandleB, jint analogTriggerTypeB, jboolean reverseDirection, 
+    jint digitalSourceHandleB, jint analogTriggerTypeB, jboolean reverseDirection,
     jint encodingType) {
   ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
   ENCODERJNI_LOG(logDEBUG) << "Source Handle A = " << digitalSourceHandleA;
@@ -49,10 +49,10 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
   ENCODERJNI_LOG(logDEBUG) << "EncodingType = " << encodingType;
   int32_t status = 0;
   auto encoder = HAL_InitializeEncoder(
-      (HAL_Handle)digitalSourceHandleA, (HAL_AnalogTriggerType)analogTriggerTypeA, 
+      (HAL_Handle)digitalSourceHandleA, (HAL_AnalogTriggerType)analogTriggerTypeA,
       (HAL_Handle)digitalSourceHandleB, (HAL_AnalogTriggerType)analogTriggerTypeB,
       reverseDirection, (HAL_EncoderEncodingType)encodingType, &status);
-      
+
   ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
   ENCODERJNI_LOG(logDEBUG) << "ENCODER Handle = " << encoder;
   CheckStatusForceThrow(env, status);
@@ -340,7 +340,7 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage(
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource(
-    JNIEnv* env, jclass, jint id, jint digitalSourceHandle, 
+    JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
     jint analogTriggerType, jint type) {
   ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
   ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
@@ -349,8 +349,8 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource(
                            << analogTriggerType;
   ENCODERJNI_LOG(logDEBUG) << "IndexingType = " << type;
   int32_t status = 0;
-  HAL_SetEncoderIndexSource((HAL_EncoderHandle)id, (HAL_Handle)digitalSourceHandle, 
-                            (HAL_AnalogTriggerType)analogTriggerType, 
+  HAL_SetEncoderIndexSource((HAL_EncoderHandle)id, (HAL_Handle)digitalSourceHandle,
+                            (HAL_AnalogTriggerType)analogTriggerType,
                             (HAL_EncoderIndexingType)type, &status);
   ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
   CheckStatus(env, status);
@@ -405,7 +405,7 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDecodingScaleFactor(
   ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
   ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
   int32_t status = 0;
-  jint returnValue = HAL_GetEncoderDecodingScaleFactor((HAL_EncoderHandle)id, &status);
+  jdouble returnValue = HAL_GetEncoderDecodingScaleFactor((HAL_EncoderHandle)id, &status);
   ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
   ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
                            << returnValue;
@@ -424,7 +424,7 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistancePerPulse(
   ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
   ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
   int32_t status = 0;
-  jint returnValue = HAL_GetEncoderDistancePerPulse((HAL_EncoderHandle)id, &status);
+  jdouble returnValue = HAL_GetEncoderDistancePerPulse((HAL_EncoderHandle)id, &status);
   ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
   ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
                            << returnValue;

wpilibj/src/main/native/cpp/SerialPortJNI.cpp

@@ -45,6 +45,25 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePort(
   CheckStatusForceThrow(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialInitializePortDirect
+ * Signature: (BLjava/lang/String;)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePortDirect(
+    JNIEnv* env, jclass, jbyte port, jstring portName) {
+  SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize Direct";
+  SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  JStringRef portNameRef{env, portName};
+  SERIALJNI_LOG(logDEBUG) << "PortName = " << portNameRef.c_str();
+  int32_t status = 0;
+  HAL_InitializeSerialPortDirect(static_cast<HAL_SerialPort>(port),
+                                 portNameRef.c_str(), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatusForceThrow(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
  * Method:    serialSetBaudRate
@@ -247,7 +266,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialRead(
   llvm::SmallVector<char, 128> recvBuf;
   recvBuf.resize(size);
   int32_t status = 0;
-  jint retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(port), recvBuf.data(), 
+  jint retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(port), recvBuf.data(),
                                size, &status);
   env->SetByteArrayRegion(dataReceived, 0, size,
                           reinterpret_cast<const jbyte *>(recvBuf.data()));

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java

@@ -23,8 +23,7 @@ import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
  * project.
  */
 public class Robot extends TimedRobot {
-	public static final ExampleSubsystem kExampleSubsystem
-			= new ExampleSubsystem();
+	public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
 	public static OI m_oi;
 
 	Command m_autonomousCommand;

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java

@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.templates.commandbased.Robot;
 public class ExampleCommand extends Command {
 	public ExampleCommand() {
 		// Use requires() here to declare subsystem dependencies
-		requires(Robot.kExampleSubsystem);
+		requires(Robot.m_subsystem);
 	}
 
 	// Called just before this Command runs the first time