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allwpilib/hal
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Alex Henning cb56c9a144 Initial commit of the WPILib simulation support in an alpha quality state. 
Fixes to deal with the switch to .hpp files in the HAL and other misc problems due to rebasing.

Added Omar's changes to the compressor interface

Fixes to make C++ plugin compile on linux.

Added import of the WPILibSim code from the graduate class. It shows up as wpilibJavaSim to follow the convention set by wpilibJava, wpilibJavaJNI and wpilibJavaFinal.

Fixed wpilibJavaSim artifactId to mirror the new convention.

Modified the build of the java plugin to pull in the simulation dependencies.

Added stacktrace printing.

Fixed support for creating projects.

Added support for the isReal() and isSimulation() methods along with the AnalogPotentiometer object to support simulating GearsBot.

Added support for a "WPILib Simulate" button.

Added GearsBot to the built in examples.

Added support for specifying the world file during project creation and switched the default from BluntObjectBot to GearsBot.

Removed unused import.

Added file browser for world files.

Added support for debugging in simulation.

Change simulate icon to be a Gazebo icon.

Switched over to the gazebo messaging system.

Updated location of default world file.

Reverted cmake change.

Fixed bug in WPILibJSim, added better logging and cleaned up code.

Made the frc_gazebo_plugin build using raw cmake instead of catkin, breaking the final ROS dependencies.

Added installation to frc_gazebo_plugin Makefile.

Fixed running of simulation to actually use frcsim.

Initial commit of simulation library for C++. Has the minimal subset of features necessary for having a Simple Robot run in teleoperated mode.

Added notes for generating protobuf messages.

Import of the debuild process into the main repository.

Moved frc_gazebo_plugin under simulation and removed the gazebo folder.

Updated the gazebo plugin to remove excessive printing and limit motor signal to [-1,1].

Updated WPILibJSim to support latching messages and to sleep for 20ms in iterative robot.

Reduced delay between starting frcsim and the users program to 1 second.

Updated GearsBot example.

Fixed a few minor issues for demoable state.

Added simulator support for Victors, Jaguars and Talons.

Added NetworkTables, SmartDashboard and LiveWindow to the simulator.

Added AnalogPotentiometer for simulation.

Added support for simulating encoders.

Added simulation support for Gyro.

Added IterativeRobot, Fixed Timers, Notifiers, PIDControllers and other minor fixes + cleanup.

Added RobotDrive support to simulation.

Separated out JavaGazebo so that SimDS will be able to reuse it.

Separated out SimDS into its own application..

Fixes so that the SimDS is distributed and runs properly for Java with the eclipse plugins.

Added DriverStation support to WPILibCSim

Cleanup of DriverStation, WaitUntilCommand and AnalogPotentiometer for WPILibCSim.

Cleanup of includes for WPILibCSim

Added AnalogPotentiometer to the real WPILibC.

Added AnalogPotentiometer to the real WPILibC.

Added GearsBot example to C++ eclipse plugin.

WPILibCSim fixes to work with launching from the plugin.

Package libwpilibsim in a deb file.

Added includes to plugin distribution.

Added support for external-limit-switches to Gazebo, Java and C++.

Added support for Gazebo Rangefinders and Analog channels to read their values in C++ and Java.

Added support for internal limit switches.

Updated GearsBot programs to use limit switches + range finders.

Added disabling of motors when robot is disabled to more closely mimic the real robot.

Fixes to deal with the switch to .hpp files in the HAL and other misc problems due to rebasing.

Change-Id: I624c5f4d0f28282616a7c92083575bf68adcdce2
2014-06-13 09:31:32 -04:00
..
include
Initial commit of the WPILib simulation support in an alpha quality state.
2014-06-13 09:31:32 -04:00
lib/Athena
Initial commit of the WPILib simulation support in an alpha quality state.
2014-06-13 09:31:32 -04:00
CMakeLists.txt
Reverting back to static .a files for C++ and fixing lots of other assorted items
2014-05-27 21:26:10 -04:00
README.org
Initial checkin of unified hierarchy of WPILib 2015
2013-12-15 18:30:16 -05:00

README.org

Purpose

The HAL is a hardware abstraction layer that provides a uniform interface that can be used to access a number of primarily I/O features in the underlying platform. The features include:

  • Analog input, accumulation and triggers
  • PWM, Relay and Solenoid output
  • Digital input and output
  • I2C and SPI communication
  • Encoders and counters
  • Interrupts and Notifiers

The initial goal is to allow a higher level like WPILib to support both the CRIO and the upcoming Athena platform only by changing which version of the HAL it's running on.

Editing

You can always use any text editor and then build with Maven. There are also eclipse project files so that it can be edited in the same eclipse environment that teams develop with. For the AthenaXX, this can be found in the root directory of this project. It imports as an FRC Robot C++ Eclipse project. The Windriver project can be imported from the src directory.

Building with Maven

There are multiple build targets that the HAL supports. Instructions for setting up the environment and building each of these is described below. Current targets are listed below:

  • All: All of the following targets.
  • include: The header files for the HAL.
  • Azalea: CRIO C++ build.
  • AthenaXX: Athena Dos Equis C++ build.
  • AthenaXXJava: Athena Dos Equis Java build with auto-generated JNA wrappers.

Output from each build target is placed in the directory target/<target-name>. So, the Azalea output is placed in target/Azalea.

All

Note: Windows only due to the Windriver requirement.

  1. Ensure that C:\WindRiver\gnu\3.4.4-vxworks-6.3\x86-win32\bin is on the system path so that ccppc and arppc can be accessed.
  2. Set the environment variable WIND_BASE to C:\WindRiver\vxworks-6.3.
  3. Ensure that $HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/ is on the system path so that arm-none-linux-gnueabi-g++ and arm-none-linux-gnueabi-ar can be accessed.
  4. Checkout and install the NI-Libraries from Github: https://github.com/first/NI-Libraries.
  5. Run the following maven command: mvn clean install
  6. Success

include

  1. cd into the include directory: cd include
  2. Run the following maven command: mvn clean install
  3. Success

Azalea

Note: Windows only.

  1. Ensure that C:\WindRiver\gnu\3.4.4-vxworks-6.3\x86-win32\bin is on the system path so that ccppc and arppc can be accessed.
  2. Set the environment variable WIND_BASE to C:\WindRiver\vxworks-6.3.
  3. cd into the AthenaXX directory: cd AthenaXX
  4. cd into the Azalea directory: cd Azalea
  5. Run the following maven command: mvn clean install
  6. Success

AthenaXX

  1. Ensure that $HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/ is on the system path so that arm-none-linux-gnueabi-g++ and arm-none-linux-gnueabi-ar can be accessed.
  2. Install the include target.
  3. cd into the AthenaXX directory: cd AthenaXX
  4. Run the following maven command: mvn clean install
  5. Success

AthenaXXJava

  1. Ensure that $HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/ is on the system path so that arm-none-linux-gnueabi-g++ and arm-none-linux-gnueabi-ar can be accessed.
  2. Checkout and install the NI-Libraries from Github: https://github.com/first/NI-Libraries.
  3. Install the include target.
  4. cd into the AthenaXXJava directory: cd AthenaXXJava
  5. Run the following maven command: mvn clean install
  6. Success
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