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78 changes: 39 additions & 39 deletions
78
src/main/java/com/robototes/logging/shuffleboard/AbstractValueConfigurable.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,39 +1,39 @@ | ||
| package com.robototes.logging.shuffleboard; | ||
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| import java.util.function.Consumer; | ||
| import java.util.function.Supplier; | ||
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| /** | ||
| * A template for all value configurables (Double, String, etc.) | ||
| * | ||
| * @author Eli Orona | ||
| * | ||
| * @param <T> The type of the data | ||
| * @param <S> Self | ||
| */ | ||
| public abstract class AbstractValueConfigurable<T, S extends AbstractValueConfigurable<T, S>> | ||
| extends AbstractReporter<T, S> implements IConfigurable<T, S> { | ||
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| /** | ||
| * The setter for the widget | ||
| */ | ||
| protected Consumer<T> setter; | ||
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| /** | ||
| * | ||
| * @param getter The supplier of data | ||
| * @param setter The user of the data | ||
| * @param name The name of the widget | ||
| * @param tabName The tab of the widget | ||
| */ | ||
| public AbstractValueConfigurable(Supplier<T> getter, Consumer<T> setter, String name, String tabName) { | ||
| super(getter, name, tabName); | ||
| this.setter = setter; | ||
| } | ||
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| @Override | ||
| public Consumer<T> getSetter() { | ||
| return setter; | ||
| } | ||
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| } | ||
| package com.robototes.logging.shuffleboard; | ||
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| import java.util.function.Consumer; | ||
| import java.util.function.Supplier; | ||
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| /** | ||
| * A template for all value configurables (Double, String, etc.) | ||
| * | ||
| * @author Eli Orona | ||
| * | ||
| * @param <T> The type of the data | ||
| * @param <S> Self | ||
| */ | ||
| public abstract class AbstractValueConfigurable<T, S extends AbstractValueConfigurable<T, S>> | ||
| extends AbstractReporter<T, S> implements IConfigurable<T, S> { | ||
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| /** | ||
| * The setter for the widget | ||
| */ | ||
| protected Consumer<T> setter; | ||
|
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| /** | ||
| * | ||
| * @param getter The supplier of data | ||
| * @param setter The user of the data | ||
| * @param name The name of the widget | ||
| * @param tabName The tab of the widget | ||
| */ | ||
| public AbstractValueConfigurable(Supplier<T> getter, Consumer<T> setter, String name, String tabName) { | ||
| super(getter, name, tabName); | ||
| this.setter = setter; | ||
| } | ||
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| @Override | ||
| public Consumer<T> getSetter() { | ||
| return setter; | ||
| } | ||
|
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| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| package com.robototes.motors; | ||
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| public interface Motor { | ||
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| public void set(double speed); | ||
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| public double get(); | ||
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| public void setInverted(boolean inverted); | ||
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| public boolean getInverted(); | ||
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| public void setP(double value); | ||
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| public void setI(double value); | ||
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| public void setD(double value); | ||
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| public void setF(double value); | ||
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| } |
238 changes: 31 additions & 207 deletions
238
src/main/java/com/robototes/motors/RobototesCANSparkMax.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,207 +1,31 @@ | ||
| package com.robototes.motors; | ||
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| import com.revrobotics.AlternateEncoderType; | ||
| import com.revrobotics.CANAnalog; | ||
| import com.revrobotics.CANAnalog.AnalogMode; | ||
| import com.revrobotics.CANDigitalInput; | ||
| import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; | ||
| import com.revrobotics.CANEncoder; | ||
| import com.revrobotics.CANError; | ||
| import com.revrobotics.CANPIDController; | ||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.EncoderType; | ||
|
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| /** | ||
| * Note: This is to be used for testing only, and the class cannot be mocked | ||
| * | ||
| * @author Eli Orona | ||
| * | ||
| */ | ||
| @SuppressWarnings("unused") | ||
| public class RobototesCANSparkMax extends CANSparkMax { | ||
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| private boolean isInSim = false; | ||
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| private boolean isInverted; | ||
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| private IdleMode mode; | ||
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| private double speed; | ||
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| private double voltage; | ||
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| public RobototesCANSparkMax(int deviceID, MotorType type) { | ||
| super(deviceID, type); | ||
| } | ||
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| public RobototesCANSparkMax(int deviceID, MotorType type, boolean isInSim) { | ||
| super(deviceID, type); | ||
| this.isInSim = isInSim; | ||
| } | ||
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| @Override | ||
| public CANError follow(CANSparkMax leader) { | ||
| // TODO Auto-generated method stub | ||
| return super.follow(leader); | ||
| } | ||
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| @Override | ||
| public CANError follow(CANSparkMax leader, boolean invert) { | ||
| // TODO Auto-generated method stub | ||
| return super.follow(leader, invert); | ||
| } | ||
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| @Override | ||
| public CANError follow(ExternalFollower leader, int deviceID) { | ||
| // TODO Auto-generated method stub | ||
| return super.follow(leader, deviceID); | ||
| } | ||
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| @Override | ||
| public CANError follow(ExternalFollower leader, int deviceID, boolean invert) { | ||
| // TODO Auto-generated method stub | ||
| return super.follow(leader, deviceID, invert); | ||
| } | ||
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| @Override | ||
| public double get() { | ||
| if (isInSim) { | ||
| return speed; | ||
| } | ||
| return super.get(); | ||
| } | ||
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| @Override | ||
| public CANEncoder getAlternateEncoder(AlternateEncoderType sensorType, int counts_per_rev) { | ||
| if (isInSim) { | ||
| return null; | ||
| } | ||
| return super.getAlternateEncoder(sensorType, counts_per_rev); | ||
| } | ||
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| @Override | ||
| public CANAnalog getAnalog(AnalogMode mode) { | ||
| if (isInSim) { | ||
| return null; | ||
| } | ||
| return super.getAnalog(mode); | ||
| } | ||
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| @Override | ||
| public CANEncoder getEncoder(EncoderType sensorType, int counts_per_rev) { | ||
| if (isInSim) { | ||
| return null; | ||
| } | ||
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| return super.getEncoder(sensorType, counts_per_rev); | ||
| } | ||
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| @Override | ||
| public CANDigitalInput getForwardLimitSwitch(LimitSwitchPolarity polarity) { | ||
| if (isInSim) { | ||
| return null; | ||
| } | ||
| return super.getForwardLimitSwitch(polarity); | ||
| } | ||
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| @Override | ||
| public IdleMode getIdleMode() { | ||
| if (isInSim) { | ||
| return mode; | ||
| } | ||
| return super.getIdleMode(); | ||
| } | ||
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| // private int stallLimit; | ||
| // private int freeLimit; | ||
| // private int limitRPM; | ||
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| @Override | ||
| public boolean getInverted() { | ||
| if (isInSim) { | ||
| return isInverted; | ||
| } | ||
| return super.getInverted(); | ||
| } | ||
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| @Override | ||
| public CANPIDController getPIDController() { | ||
| if (isInSim) { | ||
| return null; | ||
| } | ||
| return super.getPIDController(); | ||
| } | ||
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| @Override | ||
| public CANDigitalInput getReverseLimitSwitch(LimitSwitchPolarity polarity) { | ||
| if (isInSim) { | ||
| return null; | ||
| } | ||
| return super.getReverseLimitSwitch(polarity); | ||
| } | ||
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| @Override | ||
| public boolean isFollower() { | ||
| // TODO Auto-generated method stub | ||
| return super.isFollower(); | ||
| } | ||
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| @Override | ||
| public void set(double speed) { | ||
| if (isInSim) { | ||
| this.speed = speed; | ||
| return; | ||
| } | ||
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| super.set(speed); | ||
| } | ||
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| @Override | ||
| public CANError setIdleMode(IdleMode mode) { | ||
| if (isInSim) { | ||
| this.mode = mode; | ||
| return CANError.kOk; | ||
| } | ||
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| return super.setIdleMode(mode); | ||
| } | ||
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| @Override | ||
| public void setInverted(boolean isInverted) { | ||
| if (isInSim) { | ||
| this.isInverted = isInverted; | ||
| return; | ||
| } | ||
| super.setInverted(isInverted); | ||
| } | ||
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| @Override | ||
| public CANError setSecondaryCurrentLimit(double limit, int chopCycles) { | ||
| if (isInSim) { | ||
| return CANError.kOk; | ||
| } | ||
| return super.setSecondaryCurrentLimit(limit, chopCycles); | ||
| } | ||
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| @Override | ||
| public CANError setSmartCurrentLimit(int stallLimit, int freeLimit, int limitRPM) { | ||
| if (isInSim) { | ||
| // this.stallLimit = stallLimit; | ||
| // this.freeLimit = freeLimit; | ||
| // this.limitRPM = limitRPM; | ||
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| return CANError.kOk; | ||
| } | ||
| return super.setSmartCurrentLimit(stallLimit, freeLimit, limitRPM); | ||
| } | ||
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| @Override | ||
| public void setVoltage(double outputVolts) { | ||
| if (isInSim) { | ||
| voltage = outputVolts; | ||
| return; | ||
| } | ||
| super.setVoltage(outputVolts); | ||
| } | ||
|
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| } | ||
| package com.robototes.motors; | ||
|
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| import com.revrobotics.CANSparkMax; | ||
|
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| public class RobototesCANSparkMax extends CANSparkMax implements Motor { | ||
|
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| public RobototesCANSparkMax(int deviceID, MotorType type) { | ||
| super(deviceID, type); | ||
| } | ||
|
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| @Override | ||
| public void setP(double value) { | ||
| super.getPIDController().setP(value); | ||
| } | ||
|
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| @Override | ||
| public void setI(double value) { | ||
| super.getPIDController().setI(value); | ||
| } | ||
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| @Override | ||
| public void setD(double value) { | ||
| super.getPIDController().setD(value); | ||
| } | ||
|
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| @Override | ||
| public void setF(double value) { | ||
| super.getPIDController().setFF(value); | ||
| } | ||
|
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| } |
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