From 2a235316dc6f2b85caa4ed4ddcdf77b32a5baf11 Mon Sep 17 00:00:00 2001
From: Paul Friederichsen <floogulinc@gmail.com>
Date: Wed, 22 Jan 2014 16:21:51 -0600
Subject: [PATCH] =?UTF-8?q?Tried=20to=20fix=20stuff,=20got=20rid=20of=20th?=
 =?UTF-8?q?e=20other=20lcd=20code=20and=20replaced=20with=20other=20code.?=
 =?UTF-8?q?=20It=20still=20drives,=20but=20the=20sensitivity=20doesn?=
 =?UTF-8?q?=E2=80=99t=20work=20yet.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 nbproject/project.bak.xml            |   9 +-
 src/com/frc2879/bender/DSOutput.java |  88 ++++++++++
 src/com/frc2879/bender/DStation.java | 236 ---------------------------
 src/com/frc2879/bender/Robot.java    |  32 ++--
 4 files changed, 113 insertions(+), 252 deletions(-)
 create mode 100644 src/com/frc2879/bender/DSOutput.java
 delete mode 100644 src/com/frc2879/bender/DStation.java

diff --git a/nbproject/project.bak.xml b/nbproject/project.bak.xml
index 97dd991..92adfbe 100644
--- a/nbproject/project.bak.xml
+++ b/nbproject/project.bak.xml
@@ -1,4 +1,5 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><!--
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!--
 
     This is a sample netbeans project file for a Sun Spot Application project.
     You may edit it freely, it doesn't affect the ant-powered build.
@@ -81,11 +82,11 @@
         <java-data xmlns="http://www.netbeans.org/ns/freeform-project-java/1">
             <compilation-unit>
                 <package-root>src</package-root>
-                <classpath mode="boot">${sunspot.bootclasspath}</classpath>
-                <classpath mode="compile">${wpilibj.home}/classes.jar</classpath>
+                <classpath mode="boot">${sunspot.home}/lib/squawk.jar</classpath>
+                <classpath mode="compile">${sunspot.home}/lib/wpilibj.jar:${sunspot.home}/lib/networktables-crio.jar</classpath>
                 <built-to>build</built-to>
                 <source-level>1.4</source-level>
             </compilation-unit>
         </java-data>
     </configuration>
-</project>
\ No newline at end of file
+</project>
diff --git a/src/com/frc2879/bender/DSOutput.java b/src/com/frc2879/bender/DSOutput.java
new file mode 100644
index 0000000..bce0bf7
--- /dev/null
+++ b/src/com/frc2879/bender/DSOutput.java
@@ -0,0 +1,88 @@
+/*
+ * To change this license header, choose License Headers in Project Properties.
+ * To change this template file, choose Tools | Templates
+ * and open the template in the editor.
+ */
+
+package com.frc2879.bender;
+
+import edu.wpi.first.wpilibj.DriverStationLCD;
+
+/**
+ * Utilities for managing the Driver Station output window.
+ * <p/>
+ * @author Chris Cheng
+ * @author Ben
+ * @version 2011
+ */
+public class DSOutput {
+
+        static DriverStationLCD output;
+
+        /**
+         * Make a new DSOutput instance. Not hard.
+         */
+        public DSOutput() {
+                output = DriverStationLCD.getInstance();
+        }
+
+        /**
+         * Display a line of text without scrolling. Max 21 characters / line.
+         * <p/>
+         * @param ln Which line to print in
+         * @param msg What message to display
+         */
+        public void say(int ln, String msg) {
+                if(msg == null) {
+                        msg = "null message passed";
+                }
+                // DriverStationLCD.kLineLength=21
+                // Add 21 spaces to clear the rest of the line
+                msg += "                     ";
+                // If the given message is too long, truncate it
+                if(msg.length() > 21) {
+                        msg = msg.substring(0, 21);
+                }
+
+                switch(ln) {
+                        case (1):
+                                output.println(DriverStationLCD.Line.kMain6, 1, msg);
+                                break;
+                        case (2):
+                                output.println(DriverStationLCD.Line.kUser2, 1, msg);
+                                break;
+                        case (3):
+                                output.println(DriverStationLCD.Line.kUser3, 1, msg);
+                                break;
+                        case (4):
+                                output.println(DriverStationLCD.Line.kUser4, 1, msg);
+                                break;
+                        case (5):
+                                output.println(DriverStationLCD.Line.kUser5, 1, msg);
+                                break;
+                        case (6):
+                                output.println(DriverStationLCD.Line.kUser6, 1, msg);
+                                break;
+                }
+                // Show the message
+                output.updateLCD();
+        }
+
+        /**
+         * Clear the entire output box.
+         */
+        public void clearOutput() {
+                say(1, "                   ");
+                say(2, "                   ");
+                say(3, "                   ");
+                say(4, "                   ");
+                say(5, "                   ");
+                say(6, "                   ");
+                output.updateLCD();
+        }
+        public void clearLine(int line){
+            say(line, "                   ");
+                // Show the message
+                output.updateLCD();
+        }
+}
diff --git a/src/com/frc2879/bender/DStation.java b/src/com/frc2879/bender/DStation.java
deleted file mode 100644
index 8a3c70e..0000000
--- a/src/com/frc2879/bender/DStation.java
+++ /dev/null
@@ -1,236 +0,0 @@
-/*
- * To change this license header, choose License Headers in Project Properties.
- * To change this template file, choose Tools | Templates
- * and open the template in the editor.
- */
-
-package com.frc2879.bender;
-
-/**
- * @author   William Dell
- * @author   Team 647
- * @version  v5, January 26, 2011
- * @version  FRC Java version 2011.4
- * */
-
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStationLCD;
-import edu.wpi.first.wpilibj.Dashboard;
-import edu.wpi.first.wpilibj.AnalogModule;
-import edu.wpi.first.wpilibj.DigitalModule;
-import edu.wpi.first.wpilibj.Solenoid;
-
-/**
- * The routines for dealing with the driver station are ridiculously complicated
- * and cryptic.  Hopefully this class will simplify the process by replacing them
- * with shorter, more obvious methods.
- */
-public class DStation implements Runnable {
-
-    // going to treat the LCD as a stack, in reverse here because
-    // new lines appear on the bottom and scroll upwards (mostly)
-    DriverStationLCD.Line[] lcdLines = {
-        DriverStationLCD.Line.kUser6, // bottom line
-        DriverStationLCD.Line.kUser5,
-        DriverStationLCD.Line.kUser4,
-        DriverStationLCD.Line.kUser3,
-        DriverStationLCD.Line.kUser2,
-        DriverStationLCD.Line.kMain6 // top line
-    };
-    String[] lcdHistory = new String[6];  // array to scroll lcd display
-    String clearLine = "                     "; // 21 spaces to clear a line
-
-    // empty constructor
-    public DStation() {
-    } // end constructor
-
-    /**
-     * When run, the class starts a continuous loop to update the dashboard
-     * constantly.  This is probably a bad way to do it.
-     */
-    public void run() {
-        
-        // caution, infinite loop, this could be bad....
-        while (1 == 1) {
-            updateDashboard();
-        } // end while
-        // but it actually works!
-        
-    } // end method run()
-
-    /**
-     * Messages to the LCD must be 21 characters long or you get artifacts
-     * from previous lines.  This should pad the desired message out to 
-     * the proper length.
-     * 
-     * @param msg  the message to be padded out
-     * @return  line  the message line padded out to 21 characters
-     */
-    private String padMsg(String msg) {
-        String line = msg;
-        if (line.length() < 21) {  // if the message is already 21 or more do nothing
-            // otherwise tack on however many spaces we are short
-            for (int i = msg.length() + 1; i <= 21; i++) {
-                line += " ";
-            } // end for
-        } // end if
-        line = line.substring(0, 21); // make sure we are only 21 long
-        return line; // and return the new, padded out line
-        
-    } // end method padMsg()
-
-    /**
-     * Does just what it says, clears the driver station LCD.
-     */
-    public void clearLCD() {
-        for (int i = 0; i < 6; i++) {
-            lcdHistory[i] = clearLine; // clear the lcd "memory"
-            // and then use the cleared memory to clear the actual display
-            DriverStationLCD.getInstance().println(lcdLines[i], 1, lcdHistory[i]);
-        } // end for
-        DriverStationLCD.getInstance().updateLCD();  // display the screen
-        
-    } // end method clearLCD()
-
-    /**
-     * Simplified messages to the LCD, with scrolling; new messages appear at
-     * the bottom of the screen and scroll up.
-     * 
-     * @param msg  the message to be sent to the screen
-     */
-    public void sendToLCD(String msg) {
-
-        // scroll down the history;  iterate backwards!
-        for (int i = 5; i > 0; i--) {
-            lcdHistory[i] = clearLine;
-            lcdHistory[i] = lcdHistory[i - 1];
-        } // end for
-        lcdHistory[0] = clearLine; // clear the bottom line of the screen
-        lcdHistory[0] = padMsg(msg); // insert new line at the bottom, padded out to 21 chars
-
-        // set up updated screen by rewriting all lines
-        for (int i = 0; i < 6; i++) {
-            DriverStationLCD.getInstance().println(lcdLines[i], 1, lcdHistory[i]);
-        } // end for
-        DriverStationLCD.getInstance().updateLCD(); // display the screen
-
-    } // end method sendToLCD()
-
-    /** 
-     * This makes it easier to send message to a specific line.  Takes the 
-     * desired line number (top to bottom, 1-6) and the message to print as
-     * arguments.
-     * 
-     * @param line  which line of the LCD the message should be displayed on
-     * @param msg   the message to be displayed
-     */
-    public void toLCDLine(int line, String msg) {
-
-        int index = 6 - line; // array is set up bottom to top, this reverses it
-        DriverStationLCD.getInstance().println(lcdLines[index], 1, padMsg(msg));
-        DriverStationLCD.getInstance().updateLCD(); // keep forgetting this, d'oh!
-
-    } // end method toLCDLine()
-
-    /*
-     * From here down it's stolen from DashboardExampleProject, and I'm not
-     * sure how it works.  Looks like this mess should be replaceable with
-     * SmartDashboard, but as usual the documentation sucks.  I've started
-     * deciphering what all this means, but for now it just works.
-     */
-    void updateDashboard() {
-        Dashboard lowDashData = DriverStation.getInstance().getDashboardPackerLow();
-        
-        // add the overall container for the data
-        lowDashData.addCluster();  // overall container
-        {
-            // add the cluster containing the analog modules
-            lowDashData.addCluster();
-            {
-                // analog module 0
-                lowDashData.addCluster();
-                {
-                    for (int i = 1; i <= 8; i++) {
-                        lowDashData.addFloat((float) AnalogModule.getInstance(1).getAverageVoltage(i));
-                    }
-                }
-                lowDashData.finalizeCluster();
-                
-                // analog module 1
-                lowDashData.addCluster();
-                {
-                    for (int i = 1; i <= 8; i++) {
-                        lowDashData.addFloat((float) AnalogModule.getInstance(2).getAverageVoltage(i));
-                    }
-                }
-                lowDashData.finalizeCluster();
-            }
-            lowDashData.finalizeCluster();
-
-            // add the cluster containing the digital modules
-            lowDashData.addCluster();
-            { 
-                // digital cluster 1
-                lowDashData.addCluster();
-                {
-                    // digital module 0
-                    lowDashData.addCluster();
-                    {
-                        int module = 4;
-                        lowDashData.addByte(DigitalModule.getInstance(module).getRelayForward());
-                        lowDashData.addByte(DigitalModule.getInstance(module).getRelayForward());
-                        lowDashData.addShort(DigitalModule.getInstance(module).getAllDIO());
-                        lowDashData.addShort(DigitalModule.getInstance(module).getDIODirection());
-                        
-                        // PWM cluster 1
-                        lowDashData.addCluster();
-                        {
-                            for (int i = 1; i <= 10; i++) {
-                                lowDashData.addByte((byte) DigitalModule.getInstance(module).getPWM(i));
-                            }
-                        }
-                        lowDashData.finalizeCluster();
-                    }
-                    lowDashData.finalizeCluster();
-                }
-                lowDashData.finalizeCluster();
-
-                // digital cluster 2
-                lowDashData.addCluster();
-                {
-                    // digital module 1
-                    lowDashData.addCluster();
-                    {
-                        int module = 6;
-                        lowDashData.addByte(DigitalModule.getInstance(module).getRelayForward());
-                        lowDashData.addByte(DigitalModule.getInstance(module).getRelayReverse());
-                        lowDashData.addShort(DigitalModule.getInstance(module).getAllDIO());
-                        lowDashData.addShort(DigitalModule.getInstance(module).getDIODirection());
-                        
-                        // PWM cluster 2
-                        lowDashData.addCluster();
-                        {
-                            for (int i = 1; i <= 10; i++) {
-                                lowDashData.addByte((byte) DigitalModule.getInstance(module).getPWM(i));
-                            }
-                        }
-                        lowDashData.finalizeCluster();
-                    }
-                    lowDashData.finalizeCluster();
-                }
-                lowDashData.finalizeCluster();
-
-            }
-            lowDashData.finalizeCluster();
-
-            // add the solenoid cluster
-            //lowDashData.addByte(Solenoid.getAll());
-        }
-        lowDashData.finalizeCluster();
-        
-        // send the new data array to the dashboard
-        lowDashData.commit();
-
-    } // end method updateDashboard()
-    
-} // end class DStation
\ No newline at end of file
diff --git a/src/com/frc2879/bender/Robot.java b/src/com/frc2879/bender/Robot.java
index a3895bb..10c7a73 100644
--- a/src/com/frc2879/bender/Robot.java
+++ b/src/com/frc2879/bender/Robot.java
@@ -8,6 +8,7 @@
 package com.frc2879.bender;
 
 
+import edu.wpi.first.wpilibj.DriverStationLCD;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.SimpleRobot;
@@ -48,19 +49,20 @@ public class Robot extends SimpleRobot {
 
 	// CONFIG VALUES ~~~~~~~~~
     // ~~~~~~~~~~~~~~~~~~~~~~~
-    double StickSensitivity = 1.25;
+    int StickSensitivity = 100;
     boolean SquaredInputs = true;
 	// ~~~~~~~~~~~~~~~~~~~~~~~
     // CONFIG VALUES ~~~~~~~~~
+    
+    DSOutput dsout;
+            
 
-    DStation dstation;
 
     //Called exactly 1 time when the competition starts.
     protected void robotInit() {
-        dstation = new DStation();
-        new Thread(dstation).start();
-        dstation.sendToLCD(fullname);
-        dstation.sendToLCD("Stick Sensitivity: " + StickSensitivity);
+        dsout = new DSOutput();
+        dsout.say(1, fullname);
+        saysticksensitivity();
     }
     
     boolean pbuttonRB = false;
@@ -82,6 +84,11 @@ boolean buttonpress(boolean pbutton, boolean cbutton, boolean button){
 
     }
     
+    public void saysticksensitivity(){
+        dsout.clearLine(2);
+        dsout.say(2, "Stick Sensitivity: " + StickSensitivity);
+    }
+    
     
     
 
@@ -101,16 +108,17 @@ public void operatorControl() {
         while (isOperatorControl() && isEnabled()) {
 		
 	// Update joystick values:
-	double moveL = ((joystick.getRawAxis(Stick_LEFT_Y)) * StickSensitivity);
-	double spinL = ((joystick.getRawAxis(Stick_LEFT_X)) * StickSensitivity);
+	double moveL = ((joystick.getRawAxis(Stick_LEFT_Y)) * ((double)(StickSensitivity) / 100));
+	double spinL = ((joystick.getRawAxis(Stick_LEFT_X)) * ((double)(StickSensitivity) / 100));
         
         if(buttonpress(pbuttonRB, cbuttonRB, joystick.getRawButton(Button_RIGHT_BUMPER))){
-            StickSensitivity =  StickSensitivity + 0.1;
-            dstation.sendToLCD("Stick Sensitivity: " + StickSensitivity);
+            StickSensitivity =  (StickSensitivity) + (10);
+            saysticksensitivity();
         }
         if(buttonpress(pbuttonLB, cbuttonLB, joystick.getRawButton(Button_LEFT_BUMPER))){
-            StickSensitivity = StickSensitivity - 0.1;
-            dstation.sendToLCD("Stick Sensitivity: " + StickSensitivity);
+            StickSensitivity = (StickSensitivity) - (10);
+            saysticksensitivity();
+            
         }