forked from frc2879/2014-mermaid
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
• Added class for the driver station LCD.
• Fixed previous commit slightly. ⁃ Renamed HANDICAP to StickSensitivity and made it multiply instead of divide, also set it to a double and fixed all other type errors. • Added a method for button logic • Added thing to control the sensitivity by tapping on the bumpers on the joystick
- Loading branch information
1 parent
fb3236d
commit ae8c728
Showing
2 changed files
with
312 additions
and
27 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,236 @@ | ||
| /* | ||
| * 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 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters