This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Servo.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Servo.cpp
new file mode 100644
index 0000000..8acb0d7
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Servo.cpp
@@ -0,0 +1,157 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "Servo.h"
+
+#include "NetworkCommunication/UsageReporting.h"
+#include "LiveWindow/LiveWindow.h"
+
+const float Servo::kMaxServoAngle;
+const float Servo::kMinServoAngle;
+
+/**
+ * Common initialization code called by all constructors.
+ *
+ * InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
+ * well as the minimum and maximum PWM values supported by the servo.
+ */
+void Servo::InitServo()
+{
+ // TODO: compute the appropriate values based on digital loop timing
+ SetBounds(245, 0, 0, 0, 11);
+ SetPeriodMultiplier(kPeriodMultiplier_4X);
+
+
+ LiveWindow::GetInstance()->AddActuator("Servo", GetModuleNumber(), GetChannel(), this);
+ nUsageReporting::report(nUsageReporting::kResourceType_Servo, GetChannel(), GetModuleNumber() - 1);
+}
+
+/**
+ * Constructor that assumes the default digital module.
+ *
+ * @param channel The PWM channel on the digital module to which the servo is attached.
+ */
+Servo::Servo(UINT32 channel) : SafePWM(channel)
+{
+ InitServo();
+}
+
+/**
+ * Constructor that specifies the digital module.
+ *
+ * @param moduleNumber The digital module (1 or 2).
+ * @param channel The PWM channel on the digital module to which the servo is attached (1..10).
+ */
+Servo::Servo(UINT8 moduleNumber, UINT32 channel) : SafePWM(moduleNumber, channel)
+{
+ InitServo();
+}
+
+Servo::~Servo()
+{
+}
+
+/**
+ * Set the servo position.
+ *
+ * Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
+ *
+ * @param value Position from 0.0 to 1.0.
+ */
+void Servo::Set(float value)
+{
+ SetPosition(value);
+}
+
+/**
+ * Set the servo to offline.
+ *
+ * Set the servo raw value to 0 (undriven)
+ */
+void Servo::SetOffline() {
+ SetRaw(0);
+}
+
+/**
+ * Get the servo position.
+ *
+ * Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
+ *
+ * @return Position from 0.0 to 1.0.
+ */
+float Servo::Get()
+{
+ return GetPosition();
+}
+
+/**
+ * Set the servo angle.
+ *
+ * Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
+ *
+ * Servo angles that are out of the supported range of the servo simply "saturate" in that direction
+ * In other words, if the servo has a range of (X degrees to Y degrees) than angles of less than X
+ * result in an angle of X being set and angles of more than Y degrees result in an angle of Y being set.
+ *
+ * @param degrees The angle in degrees to set the servo.
+ */
+void Servo::SetAngle(float degrees)
+{
+ if (degrees < kMinServoAngle)
+ {
+ degrees = kMinServoAngle;
+ }
+ else if (degrees > kMaxServoAngle)
+ {
+ degrees = kMaxServoAngle;
+ }
+
+ SetPosition(((float) (degrees - kMinServoAngle)) / GetServoAngleRange());
+}
+
+/**
+ * Get the servo angle.
+ *
+ * Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
+ * @return The angle in degrees to which the servo is set.
+ */
+float Servo::GetAngle()
+{
+ return (float)GetPosition() * GetServoAngleRange() + kMinServoAngle;
+}
+
+void Servo::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
+ Set(value.f);
+}
+
+void Servo::UpdateTable() {
+ if (m_table != NULL) {
+ m_table->PutNumber("Value", Get());
+ }
+}
+
+void Servo::StartLiveWindowMode() {
+ m_table->AddTableListener("Value", this, true);
+}
+
+void Servo::StopLiveWindowMode() {
+ m_table->RemoveTableListener(this);
+}
+
+std::string Servo::GetSmartDashboardType() {
+ return "Servo";
+}
+
+void Servo::InitTable(ITable *subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+ITable * Servo::GetTable() {
+ return m_table;
+}
+
+