Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/ADXL345_I2C.h b/wpilibc/athena/include/ADXL345_I2C.h
new file mode 100644
index 0000000..9f29592
--- /dev/null
+++ b/wpilibc/athena/include/ADXL345_I2C.h
@@ -0,0 +1,87 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "I2C.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "interfaces/Accelerometer.h"
+
+namespace frc {
+
+/**
+ * ADXL345 Accelerometer on I2C.
+ *
+ * This class allows access to a Analog Devices ADXL345 3-axis accelerometer on
+ * an I2C bus.
+ * This class assumes the default (not alternate) sensor address of 0x1D (7-bit
+ * address).
+ */
+class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
+ protected:
+ static const int kAddress = 0x1D;
+ static const int kPowerCtlRegister = 0x2D;
+ static const int kDataFormatRegister = 0x31;
+ static const int kDataRegister = 0x32;
+ static constexpr double kGsPerLSB = 0.00390625;
+ enum PowerCtlFields {
+ kPowerCtl_Link = 0x20,
+ kPowerCtl_AutoSleep = 0x10,
+ kPowerCtl_Measure = 0x08,
+ kPowerCtl_Sleep = 0x04
+ };
+ enum DataFormatFields {
+ kDataFormat_SelfTest = 0x80,
+ kDataFormat_SPI = 0x40,
+ kDataFormat_IntInvert = 0x20,
+ kDataFormat_FullRes = 0x08,
+ kDataFormat_Justify = 0x04
+ };
+
+ public:
+ enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+ struct AllAxes {
+ double XAxis;
+ double YAxis;
+ double ZAxis;
+ };
+
+ public:
+ explicit ADXL345_I2C(I2C::Port port, Range range = kRange_2G,
+ int deviceAddress = kAddress);
+ virtual ~ADXL345_I2C() = default;
+
+ ADXL345_I2C(const ADXL345_I2C&) = delete;
+ ADXL345_I2C& operator=(const ADXL345_I2C&) = delete;
+
+ // Accelerometer interface
+ void SetRange(Range range) override;
+ double GetX() override;
+ double GetY() override;
+ double GetZ() override;
+
+ virtual double GetAcceleration(Axes axis);
+ virtual AllAxes GetAccelerations();
+
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ void UpdateTable() override;
+ std::shared_ptr<ITable> GetTable() const override;
+ void StartLiveWindowMode() override {}
+ void StopLiveWindowMode() override {}
+
+ protected:
+ I2C m_i2c;
+
+ private:
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/ADXL345_SPI.h b/wpilibc/athena/include/ADXL345_SPI.h
new file mode 100644
index 0000000..73fe942
--- /dev/null
+++ b/wpilibc/athena/include/ADXL345_SPI.h
@@ -0,0 +1,89 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SPI.h"
+#include "SensorBase.h"
+#include "interfaces/Accelerometer.h"
+
+namespace frc {
+
+class DigitalInput;
+class DigitalOutput;
+
+/**
+ * ADXL345 Accelerometer on SPI.
+ *
+ * This class allows access to an Analog Devices ADXL345 3-axis accelerometer
+ * via SPI.
+ * This class assumes the sensor is wired in 4-wire SPI mode.
+ */
+class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
+ protected:
+ static const int kPowerCtlRegister = 0x2D;
+ static const int kDataFormatRegister = 0x31;
+ static const int kDataRegister = 0x32;
+ static constexpr double kGsPerLSB = 0.00390625;
+ enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
+ enum PowerCtlFields {
+ kPowerCtl_Link = 0x20,
+ kPowerCtl_AutoSleep = 0x10,
+ kPowerCtl_Measure = 0x08,
+ kPowerCtl_Sleep = 0x04
+ };
+ enum DataFormatFields {
+ kDataFormat_SelfTest = 0x80,
+ kDataFormat_SPI = 0x40,
+ kDataFormat_IntInvert = 0x20,
+ kDataFormat_FullRes = 0x08,
+ kDataFormat_Justify = 0x04
+ };
+
+ public:
+ enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+ struct AllAxes {
+ double XAxis;
+ double YAxis;
+ double ZAxis;
+ };
+
+ public:
+ explicit ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
+ virtual ~ADXL345_SPI() = default;
+
+ ADXL345_SPI(const ADXL345_SPI&) = delete;
+ ADXL345_SPI& operator=(const ADXL345_SPI&) = delete;
+
+ // Accelerometer interface
+ void SetRange(Range range) override;
+ double GetX() override;
+ double GetY() override;
+ double GetZ() override;
+
+ virtual double GetAcceleration(Axes axis);
+ virtual AllAxes GetAccelerations();
+
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ void UpdateTable() override;
+ std::shared_ptr<ITable> GetTable() const override;
+ void StartLiveWindowMode() override {}
+ void StopLiveWindowMode() override {}
+
+ protected:
+ SPI m_spi;
+
+ private:
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/ADXL362.h b/wpilibc/athena/include/ADXL362.h
new file mode 100644
index 0000000..98c8ae2
--- /dev/null
+++ b/wpilibc/athena/include/ADXL362.h
@@ -0,0 +1,68 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SPI.h"
+#include "SensorBase.h"
+#include "interfaces/Accelerometer.h"
+
+namespace frc {
+
+class DigitalInput;
+class DigitalOutput;
+
+/**
+ * ADXL362 SPI Accelerometer.
+ *
+ * This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
+ */
+class ADXL362 : public Accelerometer, public LiveWindowSendable {
+ public:
+ enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+ struct AllAxes {
+ double XAxis;
+ double YAxis;
+ double ZAxis;
+ };
+
+ public:
+ explicit ADXL362(Range range = kRange_2G);
+ explicit ADXL362(SPI::Port port, Range range = kRange_2G);
+ virtual ~ADXL362() = default;
+
+ ADXL362(const ADXL362&) = delete;
+ ADXL362& operator=(const ADXL362&) = delete;
+
+ // Accelerometer interface
+ void SetRange(Range range) override;
+ double GetX() override;
+ double GetY() override;
+ double GetZ() override;
+
+ virtual double GetAcceleration(Axes axis);
+ virtual AllAxes GetAccelerations();
+
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ void UpdateTable() override;
+ std::shared_ptr<ITable> GetTable() const override;
+ void StartLiveWindowMode() override {}
+ void StopLiveWindowMode() override {}
+
+ private:
+ SPI m_spi;
+ double m_gsPerLSB = 0.001;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/ADXRS450_Gyro.h b/wpilibc/athena/include/ADXRS450_Gyro.h
new file mode 100644
index 0000000..5c52f7e
--- /dev/null
+++ b/wpilibc/athena/include/ADXRS450_Gyro.h
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "GyroBase.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "Notifier.h"
+#include "SPI.h"
+
+namespace frc {
+
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ * The Gyro class tracks the robots heading based on the starting position. As
+ * the robot rotates the new heading is computed by integrating the rate of
+ * rotation returned by the sensor. When the class is instantiated, it does a
+ * short calibration routine where it samples the gyro while at rest to
+ * determine the default offset. This is subtracted from each sample to
+ * determine the heading.
+ *
+ * This class is for the digital ADXRS450 gyro sensor that connects via SPI.
+ */
+class ADXRS450_Gyro : public GyroBase {
+ public:
+ ADXRS450_Gyro();
+ explicit ADXRS450_Gyro(SPI::Port port);
+ virtual ~ADXRS450_Gyro() = default;
+
+ double GetAngle() const override;
+ double GetRate() const override;
+ void Reset() override;
+ void Calibrate() override;
+
+ private:
+ SPI m_spi;
+
+ uint16_t ReadRegister(int reg);
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/AnalogAccelerometer.h b/wpilibc/athena/include/AnalogAccelerometer.h
new file mode 100644
index 0000000..9f97032
--- /dev/null
+++ b/wpilibc/athena/include/AnalogAccelerometer.h
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "AnalogInput.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "PIDSource.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+/**
+ * Handle operation of an analog accelerometer.
+ * The accelerometer reads acceleration directly through the sensor. Many
+ * sensors have multiple axis and can be treated as multiple devices. Each is
+ * calibrated by finding the center value over a period of time.
+ */
+class AnalogAccelerometer : public SensorBase,
+ public PIDSource,
+ public LiveWindowSendable {
+ public:
+ explicit AnalogAccelerometer(int channel);
+ explicit AnalogAccelerometer(AnalogInput* channel);
+ explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
+ virtual ~AnalogAccelerometer() = default;
+
+ double GetAcceleration() const;
+ void SetSensitivity(double sensitivity);
+ void SetZero(double zero);
+ double PIDGet() override;
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ private:
+ void InitAccelerometer();
+
+ std::shared_ptr<AnalogInput> m_analogInput;
+ double m_voltsPerG = 1.0;
+ double m_zeroGVoltage = 2.5;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/AnalogGyro.h b/wpilibc/athena/include/AnalogGyro.h
new file mode 100644
index 0000000..43fc7cf
--- /dev/null
+++ b/wpilibc/athena/include/AnalogGyro.h
@@ -0,0 +1,64 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "GyroBase.h"
+#include "HAL/Types.h"
+
+namespace frc {
+
+class AnalogInput;
+
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ * The Gyro class tracks the robots heading based on the starting position. As
+ * the robot rotates the new heading is computed by integrating the rate of
+ * rotation returned by the sensor. When the class is instantiated, it does a
+ * short calibration routine where it samples the gyro while at rest to
+ * determine the default offset. This is subtracted from each sample to
+ * determine the heading. This gyro class must be used with a channel that is
+ * assigned one of the Analog accumulators from the FPGA. See AnalogInput for
+ * the current accumulator assignments.
+ *
+ * This class is for gyro sensors that connect to an analog input.
+ */
+class AnalogGyro : public GyroBase {
+ public:
+ static const int kOversampleBits = 10;
+ static const int kAverageBits = 0;
+ static constexpr double kSamplesPerSecond = 50.0;
+ static constexpr double kCalibrationSampleTime = 5.0;
+ static constexpr double kDefaultVoltsPerDegreePerSecond = 0.007;
+
+ explicit AnalogGyro(int channel);
+ explicit AnalogGyro(AnalogInput* channel);
+ explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
+ AnalogGyro(int channel, int center, double offset);
+ AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, double offset);
+ virtual ~AnalogGyro();
+
+ double GetAngle() const override;
+ double GetRate() const override;
+ virtual int GetCenter() const;
+ virtual double GetOffset() const;
+ void SetSensitivity(double voltsPerDegreePerSecond);
+ void SetDeadband(double volts);
+ void Reset() override;
+ virtual void InitGyro();
+ void Calibrate() override;
+
+ protected:
+ std::shared_ptr<AnalogInput> m_analog;
+
+ private:
+ HAL_GyroHandle m_gyroHandle = HAL_kInvalidHandle;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/AnalogInput.h b/wpilibc/athena/include/AnalogInput.h
new file mode 100644
index 0000000..9353a9b
--- /dev/null
+++ b/wpilibc/athena/include/AnalogInput.h
@@ -0,0 +1,93 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "PIDSource.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+/**
+ * Analog input class.
+ *
+ * Connected to each analog channel is an averaging and oversampling engine.
+ * This engine accumulates the specified ( by SetAverageBits() and
+ * SetOversampleBits() ) number of samples before returning a new value. This
+ * is not a sliding window average. The only difference between the oversampled
+ * samples and the averaged samples is that the oversampled samples are simply
+ * accumulated effectively increasing the resolution, while the averaged samples
+ * are divided by the number of samples to retain the resolution, but get more
+ * stable values.
+ */
+class AnalogInput : public SensorBase,
+ public PIDSource,
+ public LiveWindowSendable {
+ friend class AnalogTrigger;
+ friend class AnalogGyro;
+
+ public:
+ static const int kAccumulatorModuleNumber = 1;
+ static const int kAccumulatorNumChannels = 2;
+ static const int kAccumulatorChannels[kAccumulatorNumChannels];
+
+ explicit AnalogInput(int channel);
+ virtual ~AnalogInput();
+
+ int GetValue() const;
+ int GetAverageValue() const;
+
+ double GetVoltage() const;
+ double GetAverageVoltage() const;
+
+ int GetChannel() const;
+
+ void SetAverageBits(int bits);
+ int GetAverageBits() const;
+ void SetOversampleBits(int bits);
+ int GetOversampleBits() const;
+
+ int GetLSBWeight() const;
+ int GetOffset() const;
+
+ bool IsAccumulatorChannel() const;
+ void InitAccumulator();
+ void SetAccumulatorInitialValue(int64_t value);
+ void ResetAccumulator();
+ void SetAccumulatorCenter(int center);
+ void SetAccumulatorDeadband(int deadband);
+ int64_t GetAccumulatorValue() const;
+ int64_t GetAccumulatorCount() const;
+ void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
+
+ static void SetSampleRate(double samplesPerSecond);
+ static double GetSampleRate();
+
+ double PIDGet() override;
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ private:
+ int m_channel;
+ // TODO: Adjust HAL to avoid use of raw pointers.
+ HAL_AnalogInputHandle m_port;
+ int64_t m_accumulatorOffset;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/AnalogOutput.h b/wpilibc/athena/include/AnalogOutput.h
new file mode 100644
index 0000000..ea0c819
--- /dev/null
+++ b/wpilibc/athena/include/AnalogOutput.h
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <memory>
+#include <string>
+
+#include "HAL/AnalogOutput.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+/**
+ * MXP analog output class.
+ */
+class AnalogOutput : public SensorBase, public LiveWindowSendable {
+ public:
+ explicit AnalogOutput(int channel);
+ virtual ~AnalogOutput();
+
+ void SetVoltage(double voltage);
+ double GetVoltage() const;
+ int GetChannel();
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ protected:
+ int m_channel;
+ HAL_AnalogOutputHandle m_port;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/AnalogPotentiometer.h b/wpilibc/athena/include/AnalogPotentiometer.h
new file mode 100644
index 0000000..2f2360c
--- /dev/null
+++ b/wpilibc/athena/include/AnalogPotentiometer.h
@@ -0,0 +1,96 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "AnalogInput.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "interfaces/Potentiometer.h"
+
+namespace frc {
+
+/**
+ * Class for reading analog potentiometers. Analog potentiometers read
+ * in an analog voltage that corresponds to a position. The position is
+ * in whichever units you choose, by way of the scaling and offset
+ * constants passed to the constructor.
+ */
+class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
+ public:
+ /**
+ * AnalogPotentiometer constructor.
+ *
+ * Use the fullRange and offset values so that the output produces
+ * meaningful values. I.E: you have a 270 degree potentiometer and
+ * you want the output to be degrees with the halfway point as 0
+ * degrees. The fullRange value is 270.0(degrees) and the offset is
+ * -135.0 since the halfway point after scaling is 135 degrees.
+ *
+ * This will calculate the result from the fullRange times the
+ * fraction of the supply voltage, plus the offset.
+ *
+ * @param channel The analog channel this potentiometer is plugged into.
+ * @param fullRange The scaling to multiply the voltage by to get a meaningful
+ * unit.
+ * @param offset The offset to add to the scaled value for controlling the
+ * zero value
+ */
+ explicit AnalogPotentiometer(int channel, double fullRange = 1.0,
+ double offset = 0.0);
+
+ explicit AnalogPotentiometer(AnalogInput* input, double fullRange = 1.0,
+ double offset = 0.0);
+
+ explicit AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
+ double fullRange = 1.0, double offset = 0.0);
+
+ virtual ~AnalogPotentiometer() = default;
+
+ /**
+ * Get the current reading of the potentiomer.
+ *
+ * @return The current position of the potentiometer.
+ */
+ double Get() const override;
+
+ /**
+ * Implement the PIDSource interface.
+ *
+ * @return The current reading.
+ */
+ double PIDGet() override;
+
+ /*
+ * Live Window code, only does anything if live window is activated.
+ */
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ void UpdateTable() override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ /**
+ * AnalogPotentiometers don't have to do anything special when entering the
+ * LiveWindow.
+ */
+ void StartLiveWindowMode() override {}
+
+ /**
+ * AnalogPotentiometers don't have to do anything special when exiting the
+ * LiveWindow.
+ */
+ void StopLiveWindowMode() override {}
+
+ private:
+ std::shared_ptr<AnalogInput> m_analog_input;
+ double m_fullRange, m_offset;
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/AnalogTrigger.h b/wpilibc/athena/include/AnalogTrigger.h
new file mode 100644
index 0000000..90bbc05
--- /dev/null
+++ b/wpilibc/athena/include/AnalogTrigger.h
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "AnalogTriggerOutput.h"
+#include "HAL/Types.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+class AnalogInput;
+
+class AnalogTrigger : public SensorBase {
+ friend class AnalogTriggerOutput;
+
+ public:
+ explicit AnalogTrigger(int channel);
+ explicit AnalogTrigger(AnalogInput* channel);
+ virtual ~AnalogTrigger();
+
+ void SetLimitsVoltage(double lower, double upper);
+ void SetLimitsRaw(int lower, int upper);
+ void SetAveraged(bool useAveragedValue);
+ void SetFiltered(bool useFilteredValue);
+ int GetIndex() const;
+ bool GetInWindow();
+ bool GetTriggerState();
+ std::shared_ptr<AnalogTriggerOutput> CreateOutput(
+ AnalogTriggerType type) const;
+
+ private:
+ int m_index;
+ HAL_AnalogTriggerHandle m_trigger;
+ AnalogInput* m_analogInput = nullptr;
+ bool m_ownsAnalog = false;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/AnalogTriggerOutput.h b/wpilibc/athena/include/AnalogTriggerOutput.h
new file mode 100644
index 0000000..0ab932a
--- /dev/null
+++ b/wpilibc/athena/include/AnalogTriggerOutput.h
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "DigitalSource.h"
+#include "HAL/AnalogTrigger.h"
+
+namespace frc {
+
+class AnalogTrigger;
+
+/**
+ * Class to represent a specific output from an analog trigger.
+ *
+ * This class is used to get the current output value and also as a
+ * DigitalSource to provide routing of an output to digital subsystems on the
+ * FPGA such as Counter, Encoder, and Interrupt.
+ *
+ * The TriggerState output indicates the primary output value of the trigger.
+ * If the analog signal is less than the lower limit, the output is false. If
+ * the analog value is greater than the upper limit, then the output is true.
+ * If the analog value is in between, then the trigger output state maintains
+ * its most recent value.
+ *
+ * The InWindow output indicates whether or not the analog signal is inside the
+ * range defined by the limits.
+ *
+ * The RisingPulse and FallingPulse outputs detect an instantaneous transition
+ * from above the upper limit to below the lower limit, and vise versa. These
+ * pulses represent a rollover condition of a sensor and can be routed to an up
+ * / down counter or to interrupts. Because the outputs generate a pulse, they
+ * cannot be read directly. To help ensure that a rollover condition is not
+ * missed, there is an average rejection filter available that operates on the
+ * upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples.
+ * This will reject a sample that is (due to averaging or sampling) errantly
+ * between the two limits. This filter will fail if more than one sample in a
+ * row is errantly in between the two limits. You may see this problem if
+ * attempting to use this feature with a mechanical rollover sensor, such as a
+ * 360 degree no-stop potentiometer without signal conditioning, because the
+ * rollover transition is not sharp / clean enough. Using the averaging engine
+ * may help with this, but rotational speeds of the sensor will then be limited.
+ */
+class AnalogTriggerOutput : public DigitalSource {
+ friend class AnalogTrigger;
+
+ public:
+ virtual ~AnalogTriggerOutput();
+ bool Get() const;
+
+ // DigitalSource interface
+ HAL_Handle GetPortHandleForRouting() const override;
+ AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
+ bool IsAnalogTrigger() const override;
+ int GetChannel() const override;
+
+ protected:
+ AnalogTriggerOutput(const AnalogTrigger& trigger,
+ AnalogTriggerType outputType);
+
+ private:
+ // Uses reference rather than smart pointer because a user can not construct
+ // an AnalogTriggerOutput themselves and because the AnalogTriggerOutput
+ // should always be in scope at the same time as an AnalogTrigger.
+ const AnalogTrigger& m_trigger;
+ AnalogTriggerType m_outputType;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/AnalogTriggerType.h b/wpilibc/athena/include/AnalogTriggerType.h
new file mode 100644
index 0000000..9105e99
--- /dev/null
+++ b/wpilibc/athena/include/AnalogTriggerType.h
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+
+enum class AnalogTriggerType {
+ kInWindow = 0,
+ kState = 1,
+ kRisingPulse = 2,
+ kFallingPulse = 3
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/BuiltInAccelerometer.h b/wpilibc/athena/include/BuiltInAccelerometer.h
new file mode 100644
index 0000000..f1cf030
--- /dev/null
+++ b/wpilibc/athena/include/BuiltInAccelerometer.h
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
+#include "interfaces/Accelerometer.h"
+
+namespace frc {
+
+/**
+ * Built-in accelerometer.
+ *
+ * This class allows access to the roboRIO's internal accelerometer.
+ */
+class BuiltInAccelerometer : public Accelerometer,
+ public SensorBase,
+ public LiveWindowSendable {
+ public:
+ explicit BuiltInAccelerometer(Range range = kRange_8G);
+ virtual ~BuiltInAccelerometer() = default;
+
+ // Accelerometer interface
+ void SetRange(Range range) override;
+ double GetX() override;
+ double GetY() override;
+ double GetZ() override;
+
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ void UpdateTable() override;
+ std::shared_ptr<ITable> GetTable() const override;
+ void StartLiveWindowMode() override {}
+ void StopLiveWindowMode() override {}
+
+ private:
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/CANSpeedController.h b/wpilibc/athena/include/CANSpeedController.h
new file mode 100644
index 0000000..a0f31ad
--- /dev/null
+++ b/wpilibc/athena/include/CANSpeedController.h
@@ -0,0 +1,104 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "SpeedController.h"
+
+namespace frc {
+
+/**
+ * Interface for "smart" CAN-based speed controllers.
+ */
+class CANSpeedController : public SpeedController {
+ public:
+ enum ControlMode {
+ kPercentVbus = 0,
+ kCurrent = 1,
+ kSpeed = 2,
+ kPosition = 3,
+ kVoltage = 4,
+ kFollower = 5,
+ kMotionProfile = 6,
+ };
+
+ // Helper function for the ControlMode enum
+ virtual bool IsModePID(ControlMode mode) const = 0;
+
+ enum Faults {
+ kCurrentFault = 1,
+ kTemperatureFault = 2,
+ kBusVoltageFault = 4,
+ kGateDriverFault = 8,
+ /* SRX extensions */
+ kFwdLimitSwitch = 0x10,
+ kRevLimitSwitch = 0x20,
+ kFwdSoftLimit = 0x40,
+ kRevSoftLimit = 0x80,
+ };
+
+ enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
+
+ enum NeutralMode {
+ /** Use the NeutralMode that is set by the jumper wire on the CAN device */
+ kNeutralMode_Jumper = 0,
+ /** Stop the motor's rotation by applying a force. */
+ kNeutralMode_Brake = 1,
+ /** Do not attempt to stop the motor. Instead allow it to coast to a stop
+ without applying resistance. */
+ kNeutralMode_Coast = 2
+ };
+
+ enum LimitMode {
+ /** Only use switches for limits */
+ kLimitMode_SwitchInputsOnly = 0,
+ /** Use both switches and soft limits */
+ kLimitMode_SoftPositionLimits = 1,
+ /* SRX extensions */
+ /** Disable switches and disable soft limits */
+ kLimitMode_SrxDisableSwitchInputs = 2,
+ };
+
+ virtual double Get() const = 0;
+ virtual void Set(double value) = 0;
+ virtual void StopMotor() = 0;
+ virtual void Disable() = 0;
+ virtual void SetP(double p) = 0;
+ virtual void SetI(double i) = 0;
+ virtual void SetD(double d) = 0;
+ virtual void SetPID(double p, double i, double d) = 0;
+ virtual double GetP() const = 0;
+ virtual double GetI() const = 0;
+ virtual double GetD() const = 0;
+ virtual double GetBusVoltage() const = 0;
+ virtual double GetOutputVoltage() const = 0;
+ virtual double GetOutputCurrent() const = 0;
+ virtual double GetTemperature() const = 0;
+ virtual double GetPosition() const = 0;
+ virtual double GetSpeed() const = 0;
+ virtual bool GetForwardLimitOK() const = 0;
+ virtual bool GetReverseLimitOK() const = 0;
+ virtual uint16_t GetFaults() const = 0;
+ virtual void SetVoltageRampRate(double rampRate) = 0;
+ virtual int GetFirmwareVersion() const = 0;
+ virtual void ConfigNeutralMode(NeutralMode mode) = 0;
+ virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
+ virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
+ virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
+ double reverseLimitPosition) = 0;
+ virtual void DisableSoftPositionLimits() = 0;
+ virtual void ConfigLimitMode(LimitMode mode) = 0;
+ virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
+ virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
+ virtual void ConfigMaxOutputVoltage(double voltage) = 0;
+ virtual void ConfigFaultTime(double faultTime) = 0;
+ // Hold off on interface until we figure out ControlMode enums.
+ // virtual void SetControlMode(ControlMode mode) = 0;
+ // virtual ControlMode GetControlMode() const = 0;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/CameraServer.h b/wpilibc/athena/include/CameraServer.h
new file mode 100644
index 0000000..5dde767
--- /dev/null
+++ b/wpilibc/athena/include/CameraServer.h
@@ -0,0 +1,312 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <vector>
+
+#include "ErrorBase.h"
+#include "cscore.h"
+#include "llvm/DenseMap.h"
+#include "llvm/StringMap.h"
+#include "llvm/StringRef.h"
+#include "networktables/NetworkTable.h"
+
+namespace frc {
+
+/**
+ * Singleton class for creating and keeping camera servers.
+ * Also publishes camera information to NetworkTables.
+ */
+class CameraServer : public ErrorBase {
+ public:
+ static constexpr uint16_t kBasePort = 1181;
+ static constexpr int kSize640x480 = 0;
+ static constexpr int kSize320x240 = 1;
+ static constexpr int kSize160x120 = 2;
+
+ /**
+ * Get the CameraServer instance.
+ */
+ static CameraServer* GetInstance();
+
+ /**
+ * Start automatically capturing images to send to the dashboard.
+ *
+ * <p>You should call this method to see a camera feed on the dashboard.
+ * If you also want to perform vision processing on the roboRIO, use
+ * getVideo() to get access to the camera images.
+ *
+ * The first time this overload is called, it calls
+ * {@link #StartAutomaticCapture(int)} with device 0, creating a camera
+ * named "USB Camera 0". Subsequent calls increment the device number
+ * (e.g. 1, 2, etc).
+ */
+ cs::UsbCamera StartAutomaticCapture();
+
+ /**
+ * Start automatically capturing images to send to the dashboard.
+ *
+ * <p>This overload calls {@link #StartAutomaticCapture(String, int)} with
+ * a name of "USB Camera {dev}".
+ *
+ * @param dev The device number of the camera interface
+ */
+ cs::UsbCamera StartAutomaticCapture(int dev);
+
+ /**
+ * Start automatically capturing images to send to the dashboard.
+ *
+ * @param name The name to give the camera
+ * @param dev The device number of the camera interface
+ */
+ cs::UsbCamera StartAutomaticCapture(llvm::StringRef name, int dev);
+
+ /**
+ * Start automatically capturing images to send to the dashboard.
+ *
+ * @param name The name to give the camera
+ * @param path The device path (e.g. "/dev/video0") of the camera
+ */
+ cs::UsbCamera StartAutomaticCapture(llvm::StringRef name,
+ llvm::StringRef path);
+
+ /**
+ * Start automatically capturing images to send to the dashboard from
+ * an existing camera.
+ *
+ * @param camera Camera
+ */
+ void StartAutomaticCapture(const cs::VideoSource& camera);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * <p>This overload calls {@link #AddAxisCamera(String, String)} with
+ * name "Axis Camera".
+ *
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(llvm::StringRef host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * <p>This overload calls {@link #AddAxisCamera(String, String)} with
+ * name "Axis Camera".
+ *
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(const char* host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * <p>This overload calls {@link #AddAxisCamera(String, String)} with
+ * name "Axis Camera".
+ *
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(const std::string& host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * <p>This overload calls {@link #AddAxisCamera(String, String[])} with
+ * name "Axis Camera".
+ *
+ * @param hosts Array of Camera host IPs/DNS names
+ */
+ cs::AxisCamera AddAxisCamera(llvm::ArrayRef<std::string> hosts);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * <p>This overload calls {@link #AddAxisCamera(String, String[])} with
+ * name "Axis Camera".
+ *
+ * @param hosts Array of Camera host IPs/DNS names
+ */
+ template <typename T>
+ cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(llvm::StringRef name, llvm::StringRef host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(llvm::StringRef name, const char* host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(llvm::StringRef name, const std::string& host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param hosts Array of Camera host IPs/DNS names
+ */
+ cs::AxisCamera AddAxisCamera(llvm::StringRef name,
+ llvm::ArrayRef<std::string> hosts);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param hosts Array of Camera host IPs/DNS names
+ */
+ template <typename T>
+ cs::AxisCamera AddAxisCamera(llvm::StringRef name,
+ std::initializer_list<T> hosts);
+
+ /**
+ * Get OpenCV access to the primary camera feed. This allows you to
+ * get images from the camera for image processing on the roboRIO.
+ *
+ * <p>This is only valid to call after a camera feed has been added
+ * with startAutomaticCapture() or addServer().
+ */
+ cs::CvSink GetVideo();
+
+ /**
+ * Get OpenCV access to the specified camera. This allows you to get
+ * images from the camera for image processing on the roboRIO.
+ *
+ * @param camera Camera (e.g. as returned by startAutomaticCapture).
+ */
+ cs::CvSink GetVideo(const cs::VideoSource& camera);
+
+ /**
+ * Get OpenCV access to the specified camera. This allows you to get
+ * images from the camera for image processing on the roboRIO.
+ *
+ * @param name Camera name
+ */
+ cs::CvSink GetVideo(llvm::StringRef name);
+
+ /**
+ * Create a MJPEG stream with OpenCV input. This can be called to pass custom
+ * annotated images to the dashboard.
+ *
+ * @param name Name to give the stream
+ * @param width Width of the image being sent
+ * @param height Height of the image being sent
+ */
+ cs::CvSource PutVideo(llvm::StringRef name, int width, int height);
+
+ /**
+ * Adds a MJPEG server at the next available port.
+ *
+ * @param name Server name
+ */
+ cs::MjpegServer AddServer(llvm::StringRef name);
+
+ /**
+ * Adds a MJPEG server.
+ *
+ * @param name Server name
+ */
+ cs::MjpegServer AddServer(llvm::StringRef name, int port);
+
+ /**
+ * Adds an already created server.
+ *
+ * @param server Server
+ */
+ void AddServer(const cs::VideoSink& server);
+
+ /**
+ * Removes a server by name.
+ *
+ * @param name Server name
+ */
+ void RemoveServer(llvm::StringRef name);
+
+ /**
+ * Get server for the primary camera feed.
+ *
+ * <p>This is only valid to call after a camera feed has been added
+ * with StartAutomaticCapture() or AddServer().
+ */
+ cs::VideoSink GetServer();
+
+ /**
+ * Gets a server by name.
+ *
+ * @param name Server name
+ */
+ cs::VideoSink GetServer(llvm::StringRef name);
+
+ /**
+ * Adds an already created camera.
+ *
+ * @param camera Camera
+ */
+ void AddCamera(const cs::VideoSource& camera);
+
+ /**
+ * Removes a camera by name.
+ *
+ * @param name Camera name
+ */
+ void RemoveCamera(llvm::StringRef name);
+
+ /**
+ * Sets the size of the image to use. Use the public kSize constants to set
+ * the correct mode, or set it directly on a camera and call the appropriate
+ * StartAutomaticCapture method.
+ *
+ * @deprecated Use SetResolution on the UsbCamera returned by
+ * StartAutomaticCapture() instead.
+ * @param size The size to use
+ */
+ void SetSize(int size);
+
+ private:
+ CameraServer();
+
+ std::shared_ptr<ITable> GetSourceTable(CS_Source source);
+ std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
+ std::vector<std::string> GetSourceStreamValues(CS_Source source);
+ void UpdateStreamValues();
+
+ static constexpr char const* kPublishName = "/CameraPublisher";
+
+ std::mutex m_mutex;
+ std::atomic<int> m_defaultUsbDevice;
+ std::string m_primarySourceName;
+ llvm::StringMap<cs::VideoSource> m_sources;
+ llvm::StringMap<cs::VideoSink> m_sinks;
+ llvm::DenseMap<CS_Source, std::shared_ptr<ITable>> m_tables;
+ std::shared_ptr<NetworkTable> m_publishTable;
+ cs::VideoListener m_videoListener;
+ int m_tableListener;
+ int m_nextPort;
+ std::vector<std::string> m_addresses;
+};
+
+} // namespace frc
+
+#include "CameraServer.inc"
diff --git a/wpilibc/athena/include/CameraServer.inc b/wpilibc/athena/include/CameraServer.inc
new file mode 100644
index 0000000..66050c2
--- /dev/null
+++ b/wpilibc/athena/include/CameraServer.inc
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+#include <vector>
+
+namespace frc {
+
+template <typename T>
+inline cs::AxisCamera CameraServer::AddAxisCamera(
+ std::initializer_list<T> hosts) {
+ return AddAxisCamera("Axis Camera", hosts);
+}
+
+template <typename T>
+inline cs::AxisCamera CameraServer::AddAxisCamera(
+ llvm::StringRef name, std::initializer_list<T> hosts) {
+ std::vector<std::string> vec;
+ vec.reserve(hosts.size());
+ for (const auto& host : hosts) vec.emplace_back(host);
+ return AddAxisCamera(name, vec);
+}
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Compressor.h b/wpilibc/athena/include/Compressor.h
new file mode 100644
index 0000000..7bb7e8d
--- /dev/null
+++ b/wpilibc/athena/include/Compressor.h
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+/**
+ * PCM compressor
+ */
+class Compressor : public SensorBase,
+ public LiveWindowSendable,
+ public ITableListener {
+ public:
+ // Default PCM ID is 0
+ explicit Compressor(int pcmID = GetDefaultSolenoidModule());
+ virtual ~Compressor() = default;
+
+ void Start();
+ void Stop();
+ bool Enabled() const;
+
+ bool GetPressureSwitchValue() const;
+
+ double GetCompressorCurrent() const;
+
+ void SetClosedLoopControl(bool on);
+ bool GetClosedLoopControl() const;
+
+ bool GetCompressorCurrentTooHighFault() const;
+ bool GetCompressorCurrentTooHighStickyFault() const;
+ bool GetCompressorShortedStickyFault() const;
+ bool GetCompressorShortedFault() const;
+ bool GetCompressorNotConnectedStickyFault() const;
+ bool GetCompressorNotConnectedFault() const;
+ void ClearAllPCMStickyFaults();
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) override;
+
+ protected:
+ HAL_CompressorHandle m_compressorHandle;
+
+ private:
+ void SetCompressor(bool on);
+ int m_module;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/ControllerPower.h b/wpilibc/athena/include/ControllerPower.h
new file mode 100644
index 0000000..f6b4720
--- /dev/null
+++ b/wpilibc/athena/include/ControllerPower.h
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+
+class ControllerPower {
+ public:
+ static double GetInputVoltage();
+ static double GetInputCurrent();
+ static double GetVoltage3V3();
+ static double GetCurrent3V3();
+ static bool GetEnabled3V3();
+ static int GetFaultCount3V3();
+ static double GetVoltage5V();
+ static double GetCurrent5V();
+ static bool GetEnabled5V();
+ static int GetFaultCount5V();
+ static double GetVoltage6V();
+ static double GetCurrent6V();
+ static bool GetEnabled6V();
+ static int GetFaultCount6V();
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Counter.h b/wpilibc/athena/include/Counter.h
new file mode 100644
index 0000000..643f2b2
--- /dev/null
+++ b/wpilibc/athena/include/Counter.h
@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "AnalogTrigger.h"
+#include "CounterBase.h"
+#include "HAL/Counter.h"
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+class DigitalGlitchFilter;
+
+/**
+ * Class for counting the number of ticks on a digital input channel.
+ * This is a general purpose class for counting repetitive events. It can return
+ * the number of counts, the period of the most recent cycle, and detect when
+ * the signal being counted has stopped by supplying a maximum cycle time.
+ *
+ * All counters will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
+ */
+class Counter : public SensorBase,
+ public CounterBase,
+ public LiveWindowSendable {
+ public:
+ enum Mode {
+ kTwoPulse = 0,
+ kSemiperiod = 1,
+ kPulseLength = 2,
+ kExternalDirection = 3
+ };
+ explicit Counter(Mode mode = kTwoPulse);
+ explicit Counter(int channel);
+ explicit Counter(DigitalSource* source);
+ explicit Counter(std::shared_ptr<DigitalSource> source);
+ WPI_DEPRECATED("Use pass-by-reference instead.")
+ explicit Counter(AnalogTrigger* trigger);
+ explicit Counter(const AnalogTrigger& trigger);
+ Counter(EncodingType encodingType, DigitalSource* upSource,
+ DigitalSource* downSource, bool inverted);
+ Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
+ std::shared_ptr<DigitalSource> downSource, bool inverted);
+ virtual ~Counter();
+
+ void SetUpSource(int channel);
+ void SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType);
+ void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
+ AnalogTriggerType triggerType);
+ void SetUpSource(DigitalSource* source);
+ void SetUpSource(std::shared_ptr<DigitalSource> source);
+ void SetUpSource(DigitalSource& source);
+ void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
+ void ClearUpSource();
+
+ void SetDownSource(int channel);
+ void SetDownSource(AnalogTrigger* analogTrigger,
+ AnalogTriggerType triggerType);
+ void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
+ AnalogTriggerType triggerType);
+ void SetDownSource(DigitalSource* source);
+ void SetDownSource(std::shared_ptr<DigitalSource> source);
+ void SetDownSource(DigitalSource& source);
+ void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
+ void ClearDownSource();
+
+ void SetUpDownCounterMode();
+ void SetExternalDirectionMode();
+ void SetSemiPeriodMode(bool highSemiPeriod);
+ void SetPulseLengthMode(double threshold);
+
+ void SetReverseDirection(bool reverseDirection);
+
+ // CounterBase interface
+ int Get() const override;
+ void Reset() override;
+ double GetPeriod() const override;
+ void SetMaxPeriod(double maxPeriod) override;
+ void SetUpdateWhenEmpty(bool enabled);
+ bool GetStopped() const override;
+ bool GetDirection() const override;
+
+ void SetSamplesToAverage(int samplesToAverage);
+ int GetSamplesToAverage() const;
+ int GetFPGAIndex() const { return m_index; }
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ protected:
+ // Makes the counter count up.
+ std::shared_ptr<DigitalSource> m_upSource;
+ // Makes the counter count down.
+ std::shared_ptr<DigitalSource> m_downSource;
+ // The FPGA counter object
+ HAL_CounterHandle m_counter = HAL_kInvalidHandle;
+
+ private:
+ int m_index = 0; ///< The index of this counter.
+
+ std::shared_ptr<ITable> m_table;
+ friend class DigitalGlitchFilter;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/CounterBase.h b/wpilibc/athena/include/CounterBase.h
new file mode 100644
index 0000000..868dbe6
--- /dev/null
+++ b/wpilibc/athena/include/CounterBase.h
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+namespace frc {
+
+/**
+ * Interface for counting the number of ticks on a digital input channel.
+ * Encoders, Gear tooth sensors, and counters should all subclass this so it can
+ * be used to build more advanced classes for control and driving.
+ *
+ * All counters will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
+ */
+class CounterBase {
+ public:
+ enum EncodingType { k1X, k2X, k4X };
+
+ virtual ~CounterBase() = default;
+ virtual int Get() const = 0;
+ virtual void Reset() = 0;
+ virtual double GetPeriod() const = 0;
+ virtual void SetMaxPeriod(double maxPeriod) = 0;
+ virtual bool GetStopped() const = 0;
+ virtual bool GetDirection() const = 0;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/DigitalGlitchFilter.h b/wpilibc/athena/include/DigitalGlitchFilter.h
new file mode 100644
index 0000000..f5c882c
--- /dev/null
+++ b/wpilibc/athena/include/DigitalGlitchFilter.h
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <array>
+
+#include "DigitalSource.h"
+#include "HAL/cpp/priority_mutex.h"
+
+namespace frc {
+
+class Encoder;
+class Counter;
+
+/**
+ * Class to enable glitch filtering on a set of digital inputs.
+ * This class will manage adding and removing digital inputs from a FPGA glitch
+ * filter. The filter lets the user configure the time that an input must remain
+ * high or low before it is classified as high or low.
+ */
+class DigitalGlitchFilter : public SensorBase {
+ public:
+ DigitalGlitchFilter();
+ ~DigitalGlitchFilter();
+
+ void Add(DigitalSource* input);
+ void Add(Encoder* input);
+ void Add(Counter* input);
+
+ void Remove(DigitalSource* input);
+ void Remove(Encoder* input);
+ void Remove(Counter* input);
+
+ void SetPeriodCycles(int fpga_cycles);
+ void SetPeriodNanoSeconds(uint64_t nanoseconds);
+
+ int GetPeriodCycles();
+ uint64_t GetPeriodNanoSeconds();
+
+ private:
+ // Sets the filter for the input to be the requested index. A value of 0
+ // disables the filter, and the filter value must be between 1 and 3,
+ // inclusive.
+ void DoAdd(DigitalSource* input, int requested_index);
+
+ int m_channelIndex = -1;
+ static priority_mutex m_mutex;
+ static ::std::array<bool, 3> m_filterAllocated;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/DigitalInput.h b/wpilibc/athena/include/DigitalInput.h
new file mode 100644
index 0000000..92a762f
--- /dev/null
+++ b/wpilibc/athena/include/DigitalInput.h
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <memory>
+#include <string>
+
+#include "DigitalSource.h"
+#include "LiveWindow/LiveWindowSendable.h"
+
+namespace frc {
+
+class DigitalGlitchFilter;
+
+/**
+ * Class to read a digital input.
+ * This class will read digital inputs and return the current value on the
+ * channel. Other devices such as encoders, gear tooth sensors, etc. that are
+ * implemented elsewhere will automatically allocate digital inputs and outputs
+ * as required. This class is only for devices like switches etc. that aren't
+ * implemented anywhere else.
+ */
+class DigitalInput : public DigitalSource, public LiveWindowSendable {
+ public:
+ explicit DigitalInput(int channel);
+ virtual ~DigitalInput();
+ bool Get() const;
+ int GetChannel() const override;
+
+ // Digital Source Interface
+ HAL_Handle GetPortHandleForRouting() const override;
+ AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
+ bool IsAnalogTrigger() const override;
+
+ void UpdateTable();
+ void StartLiveWindowMode();
+ void StopLiveWindowMode();
+ std::string GetSmartDashboardType() const;
+ void InitTable(std::shared_ptr<ITable> subTable);
+ std::shared_ptr<ITable> GetTable() const;
+
+ private:
+ int m_channel;
+ HAL_DigitalHandle m_handle;
+
+ std::shared_ptr<ITable> m_table;
+ friend class DigitalGlitchFilter;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/DigitalOutput.h b/wpilibc/athena/include/DigitalOutput.h
new file mode 100644
index 0000000..8431191
--- /dev/null
+++ b/wpilibc/athena/include/DigitalOutput.h
@@ -0,0 +1,64 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "DigitalSource.h"
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+/**
+ * Class to write to digital outputs.
+ * Write values to the digital output channels. Other devices implemented
+ * elsewhere will allocate channels automatically so for those devices it
+ * shouldn't be done here.
+ */
+class DigitalOutput : public DigitalSource,
+ public ITableListener,
+ public LiveWindowSendable {
+ public:
+ explicit DigitalOutput(int channel);
+ virtual ~DigitalOutput();
+ void Set(bool value);
+ bool Get() const;
+ int GetChannel() const override;
+ void Pulse(double length);
+ bool IsPulsing() const;
+ void SetPWMRate(double rate);
+ void EnablePWM(double initialDutyCycle);
+ void DisablePWM();
+ void UpdateDutyCycle(double dutyCycle);
+
+ // Digital Source Interface
+ HAL_Handle GetPortHandleForRouting() const override;
+ AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
+ bool IsAnalogTrigger() const override;
+
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) override;
+ void UpdateTable();
+ void StartLiveWindowMode();
+ void StopLiveWindowMode();
+ std::string GetSmartDashboardType() const;
+ void InitTable(std::shared_ptr<ITable> subTable);
+ std::shared_ptr<ITable> GetTable() const;
+
+ private:
+ int m_channel;
+ HAL_DigitalHandle m_handle;
+ HAL_DigitalPWMHandle m_pwmGenerator;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/DigitalSource.h b/wpilibc/athena/include/DigitalSource.h
new file mode 100644
index 0000000..d3d6523
--- /dev/null
+++ b/wpilibc/athena/include/DigitalSource.h
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "HAL/Types.h"
+#include "InterruptableSensorBase.h"
+
+namespace frc {
+
+/**
+ * DigitalSource Interface.
+ * The DigitalSource represents all the possible inputs for a counter or a
+ * quadrature encoder. The source may be
+ * either a digital input or an analog input. If the caller just provides a
+ * channel, then a digital input will be
+ * constructed and freed when finished for the source. The source can either be
+ * a digital input or analog trigger
+ * but not both.
+ */
+class DigitalSource : public InterruptableSensorBase {
+ public:
+ virtual ~DigitalSource() = default;
+ virtual HAL_Handle GetPortHandleForRouting() const = 0;
+ virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
+ virtual bool IsAnalogTrigger() const = 0;
+ virtual int GetChannel() const = 0;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/DoubleSolenoid.h b/wpilibc/athena/include/DoubleSolenoid.h
new file mode 100644
index 0000000..0a25870
--- /dev/null
+++ b/wpilibc/athena/include/DoubleSolenoid.h
@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SolenoidBase.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+/**
+ * DoubleSolenoid class for running 2 channels of high voltage Digital Output
+ * (PCM).
+ *
+ * The DoubleSolenoid class is typically used for pneumatics solenoids that
+ * have two positions controlled by two separate channels.
+ */
+class DoubleSolenoid : public SolenoidBase,
+ public LiveWindowSendable,
+ public ITableListener {
+ public:
+ enum Value { kOff, kForward, kReverse };
+
+ explicit DoubleSolenoid(int forwardChannel, int reverseChannel);
+ DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel);
+ virtual ~DoubleSolenoid();
+ virtual void Set(Value value);
+ virtual Value Get() const;
+ bool IsFwdSolenoidBlackListed() const;
+ bool IsRevSolenoidBlackListed() const;
+
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew);
+ void UpdateTable();
+ void StartLiveWindowMode();
+ void StopLiveWindowMode();
+ std::string GetSmartDashboardType() const;
+ void InitTable(std::shared_ptr<ITable> subTable);
+ std::shared_ptr<ITable> GetTable() const;
+
+ private:
+ int m_forwardChannel; ///< The forward channel on the module to control.
+ int m_reverseChannel; ///< The reverse channel on the module to control.
+ int m_forwardMask; ///< The mask for the forward channel.
+ int m_reverseMask; ///< The mask for the reverse channel.
+ HAL_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle;
+ HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/DriverStation.h b/wpilibc/athena/include/DriverStation.h
new file mode 100644
index 0000000..6bd2ea6
--- /dev/null
+++ b/wpilibc/athena/include/DriverStation.h
@@ -0,0 +1,143 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+#include <condition_variable>
+#include <memory>
+#include <string>
+#include <thread>
+
+#include "HAL/DriverStation.h"
+#include "HAL/cpp/priority_condition_variable.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "RobotState.h"
+#include "SensorBase.h"
+#include "llvm/StringRef.h"
+
+namespace frc {
+
+/**
+ * Provide access to the network communication data to / from the Driver
+ * Station.
+ */
+class DriverStation : public SensorBase, public RobotStateInterface {
+ public:
+ enum Alliance { kRed, kBlue, kInvalid };
+
+ virtual ~DriverStation();
+ static DriverStation& GetInstance();
+ static void ReportError(llvm::StringRef error);
+ static void ReportWarning(llvm::StringRef error);
+ static void ReportError(bool is_error, int code, llvm::StringRef error,
+ llvm::StringRef location, llvm::StringRef stack);
+
+ static const int kJoystickPorts = 6;
+
+ double GetStickAxis(int stick, int axis);
+ int GetStickPOV(int stick, int pov);
+ int GetStickButtons(int stick) const;
+ bool GetStickButton(int stick, int button);
+
+ int GetStickAxisCount(int stick) const;
+ int GetStickPOVCount(int stick) const;
+ int GetStickButtonCount(int stick) const;
+
+ bool GetJoystickIsXbox(int stick) const;
+ int GetJoystickType(int stick) const;
+ std::string GetJoystickName(int stick) const;
+ int GetJoystickAxisType(int stick, int axis) const;
+
+ bool IsEnabled() const override;
+ bool IsDisabled() const override;
+ bool IsAutonomous() const override;
+ bool IsOperatorControl() const override;
+ bool IsTest() const override;
+ bool IsDSAttached() const;
+ bool IsNewControlData() const;
+ bool IsFMSAttached() const;
+ bool IsSysActive() const;
+ bool IsBrownedOut() const;
+
+ Alliance GetAlliance() const;
+ int GetLocation() const;
+ void WaitForData();
+ bool WaitForData(double timeout);
+ double GetMatchTime() const;
+ double GetBatteryVoltage() const;
+
+ /** Only to be used to tell the Driver Station what code you claim to be
+ * executing for diagnostic purposes only
+ * @param entering If true, starting disabled code; if false, leaving disabled
+ * code */
+ void InDisabled(bool entering) { m_userInDisabled = entering; }
+ /** Only to be used to tell the Driver Station what code you claim to be
+ * executing for diagnostic purposes only
+ * @param entering If true, starting autonomous code; if false, leaving
+ * autonomous code */
+ void InAutonomous(bool entering) { m_userInAutonomous = entering; }
+ /** Only to be used to tell the Driver Station what code you claim to be
+ * executing for diagnostic purposes only
+ * @param entering If true, starting teleop code; if false, leaving teleop
+ * code */
+ void InOperatorControl(bool entering) { m_userInTeleop = entering; }
+ /** Only to be used to tell the Driver Station what code you claim to be
+ * executing for diagnostic purposes only
+ * @param entering If true, starting test code; if false, leaving test code */
+ void InTest(bool entering) { m_userInTest = entering; }
+
+ protected:
+ void GetData();
+
+ private:
+ DriverStation();
+ void ReportJoystickUnpluggedError(llvm::StringRef message);
+ void ReportJoystickUnpluggedWarning(llvm::StringRef message);
+ void Run();
+ void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
+
+ // Joystick User Data
+ std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
+ std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
+ std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
+ std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
+
+ // Joystick Cached Data
+ std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
+ std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
+ std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
+ std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
+
+ // Internal Driver Station thread
+ std::thread m_dsThread;
+ std::atomic<bool> m_isRunning{false};
+
+ // WPILib WaitForData control variables
+ bool m_waitForDataPredicate = false;
+ std::condition_variable_any m_waitForDataCond;
+ priority_mutex m_waitForDataMutex;
+
+ mutable std::atomic<bool> m_newControlData{false};
+
+ mutable priority_mutex m_joystickDataMutex;
+
+ // Robot state status variables
+ bool m_userInDisabled = false;
+ bool m_userInAutonomous = false;
+ bool m_userInTeleop = false;
+ bool m_userInTest = false;
+
+ // Control word variables
+ mutable HAL_ControlWord m_controlWordCache;
+ mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
+ mutable priority_mutex m_controlWordMutex;
+
+ double m_nextMessageTime = 0;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Encoder.h b/wpilibc/athena/include/Encoder.h
new file mode 100644
index 0000000..f429703
--- /dev/null
+++ b/wpilibc/athena/include/Encoder.h
@@ -0,0 +1,111 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "Counter.h"
+#include "CounterBase.h"
+#include "HAL/Encoder.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "PIDSource.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+class DigitalSource;
+class DigitalGlitchFilter;
+
+/**
+ * Class to read quad encoders.
+ * Quadrature encoders are devices that count shaft rotation and can sense
+ * direction. The output of the QuadEncoder class is an integer that can count
+ * either up or down, and can go negative for reverse direction counting. When
+ * creating QuadEncoders, a direction is supplied that changes the sense of the
+ * output to make code more readable if the encoder is mounted such that forward
+ * movement generates negative values. Quadrature encoders have two digital
+ * outputs, an A Channel and a B Channel that are out of phase with each other
+ * to allow the FPGA to do direction sensing.
+ *
+ * All encoders will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
+ */
+class Encoder : public SensorBase,
+ public CounterBase,
+ public PIDSource,
+ public LiveWindowSendable {
+ public:
+ enum IndexingType {
+ kResetWhileHigh,
+ kResetWhileLow,
+ kResetOnFallingEdge,
+ kResetOnRisingEdge
+ };
+
+ Encoder(int aChannel, int bChannel, bool reverseDirection = false,
+ EncodingType encodingType = k4X);
+ Encoder(std::shared_ptr<DigitalSource> aSource,
+ std::shared_ptr<DigitalSource> bSource, bool reverseDirection = false,
+ EncodingType encodingType = k4X);
+ Encoder(DigitalSource* aSource, DigitalSource* bSource,
+ bool reverseDirection = false, EncodingType encodingType = k4X);
+ Encoder(DigitalSource& aSource, DigitalSource& bSource,
+ bool reverseDirection = false, EncodingType encodingType = k4X);
+ virtual ~Encoder();
+
+ // CounterBase interface
+ int Get() const override;
+ int GetRaw() const;
+ int GetEncodingScale() const;
+ void Reset() override;
+ double GetPeriod() const override;
+ void SetMaxPeriod(double maxPeriod) override;
+ bool GetStopped() const override;
+ bool GetDirection() const override;
+
+ double GetDistance() const;
+ double GetRate() const;
+ void SetMinRate(double minRate);
+ void SetDistancePerPulse(double distancePerPulse);
+ void SetReverseDirection(bool reverseDirection);
+ void SetSamplesToAverage(int samplesToAverage);
+ int GetSamplesToAverage() const;
+ double PIDGet() override;
+
+ void SetIndexSource(int channel, IndexingType type = kResetOnRisingEdge);
+ WPI_DEPRECATED("Use pass-by-reference instead.")
+ void SetIndexSource(DigitalSource* source,
+ IndexingType type = kResetOnRisingEdge);
+ void SetIndexSource(const DigitalSource& source,
+ IndexingType type = kResetOnRisingEdge);
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ int GetFPGAIndex() const;
+
+ private:
+ void InitEncoder(bool reverseDirection, EncodingType encodingType);
+
+ double DecodingScaleFactor() const;
+
+ std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
+ std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
+ std::unique_ptr<DigitalSource> m_indexSource = nullptr;
+ HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;
+
+ std::shared_ptr<ITable> m_table;
+ friend class DigitalGlitchFilter;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/GearTooth.h b/wpilibc/athena/include/GearTooth.h
new file mode 100644
index 0000000..8236db4
--- /dev/null
+++ b/wpilibc/athena/include/GearTooth.h
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "Counter.h"
+
+namespace frc {
+
+/**
+ * Alias for counter class.
+ * Implement the gear tooth sensor supplied by FIRST. Currently there is no
+ * reverse sensing on the gear tooth sensor, but in future versions we might
+ * implement the necessary timing in the FPGA to sense direction.
+ */
+class GearTooth : public Counter {
+ public:
+ /// 55 uSec for threshold
+ static constexpr double kGearToothThreshold = 55e-6;
+ explicit GearTooth(int channel, bool directionSensitive = false);
+ explicit GearTooth(DigitalSource* source, bool directionSensitive = false);
+ explicit GearTooth(std::shared_ptr<DigitalSource> source,
+ bool directionSensitive = false);
+ virtual ~GearTooth() = default;
+ void EnableDirectionSensing(bool directionSensitive);
+
+ std::string GetSmartDashboardType() const override;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/I2C.h b/wpilibc/athena/include/I2C.h
new file mode 100644
index 0000000..78decc5
--- /dev/null
+++ b/wpilibc/athena/include/I2C.h
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "SensorBase.h"
+
+namespace frc {
+
+/**
+ * I2C bus interface class.
+ *
+ * This class is intended to be used by sensor (and other I2C device) drivers.
+ * It probably should not be used directly.
+ *
+ */
+class I2C : SensorBase {
+ public:
+ enum Port { kOnboard, kMXP };
+
+ I2C(Port port, int deviceAddress);
+ virtual ~I2C();
+
+ I2C(const I2C&) = delete;
+ I2C& operator=(const I2C&) = delete;
+
+ bool Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived,
+ int receiveSize);
+ bool AddressOnly();
+ bool Write(int registerAddress, uint8_t data);
+ bool WriteBulk(uint8_t* data, int count);
+ bool Read(int registerAddress, int count, uint8_t* data);
+ bool ReadOnly(int count, uint8_t* buffer);
+ // void Broadcast(int registerAddress, uint8_t data);
+ bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
+
+ private:
+ Port m_port;
+ int m_deviceAddress;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Internal/HardwareHLReporting.h b/wpilibc/athena/include/Internal/HardwareHLReporting.h
new file mode 100644
index 0000000..d866192
--- /dev/null
+++ b/wpilibc/athena/include/Internal/HardwareHLReporting.h
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "HLUsageReporting.h"
+
+namespace frc {
+
+class HardwareHLReporting : public HLUsageReportingInterface {
+ public:
+ virtual void ReportScheduler();
+ virtual void ReportSmartDashboard();
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/InterruptableSensorBase.h b/wpilibc/athena/include/InterruptableSensorBase.h
new file mode 100644
index 0000000..49d877f
--- /dev/null
+++ b/wpilibc/athena/include/InterruptableSensorBase.h
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "AnalogTriggerType.h"
+#include "HAL/Interrupts.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+class InterruptableSensorBase : public SensorBase {
+ public:
+ enum WaitResult {
+ kTimeout = 0x0,
+ kRisingEdge = 0x1,
+ kFallingEdge = 0x100,
+ kBoth = 0x101,
+ };
+
+ InterruptableSensorBase();
+ virtual ~InterruptableSensorBase() = default;
+ virtual HAL_Handle GetPortHandleForRouting() const = 0;
+ virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
+ virtual void RequestInterrupts(
+ HAL_InterruptHandlerFunction handler,
+ void* param); ///< Asynchronus handler version.
+ virtual void RequestInterrupts(); ///< Synchronus Wait version.
+ virtual void
+ CancelInterrupts(); ///< Free up the underlying chipobject functions.
+ virtual WaitResult WaitForInterrupt(
+ double timeout,
+ bool ignorePrevious = true); ///< Synchronus version.
+ virtual void
+ EnableInterrupts(); ///< Enable interrupts - after finishing setup.
+ virtual void DisableInterrupts(); ///< Disable, but don't deallocate.
+ virtual double ReadRisingTimestamp(); ///< Return the timestamp for the
+ /// rising interrupt that occurred.
+ virtual double ReadFallingTimestamp(); ///< Return the timestamp for the
+ /// falling interrupt that occurred.
+ virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
+
+ protected:
+ HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle;
+ void AllocateInterrupts(bool watcher);
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/IterativeRobot.h b/wpilibc/athena/include/IterativeRobot.h
new file mode 100644
index 0000000..34847d6
--- /dev/null
+++ b/wpilibc/athena/include/IterativeRobot.h
@@ -0,0 +1,74 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "RobotBase.h"
+
+namespace frc {
+
+/**
+ * IterativeRobot implements a specific type of Robot Program framework,
+ * extending the RobotBase class.
+ *
+ * The IterativeRobot class is intended to be subclassed by a user creating a
+ * robot program.
+ *
+ * This class is intended to implement the "old style" default code, by
+ * providing the following functions which are called by the main loop,
+ * StartCompetition(), at the appropriate times:
+ *
+ * RobotInit() -- provide for initialization at robot power-on
+ *
+ * Init() functions -- each of the following functions is called once when the
+ * appropriate mode is entered:
+ * - DisabledInit() -- called only when first disabled
+ * - AutonomousInit() -- called each and every time autonomous is entered from
+ * another mode
+ * - TeleopInit() -- called each and every time teleop is entered from
+ * another mode
+ * - TestInit() -- called each and every time test is entered from
+ * another mode
+ *
+ * Periodic() functions -- each of these functions is called each time a
+ * new packet is received from the driver station:
+ * - RobotPeriodic()
+ * - DisabledPeriodic()
+ * - AutonomousPeriodic()
+ * - TeleopPeriodic()
+ * - TestPeriodic()
+ *
+ */
+
+class IterativeRobot : public RobotBase {
+ public:
+ virtual void StartCompetition();
+
+ virtual void RobotInit();
+ virtual void DisabledInit();
+ virtual void AutonomousInit();
+ virtual void TeleopInit();
+ virtual void TestInit();
+
+ virtual void RobotPeriodic();
+ virtual void DisabledPeriodic();
+ virtual void AutonomousPeriodic();
+ virtual void TeleopPeriodic();
+ virtual void TestPeriodic();
+
+ protected:
+ virtual ~IterativeRobot() = default;
+ IterativeRobot() = default;
+
+ private:
+ bool m_disabledInitialized = false;
+ bool m_autonomousInitialized = false;
+ bool m_teleopInitialized = false;
+ bool m_testInitialized = false;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Jaguar.h b/wpilibc/athena/include/Jaguar.h
new file mode 100644
index 0000000..1c29fde
--- /dev/null
+++ b/wpilibc/athena/include/Jaguar.h
@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * Luminary Micro / Vex Robotics Jaguar Speed Controller with PWM control
+ */
+class Jaguar : public PWMSpeedController {
+ public:
+ explicit Jaguar(int channel);
+ virtual ~Jaguar() = default;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/MotorSafety.h b/wpilibc/athena/include/MotorSafety.h
new file mode 100644
index 0000000..27c938c
--- /dev/null
+++ b/wpilibc/athena/include/MotorSafety.h
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#define DEFAULT_SAFETY_EXPIRATION 0.1
+
+#include <sstream>
+
+namespace frc {
+
+class MotorSafety {
+ public:
+ virtual void SetExpiration(double timeout) = 0;
+ virtual double GetExpiration() const = 0;
+ virtual bool IsAlive() const = 0;
+ virtual void StopMotor() = 0;
+ virtual void SetSafetyEnabled(bool enabled) = 0;
+ virtual bool IsSafetyEnabled() const = 0;
+ virtual void GetDescription(std::ostringstream& desc) const = 0;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/MotorSafetyHelper.h b/wpilibc/athena/include/MotorSafetyHelper.h
new file mode 100644
index 0000000..829a9db
--- /dev/null
+++ b/wpilibc/athena/include/MotorSafetyHelper.h
@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <set>
+
+#include "ErrorBase.h"
+#include "HAL/cpp/priority_mutex.h"
+
+namespace frc {
+
+class MotorSafety;
+
+class MotorSafetyHelper : public ErrorBase {
+ public:
+ explicit MotorSafetyHelper(MotorSafety* safeObject);
+ ~MotorSafetyHelper();
+ void Feed();
+ void SetExpiration(double expirationTime);
+ double GetExpiration() const;
+ bool IsAlive() const;
+ void Check();
+ void SetSafetyEnabled(bool enabled);
+ bool IsSafetyEnabled() const;
+ static void CheckMotors();
+
+ private:
+ // the expiration time for this object
+ double m_expiration;
+ // true if motor safety is enabled for this motor
+ bool m_enabled;
+ // the FPGA clock value when this motor has expired
+ double m_stopTime;
+ // protect accesses to the state for this object
+ mutable priority_recursive_mutex m_syncMutex;
+ // the object that is using the helper
+ MotorSafety* m_safeObject;
+ // List of all existing MotorSafetyHelper objects.
+ static std::set<MotorSafetyHelper*> m_helperList;
+ // protect accesses to the list of helpers
+ static priority_recursive_mutex m_listMutex;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Notifier.h b/wpilibc/athena/include/Notifier.h
new file mode 100644
index 0000000..0ea50ff
--- /dev/null
+++ b/wpilibc/athena/include/Notifier.h
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+#include <functional>
+#include <utility>
+
+#include "ErrorBase.h"
+#include "HAL/Notifier.h"
+#include "HAL/cpp/priority_mutex.h"
+
+namespace frc {
+
+typedef std::function<void()> TimerEventHandler;
+
+class Notifier : public ErrorBase {
+ public:
+ explicit Notifier(TimerEventHandler handler);
+
+ template <typename Callable, typename Arg, typename... Args>
+ Notifier(Callable&& f, Arg&& arg, Args&&... args)
+ : Notifier(std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
+ std::forward<Args>(args)...)) {}
+
+ virtual ~Notifier();
+
+ Notifier(const Notifier&) = delete;
+ Notifier& operator=(const Notifier&) = delete;
+
+ void StartSingle(double delay);
+ void StartPeriodic(double period);
+ void Stop();
+
+ private:
+ // update the HAL alarm
+ void UpdateAlarm();
+ // HAL callback
+ static void Notify(uint64_t currentTimeInt, HAL_NotifierHandle handle);
+
+ // used to constrain execution between destructors and callback
+ static priority_mutex m_destructorMutex;
+ // held while updating process information
+ priority_mutex m_processMutex;
+ // HAL handle, atomic for proper destruction
+ std::atomic<HAL_NotifierHandle> m_notifier{0};
+ // address of the handler
+ TimerEventHandler m_handler;
+ // the absolute expiration time
+ double m_expirationTime = 0;
+ // the relative time (either periodic or single)
+ double m_period = 0;
+ // true if this is a periodic event
+ bool m_periodic = false;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/PWM.h b/wpilibc/athena/include/PWM.h
new file mode 100644
index 0000000..e66a81e
--- /dev/null
+++ b/wpilibc/athena/include/PWM.h
@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+/**
+ * Class implements the PWM generation in the FPGA.
+ *
+ * The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They
+ * are mapped to the hardware dependent values, in this case 0-2000 for the
+ * FPGA. Changes are immediately sent to the FPGA, and the update occurs at the
+ * next FPGA cycle. There is no delay.
+ *
+ * As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-2000 values as
+ * follows:
+ * - 2000 = maximum pulse width
+ * - 1999 to 1001 = linear scaling from "full forward" to "center"
+ * - 1000 = center value
+ * - 999 to 2 = linear scaling from "center" to "full reverse"
+ * - 1 = minimum pulse width (currently .5ms)
+ * - 0 = disabled (i.e. PWM output is held low)
+ */
+class PWM : public SensorBase,
+ public ITableListener,
+ public LiveWindowSendable {
+ public:
+ enum PeriodMultiplier {
+ kPeriodMultiplier_1X = 1,
+ kPeriodMultiplier_2X = 2,
+ kPeriodMultiplier_4X = 4
+ };
+
+ explicit PWM(int channel);
+ virtual ~PWM();
+ virtual void SetRaw(uint16_t value);
+ virtual uint16_t GetRaw() const;
+ virtual void SetPosition(double pos);
+ virtual double GetPosition() const;
+ virtual void SetSpeed(double speed);
+ virtual double GetSpeed() const;
+ virtual void SetDisabled();
+ void SetPeriodMultiplier(PeriodMultiplier mult);
+ void SetZeroLatch();
+ void EnableDeadbandElimination(bool eliminateDeadband);
+ void SetBounds(double max, double deadbandMax, double center,
+ double deadbandMin, double min);
+ void SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
+ int min);
+ void GetRawBounds(int32_t* max, int32_t* deadbandMax, int32_t* center,
+ int32_t* deadbandMin, int32_t* min);
+ int GetChannel() const { return m_channel; }
+
+ protected:
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) override;
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ std::shared_ptr<ITable> m_table;
+
+ private:
+ int m_channel;
+ HAL_DigitalHandle m_handle;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/PWMSpeedController.h b/wpilibc/athena/include/PWMSpeedController.h
new file mode 100644
index 0000000..9060413
--- /dev/null
+++ b/wpilibc/athena/include/PWMSpeedController.h
@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "SafePWM.h"
+#include "SpeedController.h"
+
+namespace frc {
+
+/**
+ * Common base class for all PWM Speed Controllers
+ */
+class PWMSpeedController : public SafePWM, public SpeedController {
+ public:
+ virtual ~PWMSpeedController() = default;
+ void Set(double value) override;
+ double Get() const override;
+ void Disable() override;
+ void StopMotor() override;
+
+ void PIDWrite(double output) override;
+
+ void SetInverted(bool isInverted) override;
+ bool GetInverted() const override;
+
+ protected:
+ explicit PWMSpeedController(int channel);
+
+ private:
+ bool m_isInverted = false;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/PowerDistributionPanel.h b/wpilibc/athena/include/PowerDistributionPanel.h
new file mode 100644
index 0000000..f7d643f
--- /dev/null
+++ b/wpilibc/athena/include/PowerDistributionPanel.h
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+/**
+ * Class for getting voltage, current, temperature, power and energy from the
+ * CAN PDP.
+ */
+class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
+ public:
+ PowerDistributionPanel();
+ explicit PowerDistributionPanel(int module);
+
+ double GetVoltage() const;
+ double GetTemperature() const;
+ double GetCurrent(int channel) const;
+ double GetTotalCurrent() const;
+ double GetTotalPower() const;
+ double GetTotalEnergy() const;
+ void ResetTotalEnergy();
+ void ClearStickyFaults();
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ private:
+ std::shared_ptr<ITable> m_table;
+ int m_module;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Preferences.h b/wpilibc/athena/include/Preferences.h
new file mode 100644
index 0000000..1dcd39b
--- /dev/null
+++ b/wpilibc/athena/include/Preferences.h
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <map>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "ErrorBase.h"
+#include "networktables/NetworkTable.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+/**
+ * The preferences class provides a relatively simple way to save important
+ * values to the roboRIO to access the next time the roboRIO is booted.
+ *
+ * <p>This class loads and saves from a file inside the roboRIO. The user can
+ * not access the file directly, but may modify values at specific fields which
+ * will then be automatically periodically saved to the file by the NetworkTable
+ * server.</p>
+ *
+ * <p>This class is thread safe.</p>
+ *
+ * <p>This will also interact with {@link NetworkTable} by creating a table
+ * called "Preferences" with all the key-value pairs.</p>
+ */
+class Preferences : public ErrorBase {
+ public:
+ static Preferences* GetInstance();
+
+ std::vector<std::string> GetKeys();
+ std::string GetString(llvm::StringRef key, llvm::StringRef defaultValue = "");
+ int GetInt(llvm::StringRef key, int defaultValue = 0);
+ double GetDouble(llvm::StringRef key, double defaultValue = 0.0);
+ float GetFloat(llvm::StringRef key, float defaultValue = 0.0);
+ bool GetBoolean(llvm::StringRef key, bool defaultValue = false);
+ int64_t GetLong(llvm::StringRef key, int64_t defaultValue = 0);
+ void PutString(llvm::StringRef key, llvm::StringRef value);
+ void PutInt(llvm::StringRef key, int value);
+ void PutDouble(llvm::StringRef key, double value);
+ void PutFloat(llvm::StringRef key, float value);
+ void PutBoolean(llvm::StringRef key, bool value);
+ void PutLong(llvm::StringRef key, int64_t value);
+ WPI_DEPRECATED(
+ "Saving is now automatically performed by the NetworkTables server.")
+ void Save();
+ bool ContainsKey(llvm::StringRef key);
+ void Remove(llvm::StringRef key);
+
+ protected:
+ Preferences();
+ virtual ~Preferences() = default;
+
+ private:
+ std::shared_ptr<ITable> m_table;
+ class Listener : public ITableListener {
+ public:
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) override;
+ void ValueChangedEx(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value,
+ uint32_t flags) override;
+ };
+ Listener m_listener;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Relay.h b/wpilibc/athena/include/Relay.h
new file mode 100644
index 0000000..eac3967
--- /dev/null
+++ b/wpilibc/athena/include/Relay.h
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "MotorSafety.h"
+#include "SensorBase.h"
+#include "tables/ITable.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+class MotorSafetyHelper;
+
+/**
+ * Class for Spike style relay outputs.
+ * Relays are intended to be connected to spikes or similar relays. The relay
+ * channels controls a pair of pins that are either both off, one on, the other
+ * on, or both on. This translates into two spike outputs at 0v, one at 12v and
+ * one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This
+ * allows off, full forward, or full reverse control of motors without variable
+ * speed. It also allows the two channels (forward and reverse) to be used
+ * independently for something that does not care about voltage polarity (like
+ * a solenoid).
+ */
+class Relay : public MotorSafety,
+ public SensorBase,
+ public ITableListener,
+ public LiveWindowSendable {
+ public:
+ enum Value { kOff, kOn, kForward, kReverse };
+ enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
+
+ explicit Relay(int channel, Direction direction = kBothDirections);
+ virtual ~Relay();
+
+ void Set(Value value);
+ Value Get() const;
+ int GetChannel() const;
+
+ void SetExpiration(double timeout) override;
+ double GetExpiration() const override;
+ bool IsAlive() const override;
+ void StopMotor() override;
+ bool IsSafetyEnabled() const override;
+ void SetSafetyEnabled(bool enabled) override;
+ void GetDescription(std::ostringstream& desc) const override;
+
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) override;
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ std::shared_ptr<ITable> m_table;
+
+ private:
+ int m_channel;
+ Direction m_direction;
+
+ HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
+ HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
+
+ std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/RobotBase.h b/wpilibc/athena/include/RobotBase.h
new file mode 100644
index 0000000..26a0c91
--- /dev/null
+++ b/wpilibc/athena/include/RobotBase.h
@@ -0,0 +1,66 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <cstdio>
+#include <iostream>
+#include <thread>
+
+#include "Base.h"
+#include "HAL/HAL.h"
+
+namespace frc {
+
+class DriverStation;
+
+#define START_ROBOT_CLASS(_ClassName_) \
+ int main() { \
+ if (!HAL_Initialize(0)) { \
+ std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl; \
+ return -1; \
+ } \
+ HAL_Report(HALUsageReporting::kResourceType_Language, \
+ HALUsageReporting::kLanguage_CPlusPlus); \
+ static _ClassName_ robot; \
+ std::printf("\n********** Robot program starting **********\n"); \
+ robot.StartCompetition(); \
+ }
+
+/**
+ * Implement a Robot Program framework.
+ * The RobotBase class is intended to be subclassed by a user creating a robot
+ * program. Overridden Autonomous() and OperatorControl() methods are called at
+ * the appropriate time as the match proceeds. In the current implementation,
+ * the Autonomous code will run to completion before the OperatorControl code
+ * could start. In the future the Autonomous code might be spawned as a task,
+ * then killed at the end of the Autonomous period.
+ */
+class RobotBase {
+ public:
+ bool IsEnabled() const;
+ bool IsDisabled() const;
+ bool IsAutonomous() const;
+ bool IsOperatorControl() const;
+ bool IsTest() const;
+ bool IsNewDataAvailable() const;
+ static std::thread::id GetThreadId();
+ virtual void StartCompetition() = 0;
+
+ protected:
+ RobotBase();
+ virtual ~RobotBase() = default;
+
+ RobotBase(const RobotBase&) = delete;
+ RobotBase& operator=(const RobotBase&) = delete;
+
+ DriverStation& m_ds;
+
+ static std::thread::id m_threadId;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/RobotDrive.h b/wpilibc/athena/include/RobotDrive.h
new file mode 100644
index 0000000..8e23e62
--- /dev/null
+++ b/wpilibc/athena/include/RobotDrive.h
@@ -0,0 +1,125 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <sstream>
+
+#include "ErrorBase.h"
+#include "MotorSafety.h"
+#include "MotorSafetyHelper.h"
+
+namespace frc {
+
+class SpeedController;
+class GenericHID;
+
+/**
+ * Utility class for handling Robot drive based on a definition of the motor
+ * configuration.
+ * The robot drive class handles basic driving for a robot. Currently, 2 and 4
+ * motor tank and mecanum drive trains are supported. In the future other drive
+ * types like swerve might be implemented. Motor channel numbers are passed
+ * supplied on creation of the class. Those are used for either the Drive
+ * function (intended for hand created drive code, such as autonomous) or with
+ * the Tank/Arcade functions intended to be used for Operator Control driving.
+ */
+class RobotDrive : public MotorSafety, public ErrorBase {
+ public:
+ enum MotorType {
+ kFrontLeftMotor = 0,
+ kFrontRightMotor = 1,
+ kRearLeftMotor = 2,
+ kRearRightMotor = 3
+ };
+
+ RobotDrive(int leftMotorChannel, int rightMotorChannel);
+ RobotDrive(int frontLeftMotorChannel, int rearLeftMotorChannel,
+ int frontRightMotorChannel, int rearRightMotorChannel);
+ RobotDrive(SpeedController* leftMotor, SpeedController* rightMotor);
+ RobotDrive(SpeedController& leftMotor, SpeedController& rightMotor);
+ RobotDrive(std::shared_ptr<SpeedController> leftMotor,
+ std::shared_ptr<SpeedController> rightMotor);
+ RobotDrive(SpeedController* frontLeftMotor, SpeedController* rearLeftMotor,
+ SpeedController* frontRightMotor, SpeedController* rearRightMotor);
+ RobotDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
+ SpeedController& frontRightMotor, SpeedController& rearRightMotor);
+ RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
+ std::shared_ptr<SpeedController> rearLeftMotor,
+ std::shared_ptr<SpeedController> frontRightMotor,
+ std::shared_ptr<SpeedController> rearRightMotor);
+ virtual ~RobotDrive() = default;
+
+ RobotDrive(const RobotDrive&) = delete;
+ RobotDrive& operator=(const RobotDrive&) = delete;
+
+ void Drive(double outputMagnitude, double curve);
+ void TankDrive(GenericHID* leftStick, GenericHID* rightStick,
+ bool squaredInputs = true);
+ void TankDrive(GenericHID& leftStick, GenericHID& rightStick,
+ bool squaredInputs = true);
+ void TankDrive(GenericHID* leftStick, int leftAxis, GenericHID* rightStick,
+ int rightAxis, bool squaredInputs = true);
+ void TankDrive(GenericHID& leftStick, int leftAxis, GenericHID& rightStick,
+ int rightAxis, bool squaredInputs = true);
+ void TankDrive(double leftValue, double rightValue,
+ bool squaredInputs = true);
+ void ArcadeDrive(GenericHID* stick, bool squaredInputs = true);
+ void ArcadeDrive(GenericHID& stick, bool squaredInputs = true);
+ void ArcadeDrive(GenericHID* moveStick, int moveChannel,
+ GenericHID* rotateStick, int rotateChannel,
+ bool squaredInputs = true);
+ void ArcadeDrive(GenericHID& moveStick, int moveChannel,
+ GenericHID& rotateStick, int rotateChannel,
+ bool squaredInputs = true);
+ void ArcadeDrive(double moveValue, double rotateValue,
+ bool squaredInputs = true);
+ void MecanumDrive_Cartesian(double x, double y, double rotation,
+ double gyroAngle = 0.0);
+ void MecanumDrive_Polar(double magnitude, double direction, double rotation);
+ void HolonomicDrive(double magnitude, double direction, double rotation);
+ virtual void SetLeftRightMotorOutputs(double leftOutput, double rightOutput);
+ void SetInvertedMotor(MotorType motor, bool isInverted);
+ void SetSensitivity(double sensitivity);
+ void SetMaxOutput(double maxOutput);
+
+ void SetExpiration(double timeout) override;
+ double GetExpiration() const override;
+ bool IsAlive() const override;
+ void StopMotor() override;
+ bool IsSafetyEnabled() const override;
+ void SetSafetyEnabled(bool enabled) override;
+ void GetDescription(std::ostringstream& desc) const override;
+
+ protected:
+ void InitRobotDrive();
+ double Limit(double num);
+ void Normalize(double* wheelSpeeds);
+ void RotateVector(double& x, double& y, double angle);
+
+ static const int kMaxNumberOfMotors = 4;
+ double m_sensitivity = 0.5;
+ double m_maxOutput = 1.0;
+ std::shared_ptr<SpeedController> m_frontLeftMotor;
+ std::shared_ptr<SpeedController> m_frontRightMotor;
+ std::shared_ptr<SpeedController> m_rearLeftMotor;
+ std::shared_ptr<SpeedController> m_rearRightMotor;
+ std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
+
+ private:
+ int GetNumMotors() {
+ int motors = 0;
+ if (m_frontLeftMotor) motors++;
+ if (m_frontRightMotor) motors++;
+ if (m_rearLeftMotor) motors++;
+ if (m_rearRightMotor) motors++;
+ return motors;
+ }
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/SD540.h b/wpilibc/athena/include/SD540.h
new file mode 100644
index 0000000..65c49a8
--- /dev/null
+++ b/wpilibc/athena/include/SD540.h
@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * Mindsensors SD540 Speed Controller
+ */
+class SD540 : public PWMSpeedController {
+ public:
+ explicit SD540(int channel);
+ virtual ~SD540() = default;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/SPI.h b/wpilibc/athena/include/SPI.h
new file mode 100644
index 0000000..6a69e61
--- /dev/null
+++ b/wpilibc/athena/include/SPI.h
@@ -0,0 +1,74 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "SensorBase.h"
+
+namespace frc {
+
+class DigitalOutput;
+class DigitalInput;
+
+/**
+ * SPI bus interface class.
+ *
+ * This class is intended to be used by sensor (and other SPI device) drivers.
+ * It probably should not be used directly.
+ *
+ */
+class SPI : public SensorBase {
+ public:
+ enum Port { kOnboardCS0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
+ explicit SPI(Port SPIport);
+ virtual ~SPI();
+
+ SPI(const SPI&) = delete;
+ SPI& operator=(const SPI&) = delete;
+
+ void SetClockRate(double hz);
+
+ void SetMSBFirst();
+ void SetLSBFirst();
+
+ void SetSampleDataOnFalling();
+ void SetSampleDataOnRising();
+
+ void SetClockActiveLow();
+ void SetClockActiveHigh();
+
+ void SetChipSelectActiveHigh();
+ void SetChipSelectActiveLow();
+
+ virtual int Write(uint8_t* data, int size);
+ virtual int Read(bool initiate, uint8_t* dataReceived, int size);
+ virtual int Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size);
+
+ void InitAccumulator(double period, int cmd, int xfer_size, int valid_mask,
+ int valid_value, int data_shift, int data_size,
+ bool is_signed, bool big_endian);
+ void FreeAccumulator();
+ void ResetAccumulator();
+ void SetAccumulatorCenter(int center);
+ void SetAccumulatorDeadband(int deadband);
+ int GetAccumulatorLastValue() const;
+ int64_t GetAccumulatorValue() const;
+ int64_t GetAccumulatorCount() const;
+ double GetAccumulatorAverage() const;
+ void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
+
+ protected:
+ int m_port;
+ bool m_msbFirst = false; // default little-endian
+ bool m_sampleOnTrailing = false; // default data updated on falling edge
+ bool m_clk_idle_high = false; // default clock active high
+
+ private:
+ void Init();
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/SafePWM.h b/wpilibc/athena/include/SafePWM.h
new file mode 100644
index 0000000..16a64c1
--- /dev/null
+++ b/wpilibc/athena/include/SafePWM.h
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <sstream>
+
+#include "MotorSafety.h"
+#include "MotorSafetyHelper.h"
+#include "PWM.h"
+
+namespace frc {
+
+/**
+ * A safe version of the PWM class.
+ * It is safe because it implements the MotorSafety interface that provides
+ * timeouts in the event that the motor value is not updated before the
+ * expiration time. This delegates the actual work to a MotorSafetyHelper
+ * object that is used for all objects that implement MotorSafety.
+ */
+class SafePWM : public PWM, public MotorSafety {
+ public:
+ explicit SafePWM(int channel);
+ virtual ~SafePWM() = default;
+
+ void SetExpiration(double timeout);
+ double GetExpiration() const;
+ bool IsAlive() const;
+ void StopMotor();
+ bool IsSafetyEnabled() const;
+ void SetSafetyEnabled(bool enabled);
+ void GetDescription(std::ostringstream& desc) const;
+
+ virtual void SetSpeed(double speed);
+
+ private:
+ std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/SampleRobot.h b/wpilibc/athena/include/SampleRobot.h
new file mode 100644
index 0000000..09051e5
--- /dev/null
+++ b/wpilibc/athena/include/SampleRobot.h
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "RobotBase.h"
+
+namespace frc {
+
+class SampleRobot : public RobotBase {
+ public:
+ SampleRobot();
+ virtual ~SampleRobot() = default;
+ virtual void RobotInit();
+ virtual void Disabled();
+ virtual void Autonomous();
+ virtual void OperatorControl();
+ virtual void Test();
+ virtual void RobotMain();
+ void StartCompetition();
+
+ private:
+ bool m_robotMainOverridden;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/SensorBase.h b/wpilibc/athena/include/SensorBase.h
new file mode 100644
index 0000000..09720fc
--- /dev/null
+++ b/wpilibc/athena/include/SensorBase.h
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "Base.h"
+#include "ErrorBase.h"
+
+namespace frc {
+
+/**
+ * Base class for all sensors.
+ * Stores most recent status information as well as containing utility functions
+ * for checking channels and error processing.
+ */
+class SensorBase : public ErrorBase {
+ public:
+ SensorBase() = default;
+ virtual ~SensorBase() = default;
+
+ SensorBase(const SensorBase&) = delete;
+ SensorBase& operator=(const SensorBase&) = delete;
+
+ static int GetDefaultSolenoidModule() { return 0; }
+
+ static bool CheckSolenoidModule(int moduleNumber);
+ static bool CheckDigitalChannel(int channel);
+ static bool CheckRelayChannel(int channel);
+ static bool CheckPWMChannel(int channel);
+ static bool CheckAnalogInputChannel(int channel);
+ static bool CheckAnalogOutputChannel(int channel);
+ static bool CheckSolenoidChannel(int channel);
+ static bool CheckPDPChannel(int channel);
+
+ static const int kDigitalChannels;
+ static const int kAnalogInputs;
+ static const int kAnalogOutputs;
+ static const int kSolenoidChannels;
+ static const int kSolenoidModules;
+ static const int kPwmChannels;
+ static const int kRelayChannels;
+ static const int kPDPChannels;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/SerialPort.h b/wpilibc/athena/include/SerialPort.h
new file mode 100644
index 0000000..7590b4f
--- /dev/null
+++ b/wpilibc/athena/include/SerialPort.h
@@ -0,0 +1,85 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include "ErrorBase.h"
+#include "llvm/StringRef.h"
+#include "support/deprecated.h"
+
+namespace frc {
+
+/**
+ * Driver for the RS-232 serial port on the roboRIO.
+ *
+ * The current implementation uses the VISA formatted I/O mode. This means that
+ * all traffic goes through the fomatted buffers. This allows the intermingled
+ * use of Printf(), Scanf(), and the raw buffer accessors Read() and Write().
+ *
+ * More information can be found in the NI-VISA User Manual here:
+ * http://www.ni.com/pdf/manuals/370423a.pdf
+ * and the NI-VISA Programmer's Reference Manual here:
+ * http://www.ni.com/pdf/manuals/370132c.pdf
+ */
+class SerialPort : public ErrorBase {
+ public:
+ enum Parity {
+ kParity_None = 0,
+ kParity_Odd = 1,
+ kParity_Even = 2,
+ kParity_Mark = 3,
+ kParity_Space = 4
+ };
+ enum StopBits {
+ kStopBits_One = 10,
+ kStopBits_OnePointFive = 15,
+ kStopBits_Two = 20
+ };
+ enum FlowControl {
+ kFlowControl_None = 0,
+ kFlowControl_XonXoff = 1,
+ kFlowControl_RtsCts = 2,
+ kFlowControl_DtrDsr = 4
+ };
+ enum WriteBufferMode { kFlushOnAccess = 1, kFlushWhenFull = 2 };
+ enum Port { kOnboard = 0, kMXP = 1, kUSB = 2, kUSB1 = 2, kUSB2 = 3 };
+
+ SerialPort(int baudRate, Port port = kOnboard, int dataBits = 8,
+ Parity parity = kParity_None, StopBits stopBits = kStopBits_One);
+ ~SerialPort();
+
+ SerialPort(const SerialPort&) = delete;
+ SerialPort& operator=(const SerialPort&) = delete;
+
+ void SetFlowControl(FlowControl flowControl);
+ void EnableTermination(char terminator = '\n');
+ void DisableTermination();
+ int GetBytesReceived();
+ int Read(char* buffer, int count);
+ WPI_DEPRECATED(
+ "Potential for unexpected behavior. Please use StringRef overload for "
+ "custom length buffers using std::string")
+ int Write(const std::string& buffer, int count);
+ int Write(const char* buffer, int count);
+ int Write(llvm::StringRef buffer);
+ void SetTimeout(double timeout);
+ void SetReadBufferSize(int size);
+ void SetWriteBufferSize(int size);
+ void SetWriteBufferMode(WriteBufferMode mode);
+ void Flush();
+ void Reset();
+
+ private:
+ int m_resourceManagerHandle = 0;
+ int m_portHandle = 0;
+ bool m_consoleModeEnabled = false;
+ int m_port;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Servo.h b/wpilibc/athena/include/Servo.h
new file mode 100644
index 0000000..7cac0ca
--- /dev/null
+++ b/wpilibc/athena/include/Servo.h
@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "SafePWM.h"
+#include "SpeedController.h"
+
+namespace frc {
+
+/**
+ * Standard hobby style servo.
+ *
+ * The range parameters default to the appropriate values for the Hitec HS-322HD
+ * servo provided
+ * in the FIRST Kit of Parts in 2008.
+ */
+class Servo : public SafePWM {
+ public:
+ explicit Servo(int channel);
+ virtual ~Servo();
+ void Set(double value);
+ void SetOffline();
+ double Get() const;
+ void SetAngle(double angle);
+ double GetAngle() const;
+ static double GetMaxAngle() { return kMaxServoAngle; }
+ static double GetMinAngle() { return kMinServoAngle; }
+
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) override;
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ std::shared_ptr<ITable> m_table;
+
+ private:
+ double GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }
+
+ static constexpr double kMaxServoAngle = 180.0;
+ static constexpr double kMinServoAngle = 0.0;
+
+ static constexpr double kDefaultMaxServoPWM = 2.4;
+ static constexpr double kDefaultMinServoPWM = .6;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Solenoid.h b/wpilibc/athena/include/Solenoid.h
new file mode 100644
index 0000000..3ede182
--- /dev/null
+++ b/wpilibc/athena/include/Solenoid.h
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SolenoidBase.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+/**
+ * Solenoid class for running high voltage Digital Output (PCM).
+ *
+ * The Solenoid class is typically used for pneumatics solenoids, but could be
+ * used for any device within the current spec of the PCM.
+ */
+class Solenoid : public SolenoidBase,
+ public LiveWindowSendable,
+ public ITableListener {
+ public:
+ explicit Solenoid(int channel);
+ Solenoid(int moduleNumber, int channel);
+ virtual ~Solenoid();
+ virtual void Set(bool on);
+ virtual bool Get() const;
+ bool IsBlackListed() const;
+
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew);
+ void UpdateTable();
+ void StartLiveWindowMode();
+ void StopLiveWindowMode();
+ std::string GetSmartDashboardType() const;
+ void InitTable(std::shared_ptr<ITable> subTable);
+ std::shared_ptr<ITable> GetTable() const;
+
+ private:
+ HAL_SolenoidHandle m_solenoidHandle = HAL_kInvalidHandle;
+ int m_channel; ///< The channel on the module to control.
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/SolenoidBase.h b/wpilibc/athena/include/SolenoidBase.h
new file mode 100644
index 0000000..276f6e6
--- /dev/null
+++ b/wpilibc/athena/include/SolenoidBase.h
@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "SensorBase.h"
+
+namespace frc {
+
+/**
+ * SolenoidBase class is the common base class for the Solenoid and
+ * DoubleSolenoid classes.
+ */
+class SolenoidBase : public SensorBase {
+ public:
+ virtual ~SolenoidBase() = default;
+ int GetAll(int module = 0) const;
+
+ int GetPCMSolenoidBlackList(int module) const;
+ bool GetPCMSolenoidVoltageStickyFault(int module) const;
+ bool GetPCMSolenoidVoltageFault(int module) const;
+ void ClearAllPCMStickyFaults(int module);
+
+ protected:
+ explicit SolenoidBase(int pcmID);
+ static const int m_maxModules = 63;
+ static const int m_maxPorts = 8;
+ // static void* m_ports[m_maxModules][m_maxPorts];
+ int m_moduleNumber; ///< Slot number where the module is plugged into
+ /// the chassis.
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Spark.h b/wpilibc/athena/include/Spark.h
new file mode 100644
index 0000000..8602dbc
--- /dev/null
+++ b/wpilibc/athena/include/Spark.h
@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * REV Robotics Speed Controller
+ */
+class Spark : public PWMSpeedController {
+ public:
+ explicit Spark(int channel);
+ virtual ~Spark() = default;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/SpeedController.h b/wpilibc/athena/include/SpeedController.h
new file mode 100644
index 0000000..3458e7f
--- /dev/null
+++ b/wpilibc/athena/include/SpeedController.h
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "PIDOutput.h"
+
+namespace frc {
+
+/**
+ * Interface for speed controlling devices.
+ */
+class SpeedController : public PIDOutput {
+ public:
+ virtual ~SpeedController() = default;
+ /**
+ * Common interface for setting the speed of a speed controller.
+ *
+ * @param speed The speed to set. Value should be between -1.0 and 1.0.
+ */
+ virtual void Set(double speed) = 0;
+
+ /**
+ * Common interface for getting the current set speed of a speed controller.
+ *
+ * @return The current set speed. Value is between -1.0 and 1.0.
+ */
+ virtual double Get() const = 0;
+
+ /**
+ * Common interface for inverting direction of a speed controller.
+ * @param isInverted The state of inversion, true is inverted.
+ */
+ virtual void SetInverted(bool isInverted) = 0;
+ /**
+
+ * Common interface for disabling a motor.
+ */
+ virtual void Disable() = 0;
+
+ /**
+ * Common interface for returning the inversion state of a speed controller.
+ * @return isInverted The state of inversion, true is inverted.
+ */
+ virtual bool GetInverted() const = 0;
+
+ /**
+ * Common interface to stop the motor until Set is called again.
+ */
+ virtual void StopMotor() = 0;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Talon.h b/wpilibc/athena/include/Talon.h
new file mode 100644
index 0000000..793d77b
--- /dev/null
+++ b/wpilibc/athena/include/Talon.h
@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller
+ */
+class Talon : public PWMSpeedController {
+ public:
+ explicit Talon(int channel);
+ virtual ~Talon() = default;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/TalonSRX.h b/wpilibc/athena/include/TalonSRX.h
new file mode 100644
index 0000000..ecc5997
--- /dev/null
+++ b/wpilibc/athena/include/TalonSRX.h
@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control
+ */
+class TalonSRX : public PWMSpeedController {
+ public:
+ explicit TalonSRX(int channel);
+ virtual ~TalonSRX() = default;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Task.h b/wpilibc/athena/include/Task.h
new file mode 100644
index 0000000..646a400
--- /dev/null
+++ b/wpilibc/athena/include/Task.h
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+#include <thread>
+
+#include "ErrorBase.h"
+#include "HAL/HAL.h"
+#include "support/deprecated.h"
+
+namespace frc {
+
+/**
+ * Wrapper class around std::thread that allows changing thread priority
+ */
+class WPI_DEPRECATED(
+ "Task API scheduled for removal in 2018. Replace with std::thread, and use "
+ "Threads API for setting priority") Task : public ErrorBase {
+ public:
+ static const int kDefaultPriority = 60;
+
+ Task() = default;
+ Task(const Task&) = delete;
+ Task& operator=(const Task&) = delete;
+ Task& operator=(Task&& task);
+
+ template <class Function, class... Args>
+ Task(const std::string& name, Function&& function, Args&&... args);
+
+ virtual ~Task();
+
+ bool joinable() const noexcept;
+ void join();
+ void detach();
+ std::thread::id get_id() const noexcept;
+ std::thread::native_handle_type native_handle();
+
+ bool Verify();
+
+ int GetPriority();
+
+ bool SetPriority(int priority);
+
+ std::string GetName() const;
+
+ private:
+ std::thread m_thread;
+ std::string m_taskName;
+
+ typedef int32_t TASK_STATUS;
+
+ static constexpr int32_t TASK_OK = 0;
+ static constexpr int32_t TASK_ERROR = -1;
+ static constexpr int32_t TaskLib_ILLEGAL_PRIORITY = 22; // 22 is EINVAL
+
+ bool HandleError(TASK_STATUS results);
+ TASK_STATUS VerifyTaskId();
+ TASK_STATUS GetTaskPriority(int32_t* priority);
+ TASK_STATUS SetTaskPriority(int32_t priority);
+};
+
+} // namespace frc
+
+#include "Task.inc"
diff --git a/wpilibc/athena/include/Task.inc b/wpilibc/athena/include/Task.inc
new file mode 100644
index 0000000..e56b5ee
--- /dev/null
+++ b/wpilibc/athena/include/Task.inc
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <atomic>
+#include <iostream>
+#include <string>
+#include <utility>
+
+namespace frc {
+
+/**
+ * Create and launch a task.
+ *
+ * @param name The name of the task. "FRC_" will be prepended to the task name.
+ * @param function The address of the function to run as the new task.
+ * @param args A parameter pack of arguments to pass to the function.
+ */
+template <class Function, class... Args>
+Task::Task(const std::string& name, Function&& function, Args&&... args) {
+ m_taskName = "FRC_";
+ m_taskName += name;
+
+ std::cout << "[HAL] Starting task " << m_taskName << "..." << std::endl;
+
+ m_thread = std::thread(std::forward<std::decay_t<Function>>(function),
+ std::forward<Args>(args)...);
+ // TODO: lvuser does not currently have permissions to set the priority.
+ // SetPriority(kDefaultPriority);
+
+ static std::atomic<int32_t> instances{0};
+ instances++;
+ HAL_Report(HALUsageReporting::kResourceType_Task, instances, 0,
+ m_taskName.c_str());
+}
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Threads.h b/wpilibc/athena/include/Threads.h
new file mode 100644
index 0000000..57c86cf
--- /dev/null
+++ b/wpilibc/athena/include/Threads.h
@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <thread>
+
+namespace frc {
+
+int GetThreadPriority(std::thread& thread, bool* isRealTime);
+int GetCurrentThreadPriority(bool* isRealTime);
+bool SetThreadPriority(std::thread& thread, bool realTime, int priority);
+bool SetCurrentThreadPriority(bool realTime, int priority);
+} // namespace frc
diff --git a/wpilibc/athena/include/Ultrasonic.h b/wpilibc/athena/include/Ultrasonic.h
new file mode 100644
index 0000000..f3a457c
--- /dev/null
+++ b/wpilibc/athena/include/Ultrasonic.h
@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+#include <memory>
+#include <set>
+#include <string>
+#include <thread>
+
+#include "Counter.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "PIDSource.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+class DigitalInput;
+class DigitalOutput;
+
+/**
+ * Ultrasonic rangefinder class.
+ * The Ultrasonic rangefinder measures absolute distance based on the round-trip
+ * time of a ping generated by the controller. These sensors use two
+ * transducers, a speaker and a microphone both tuned to the ultrasonic range. A
+ * common ultrasonic sensor, the Daventech SRF04 requires a short pulse to be
+ * generated on a digital channel. This causes the chirp to be emitted. A second
+ * line becomes high as the ping is transmitted and goes low when the echo is
+ * received. The time that the line is high determines the round trip distance
+ * (time of flight).
+ */
+class Ultrasonic : public SensorBase,
+ public PIDSource,
+ public LiveWindowSendable {
+ public:
+ enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
+
+ Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
+ DistanceUnit units = kInches);
+
+ Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
+ DistanceUnit units = kInches);
+
+ Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
+ std::shared_ptr<DigitalInput> echoChannel,
+ DistanceUnit units = kInches);
+ Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units = kInches);
+ virtual ~Ultrasonic();
+
+ void Ping();
+ bool IsRangeValid() const;
+ static void SetAutomaticMode(bool enabling);
+ double GetRangeInches() const;
+ double GetRangeMM() const;
+ bool IsEnabled() const { return m_enabled; }
+ void SetEnabled(bool enable) { m_enabled = enable; }
+
+ double PIDGet() override;
+ void SetPIDSourceType(PIDSourceType pidSource) override;
+ void SetDistanceUnits(DistanceUnit units);
+ DistanceUnit GetDistanceUnits() const;
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ private:
+ void Initialize();
+
+ static void UltrasonicChecker();
+
+ // Time (sec) for the ping trigger pulse.
+ static constexpr double kPingTime = 10 * 1e-6;
+ // Priority that the ultrasonic round robin task runs.
+ static const int kPriority = 64;
+ // Max time (ms) between readings.
+ static constexpr double kMaxUltrasonicTime = 0.1;
+ static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
+
+ static std::thread
+ m_thread; // thread doing the round-robin automatic sensing
+ static std::set<Ultrasonic*> m_sensors; // ultrasonic sensors
+ static std::atomic<bool> m_automaticEnabled; // automatic round robin mode
+
+ std::shared_ptr<DigitalOutput> m_pingChannel;
+ std::shared_ptr<DigitalInput> m_echoChannel;
+ bool m_enabled = false;
+ Counter m_counter;
+ DistanceUnit m_units;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/Victor.h b/wpilibc/athena/include/Victor.h
new file mode 100644
index 0000000..2dbcb20
--- /dev/null
+++ b/wpilibc/athena/include/Victor.h
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * Vex Robotics Victor 888 Speed Controller
+ *
+ * The Vex Robotics Victor 884 Speed Controller can also be used with this
+ * class but may need to be calibrated per the Victor 884 user manual.
+ */
+class Victor : public PWMSpeedController {
+ public:
+ explicit Victor(int channel);
+ virtual ~Victor() = default;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/VictorSP.h b/wpilibc/athena/include/VictorSP.h
new file mode 100644
index 0000000..539b27b
--- /dev/null
+++ b/wpilibc/athena/include/VictorSP.h
@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * Vex Robotics Victor SP Speed Controller
+ */
+class VictorSP : public PWMSpeedController {
+ public:
+ explicit VictorSP(int channel);
+ virtual ~VictorSP() = default;
+};
+
+} // namespace frc
diff --git a/wpilibc/athena/include/WPILib.h b/wpilibc/athena/include/WPILib.h
new file mode 100644
index 0000000..5fe5c74
--- /dev/null
+++ b/wpilibc/athena/include/WPILib.h
@@ -0,0 +1,90 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "ADXL345_I2C.h"
+#include "ADXL345_SPI.h"
+#include "ADXL362.h"
+#include "ADXRS450_Gyro.h"
+#include "AnalogAccelerometer.h"
+#include "AnalogGyro.h"
+#include "AnalogInput.h"
+#include "AnalogOutput.h"
+#include "AnalogPotentiometer.h"
+#include "AnalogTrigger.h"
+#include "AnalogTriggerOutput.h"
+#include "BuiltInAccelerometer.h"
+#include "Buttons/InternalButton.h"
+#include "Buttons/JoystickButton.h"
+#include "Buttons/NetworkButton.h"
+#include "CameraServer.h"
+#include "Commands/Command.h"
+#include "Commands/CommandGroup.h"
+#include "Commands/PIDCommand.h"
+#include "Commands/PIDSubsystem.h"
+#include "Commands/PrintCommand.h"
+#include "Commands/Scheduler.h"
+#include "Commands/StartCommand.h"
+#include "Commands/Subsystem.h"
+#include "Commands/WaitCommand.h"
+#include "Commands/WaitForChildren.h"
+#include "Commands/WaitUntilCommand.h"
+#include "Compressor.h"
+#include "ControllerPower.h"
+#include "Counter.h"
+#include "DigitalInput.h"
+#include "DigitalOutput.h"
+#include "DigitalSource.h"
+#include "DoubleSolenoid.h"
+#include "DriverStation.h"
+#include "Encoder.h"
+#include "ErrorBase.h"
+#include "Filters/LinearDigitalFilter.h"
+#include "GearTooth.h"
+#include "GenericHID.h"
+#include "I2C.h"
+#include "InterruptableSensorBase.h"
+#include "IterativeRobot.h"
+#include "Jaguar.h"
+#include "Joystick.h"
+#include "Notifier.h"
+#include "PIDController.h"
+#include "PIDOutput.h"
+#include "PIDSource.h"
+#include "PWM.h"
+#include "PWMSpeedController.h"
+#include "PowerDistributionPanel.h"
+#include "Preferences.h"
+#include "Relay.h"
+#include "RobotBase.h"
+#include "RobotDrive.h"
+#include "SD540.h"
+#include "SPI.h"
+#include "SampleRobot.h"
+#include "SensorBase.h"
+#include "SerialPort.h"
+#include "Servo.h"
+#include "SmartDashboard/SendableChooser.h"
+#include "SmartDashboard/SmartDashboard.h"
+#include "Solenoid.h"
+#include "Spark.h"
+#include "SpeedController.h"
+#include "Talon.h"
+#include "TalonSRX.h"
+#include "Threads.h"
+#include "Timer.h"
+#include "Ultrasonic.h"
+#include "Utility.h"
+#include "Victor.h"
+#include "VictorSP.h"
+#include "WPIErrors.h"
+#include "XboxController.h"
+#include "interfaces/Accelerometer.h"
+#include "interfaces/Gyro.h"
+#include "interfaces/Potentiometer.h"
+#include "vision/VisionRunner.h"
diff --git a/wpilibc/athena/include/vision/VisionPipeline.h b/wpilibc/athena/include/vision/VisionPipeline.h
new file mode 100644
index 0000000..bccd50b
--- /dev/null
+++ b/wpilibc/athena/include/vision/VisionPipeline.h
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace cv {
+class Mat;
+}
+
+namespace frc {
+
+/**
+ * A vision pipeline is responsible for running a group of
+ * OpenCV algorithms to extract data from an image.
+ *
+ * @see VisionRunner
+ */
+class VisionPipeline {
+ public:
+ virtual ~VisionPipeline() = default;
+
+ /**
+ * Processes the image input and sets the result objects.
+ * Implementations should make these objects accessible.
+ */
+ virtual void Process(cv::Mat& mat) = 0;
+};
+} // namespace frc
diff --git a/wpilibc/athena/include/vision/VisionRunner.h b/wpilibc/athena/include/vision/VisionRunner.h
new file mode 100644
index 0000000..76c1213
--- /dev/null
+++ b/wpilibc/athena/include/vision/VisionRunner.h
@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <functional>
+#include <memory>
+
+#include "ErrorBase.h"
+#include "cscore.h"
+#include "vision/VisionPipeline.h"
+
+namespace frc {
+
+/**
+ * Non-template base class for VisionRunner.
+ */
+class VisionRunnerBase : public ErrorBase {
+ public:
+ explicit VisionRunnerBase(cs::VideoSource videoSource);
+ ~VisionRunnerBase() override;
+
+ VisionRunnerBase(const VisionRunnerBase&) = delete;
+ VisionRunnerBase& operator=(const VisionRunnerBase&) = delete;
+
+ void RunOnce();
+
+ void RunForever();
+
+ protected:
+ virtual void DoProcess(cv::Mat& image) = 0;
+
+ private:
+ std::unique_ptr<cv::Mat> m_image;
+ cs::CvSink m_cvSink;
+};
+
+/**
+ * A vision runner is a convenient wrapper object to make it easy to run vision
+ * pipelines from robot code. The easiest way to use this is to run it in a
+ * std::thread and use the listener to take snapshots of the pipeline's outputs.
+ *
+ * @see VisionPipeline
+ */
+template <typename T>
+class VisionRunner : public VisionRunnerBase {
+ public:
+ VisionRunner(cs::VideoSource videoSource, T* pipeline,
+ std::function<void(T&)> listener);
+ virtual ~VisionRunner() = default;
+
+ protected:
+ void DoProcess(cv::Mat& image) override;
+
+ private:
+ T* m_pipeline;
+ std::function<void(T&)> m_listener;
+};
+} // namespace frc
+
+#include "VisionRunner.inc"
diff --git a/wpilibc/athena/include/vision/VisionRunner.inc b/wpilibc/athena/include/vision/VisionRunner.inc
new file mode 100644
index 0000000..991c898
--- /dev/null
+++ b/wpilibc/athena/include/vision/VisionRunner.inc
@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+
+/**
+ * Creates a new vision runner. It will take images from the {@code
+ * videoSource}, send them to the {@code pipeline}, and call the {@code
+ * listener} when the pipeline has finished to alert user code when it is safe
+ * to access the pipeline's outputs.
+ *
+ * @param videoSource the video source to use to supply images for the pipeline
+ * @param pipeline the vision pipeline to run
+ * @param listener a function to call after the pipeline has finished
+ * running
+ */
+template <typename T>
+VisionRunner<T>::VisionRunner(cs::VideoSource videoSource, T* pipeline,
+ std::function<void(T&)> listener)
+ : VisionRunnerBase(videoSource),
+ m_pipeline(pipeline),
+ m_listener(listener) {}
+
+template <typename T>
+void VisionRunner<T>::DoProcess(cv::Mat& image) {
+ m_pipeline->Process(image);
+ m_listener(*m_pipeline);
+}
+
+} // namespace frc
diff --git a/wpilibc/athena/src/ADXL345_I2C.cpp b/wpilibc/athena/src/ADXL345_I2C.cpp
new file mode 100644
index 0000000..5179c1c
--- /dev/null
+++ b/wpilibc/athena/src/ADXL345_I2C.cpp
@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_I2C.h"
+
+#include "HAL/HAL.h"
+#include "I2C.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+const int ADXL345_I2C::kAddress;
+const int ADXL345_I2C::kPowerCtlRegister;
+const int ADXL345_I2C::kDataFormatRegister;
+const int ADXL345_I2C::kDataRegister;
+constexpr double ADXL345_I2C::kGsPerLSB;
+
+/**
+ * Constructs the ADXL345 Accelerometer over I2C.
+ *
+ * @param port The I2C port the accelerometer is attached to
+ * @param range The range (+ or -) that the accelerometer will measure
+ * @param deviceAddress The I2C address of the accelerometer (0x1D or 0x53)
+ */
+ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
+ : m_i2c(port, deviceAddress) {
+ // Turn on the measurements
+ m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
+ // Specify the data format to read
+ SetRange(range);
+
+ HAL_Report(HALUsageReporting::kResourceType_ADXL345,
+ HALUsageReporting::kADXL345_I2C, 0);
+ LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
+}
+
+void ADXL345_I2C::SetRange(Range range) {
+ m_i2c.Write(kDataFormatRegister,
+ kDataFormat_FullRes | static_cast<uint8_t>(range));
+}
+
+double ADXL345_I2C::GetX() { return GetAcceleration(kAxis_X); }
+
+double ADXL345_I2C::GetY() { return GetAcceleration(kAxis_Y); }
+
+double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
+
+/**
+ * Get the acceleration of one axis in Gs.
+ *
+ * @param axis The axis to read from.
+ * @return Acceleration of the ADXL345 in Gs.
+ */
+double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
+ int16_t rawAccel = 0;
+ m_i2c.Read(kDataRegister + static_cast<int>(axis), sizeof(rawAccel),
+ reinterpret_cast<uint8_t*>(&rawAccel));
+ return rawAccel * kGsPerLSB;
+}
+
+/**
+ * Get the acceleration of all axes in Gs.
+ *
+ * @return An object containing the acceleration measured on each axis of the
+ * ADXL345 in Gs.
+ */
+ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
+ AllAxes data = AllAxes();
+ int16_t rawData[3];
+ m_i2c.Read(kDataRegister, sizeof(rawData),
+ reinterpret_cast<uint8_t*>(rawData));
+
+ data.XAxis = rawData[0] * kGsPerLSB;
+ data.YAxis = rawData[1] * kGsPerLSB;
+ data.ZAxis = rawData[2] * kGsPerLSB;
+ return data;
+}
+
+std::string ADXL345_I2C::GetSmartDashboardType() const {
+ return "3AxisAccelerometer";
+}
+
+void ADXL345_I2C::InitTable(std::shared_ptr<ITable> subtable) {
+ m_table = subtable;
+ UpdateTable();
+}
+
+void ADXL345_I2C::UpdateTable() {
+ m_table->PutNumber("X", GetX());
+ m_table->PutNumber("Y", GetY());
+ m_table->PutNumber("Z", GetZ());
+}
+
+std::shared_ptr<ITable> ADXL345_I2C::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/ADXL345_SPI.cpp b/wpilibc/athena/src/ADXL345_SPI.cpp
new file mode 100644
index 0000000..3fefa9f
--- /dev/null
+++ b/wpilibc/athena/src/ADXL345_SPI.cpp
@@ -0,0 +1,127 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_SPI.h"
+
+#include "DigitalInput.h"
+#include "DigitalOutput.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+const int ADXL345_SPI::kPowerCtlRegister;
+const int ADXL345_SPI::kDataFormatRegister;
+const int ADXL345_SPI::kDataRegister;
+constexpr double ADXL345_SPI::kGsPerLSB;
+
+/**
+ * Constructor.
+ *
+ * @param port The SPI port the accelerometer is attached to
+ * @param range The range (+ or -) that the accelerometer will measure
+ */
+ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
+ : m_spi(port) {
+ m_spi.SetClockRate(500000);
+ m_spi.SetMSBFirst();
+ m_spi.SetSampleDataOnFalling();
+ m_spi.SetClockActiveLow();
+ m_spi.SetChipSelectActiveHigh();
+
+ uint8_t commands[2];
+ // Turn on the measurements
+ commands[0] = kPowerCtlRegister;
+ commands[1] = kPowerCtl_Measure;
+ m_spi.Transaction(commands, commands, 2);
+
+ SetRange(range);
+
+ HAL_Report(HALUsageReporting::kResourceType_ADXL345,
+ HALUsageReporting::kADXL345_SPI);
+
+ LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
+}
+
+void ADXL345_SPI::SetRange(Range range) {
+ uint8_t commands[2];
+
+ // Specify the data format to read
+ commands[0] = kDataFormatRegister;
+ commands[1] = kDataFormat_FullRes | static_cast<uint8_t>(range & 0x03);
+ m_spi.Transaction(commands, commands, 2);
+}
+
+double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
+
+double ADXL345_SPI::GetY() { return GetAcceleration(kAxis_Y); }
+
+double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); }
+
+/**
+ * Get the acceleration of one axis in Gs.
+ *
+ * @param axis The axis to read from.
+ * @return Acceleration of the ADXL345 in Gs.
+ */
+double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
+ uint8_t buffer[3];
+ uint8_t command[3] = {0, 0, 0};
+ command[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister) +
+ static_cast<uint8_t>(axis);
+ m_spi.Transaction(command, buffer, 3);
+
+ // Sensor is little endian... swap bytes
+ int16_t rawAccel = buffer[2] << 8 | buffer[1];
+ return rawAccel * kGsPerLSB;
+}
+
+/**
+ * Get the acceleration of all axes in Gs.
+ *
+ * @return An object containing the acceleration measured on each axis of the
+ * ADXL345 in Gs.
+ */
+ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
+ AllAxes data = AllAxes();
+ uint8_t dataBuffer[7] = {0, 0, 0, 0, 0, 0, 0};
+ int16_t rawData[3];
+
+ // Select the data address.
+ dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
+ m_spi.Transaction(dataBuffer, dataBuffer, 7);
+
+ for (int i = 0; i < 3; i++) {
+ // Sensor is little endian... swap bytes
+ rawData[i] = dataBuffer[i * 2 + 2] << 8 | dataBuffer[i * 2 + 1];
+ }
+
+ data.XAxis = rawData[0] * kGsPerLSB;
+ data.YAxis = rawData[1] * kGsPerLSB;
+ data.ZAxis = rawData[2] * kGsPerLSB;
+
+ return data;
+}
+
+std::string ADXL345_SPI::GetSmartDashboardType() const {
+ return "3AxisAccelerometer";
+}
+
+void ADXL345_SPI::InitTable(std::shared_ptr<ITable> subtable) {
+ m_table = subtable;
+ UpdateTable();
+}
+
+void ADXL345_SPI::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("X", GetX());
+ m_table->PutNumber("Y", GetY());
+ m_table->PutNumber("Z", GetZ());
+ }
+}
+
+std::shared_ptr<ITable> ADXL345_SPI::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/ADXL362.cpp b/wpilibc/athena/src/ADXL362.cpp
new file mode 100644
index 0000000..4a4d0c8
--- /dev/null
+++ b/wpilibc/athena/src/ADXL362.cpp
@@ -0,0 +1,182 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL362.h"
+
+#include "DigitalInput.h"
+#include "DigitalOutput.h"
+#include "DriverStation.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+static int kRegWrite = 0x0A;
+static int kRegRead = 0x0B;
+
+static int kPartIdRegister = 0x02;
+static int kDataRegister = 0x0E;
+static int kFilterCtlRegister = 0x2C;
+static int kPowerCtlRegister = 0x2D;
+
+// static int kFilterCtl_Range2G = 0x00;
+// static int kFilterCtl_Range4G = 0x40;
+// static int kFilterCtl_Range8G = 0x80;
+static int kFilterCtl_ODR_100Hz = 0x03;
+
+static int kPowerCtl_UltraLowNoise = 0x20;
+// static int kPowerCtl_AutoSleep = 0x04;
+static int kPowerCtl_Measure = 0x02;
+
+/**
+ * Constructor. Uses the onboard CS1.
+ *
+ * @param range The range (+ or -) that the accelerometer will measure.
+ */
+ADXL362::ADXL362(Range range) : ADXL362(SPI::Port::kOnboardCS1, range) {}
+
+/**
+ * Constructor.
+ *
+ * @param port The SPI port the accelerometer is attached to
+ * @param range The range (+ or -) that the accelerometer will measure.
+ */
+ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {
+ m_spi.SetClockRate(3000000);
+ m_spi.SetMSBFirst();
+ m_spi.SetSampleDataOnFalling();
+ m_spi.SetClockActiveLow();
+ m_spi.SetChipSelectActiveLow();
+
+ // Validate the part ID
+ uint8_t commands[3];
+ commands[0] = kRegRead;
+ commands[1] = kPartIdRegister;
+ commands[2] = 0;
+ m_spi.Transaction(commands, commands, 3);
+ if (commands[2] != 0xF2) {
+ DriverStation::ReportError("could not find ADXL362");
+ m_gsPerLSB = 0.0;
+ return;
+ }
+
+ SetRange(range);
+
+ // Turn on the measurements
+ commands[0] = kRegWrite;
+ commands[1] = kPowerCtlRegister;
+ commands[2] = kPowerCtl_Measure | kPowerCtl_UltraLowNoise;
+ m_spi.Write(commands, 3);
+
+ HAL_Report(HALUsageReporting::kResourceType_ADXL362, port);
+
+ LiveWindow::GetInstance()->AddSensor("ADXL362", port, this);
+}
+
+void ADXL362::SetRange(Range range) {
+ if (m_gsPerLSB == 0.0) return;
+
+ uint8_t commands[3];
+
+ switch (range) {
+ case kRange_2G:
+ m_gsPerLSB = 0.001;
+ break;
+ case kRange_4G:
+ m_gsPerLSB = 0.002;
+ break;
+ case kRange_8G:
+ case kRange_16G: // 16G not supported; treat as 8G
+ m_gsPerLSB = 0.004;
+ break;
+ }
+
+ // Specify the data format to read
+ commands[0] = kRegWrite;
+ commands[1] = kFilterCtlRegister;
+ commands[2] =
+ kFilterCtl_ODR_100Hz | static_cast<uint8_t>((range & 0x03) << 6);
+ m_spi.Write(commands, 3);
+}
+
+double ADXL362::GetX() { return GetAcceleration(kAxis_X); }
+
+double ADXL362::GetY() { return GetAcceleration(kAxis_Y); }
+
+double ADXL362::GetZ() { return GetAcceleration(kAxis_Z); }
+
+/**
+ * Get the acceleration of one axis in Gs.
+ *
+ * @param axis The axis to read from.
+ * @return Acceleration of the ADXL362 in Gs.
+ */
+double ADXL362::GetAcceleration(ADXL362::Axes axis) {
+ if (m_gsPerLSB == 0.0) return 0.0;
+
+ uint8_t buffer[4];
+ uint8_t command[4] = {0, 0, 0, 0};
+ command[0] = kRegRead;
+ command[1] = kDataRegister + static_cast<uint8_t>(axis);
+ m_spi.Transaction(command, buffer, 4);
+
+ // Sensor is little endian... swap bytes
+ int16_t rawAccel = buffer[3] << 8 | buffer[2];
+ return rawAccel * m_gsPerLSB;
+}
+
+/**
+ * Get the acceleration of all axes in Gs.
+ *
+ * @return An object containing the acceleration measured on each axis of the
+ * ADXL362 in Gs.
+ */
+ADXL362::AllAxes ADXL362::GetAccelerations() {
+ AllAxes data = AllAxes();
+ if (m_gsPerLSB == 0.0) {
+ data.XAxis = data.YAxis = data.ZAxis = 0.0;
+ return data;
+ }
+
+ uint8_t dataBuffer[8] = {0, 0, 0, 0, 0, 0, 0, 0};
+ int16_t rawData[3];
+
+ // Select the data address.
+ dataBuffer[0] = kRegRead;
+ dataBuffer[1] = kDataRegister;
+ m_spi.Transaction(dataBuffer, dataBuffer, 8);
+
+ for (int i = 0; i < 3; i++) {
+ // Sensor is little endian... swap bytes
+ rawData[i] = dataBuffer[i * 2 + 3] << 8 | dataBuffer[i * 2 + 2];
+ }
+
+ data.XAxis = rawData[0] * m_gsPerLSB;
+ data.YAxis = rawData[1] * m_gsPerLSB;
+ data.ZAxis = rawData[2] * m_gsPerLSB;
+
+ return data;
+}
+
+std::string ADXL362::GetSmartDashboardType() const {
+ return "3AxisAccelerometer";
+}
+
+void ADXL362::InitTable(std::shared_ptr<ITable> subtable) {
+ m_table = subtable;
+ UpdateTable();
+}
+
+void ADXL362::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("X", GetX());
+ m_table->PutNumber("Y", GetY());
+ m_table->PutNumber("Z", GetZ());
+ }
+}
+
+std::shared_ptr<ITable> ADXL362::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/ADXRS450_Gyro.cpp b/wpilibc/athena/src/ADXRS450_Gyro.cpp
new file mode 100644
index 0000000..fb4a62f
--- /dev/null
+++ b/wpilibc/athena/src/ADXRS450_Gyro.cpp
@@ -0,0 +1,154 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXRS450_Gyro.h"
+
+#include "DriverStation.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Timer.h"
+
+using namespace frc;
+
+static constexpr double kSamplePeriod = 0.001;
+static constexpr double kCalibrationSampleTime = 5.0;
+static constexpr double kDegreePerSecondPerLSB = 0.0125;
+
+static constexpr int kRateRegister = 0x00;
+static constexpr int kTemRegister = 0x02;
+static constexpr int kLoCSTRegister = 0x04;
+static constexpr int kHiCSTRegister = 0x06;
+static constexpr int kQuadRegister = 0x08;
+static constexpr int kFaultRegister = 0x0A;
+static constexpr int kPIDRegister = 0x0C;
+static constexpr int kSNHighRegister = 0x0E;
+static constexpr int kSNLowRegister = 0x10;
+
+/**
+ * Initialize the gyro.
+ *
+ * Calibrate the gyro by running for a number of samples and computing the
+ * center value. Then use the center value as the Accumulator center value for
+ * subsequent measurements.
+ *
+ * It's important to make sure that the robot is not moving while the centering
+ * calculations are in progress, this is typically done when the robot is first
+ * turned on while it's sitting at rest before the competition starts.
+ */
+void ADXRS450_Gyro::Calibrate() {
+ Wait(0.1);
+
+ m_spi.SetAccumulatorCenter(0);
+ m_spi.ResetAccumulator();
+
+ Wait(kCalibrationSampleTime);
+
+ m_spi.SetAccumulatorCenter(static_cast<int>(m_spi.GetAccumulatorAverage()));
+ m_spi.ResetAccumulator();
+}
+
+/**
+ * Gyro constructor on onboard CS0.
+ */
+ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
+
+/**
+ * Gyro constructor on the specified SPI port.
+ *
+ * @param port The SPI port the gyro is attached to.
+ */
+ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
+ m_spi.SetClockRate(3000000);
+ m_spi.SetMSBFirst();
+ m_spi.SetSampleDataOnRising();
+ m_spi.SetClockActiveHigh();
+ m_spi.SetChipSelectActiveLow();
+
+ // Validate the part ID
+ if ((ReadRegister(kPIDRegister) & 0xff00) != 0x5200) {
+ DriverStation::ReportError("could not find ADXRS450 gyro");
+ return;
+ }
+
+ m_spi.InitAccumulator(kSamplePeriod, 0x20000000u, 4, 0x0c00000eu, 0x04000000u,
+ 10u, 16u, true, true);
+
+ Calibrate();
+
+ HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port);
+ LiveWindow::GetInstance()->AddSensor("ADXRS450_Gyro", port, this);
+}
+
+static bool CalcParity(int v) {
+ bool parity = false;
+ while (v != 0) {
+ parity = !parity;
+ v = v & (v - 1);
+ }
+ return parity;
+}
+
+static inline int BytesToIntBE(uint8_t* buf) {
+ int result = static_cast<int>(buf[0]) << 24;
+ result |= static_cast<int>(buf[1]) << 16;
+ result |= static_cast<int>(buf[2]) << 8;
+ result |= static_cast<int>(buf[3]);
+ return result;
+}
+
+uint16_t ADXRS450_Gyro::ReadRegister(int reg) {
+ int cmd = 0x80000000 | static_cast<int>(reg) << 17;
+ if (!CalcParity(cmd)) cmd |= 1u;
+
+ // big endian
+ uint8_t buf[4] = {static_cast<uint8_t>((cmd >> 24) & 0xff),
+ static_cast<uint8_t>((cmd >> 16) & 0xff),
+ static_cast<uint8_t>((cmd >> 8) & 0xff),
+ static_cast<uint8_t>(cmd & 0xff)};
+
+ m_spi.Write(buf, 4);
+ m_spi.Read(false, buf, 4);
+ if ((buf[0] & 0xe0) == 0) return 0; // error, return 0
+ return static_cast<uint16_t>((BytesToIntBE(buf) >> 5) & 0xffff);
+}
+
+/**
+ * Reset the gyro.
+ *
+ * Resets the gyro to a heading of zero. This can be used if there is
+ * significant drift in the gyro and it needs to be recalibrated after it has
+ * been running.
+ */
+void ADXRS450_Gyro::Reset() { m_spi.ResetAccumulator(); }
+
+/**
+ * Return the actual angle in degrees that the robot is currently facing.
+ *
+ * The angle is based on the current accumulator value corrected by the
+ * oversampling rate, the gyro type and the A/D calibration values.
+ * The angle is continuous, that is it will continue from 360->361 degrees. This
+ * allows algorithms that wouldn't want to see a discontinuity in the gyro
+ * output as it sweeps from 360 to 0 on the second time around.
+ *
+ * @return the current heading of the robot in degrees. This heading is based on
+ * integration of the returned rate from the gyro.
+ */
+double ADXRS450_Gyro::GetAngle() const {
+ return m_spi.GetAccumulatorValue() * kDegreePerSecondPerLSB * kSamplePeriod;
+}
+
+/**
+ * Return the rate of rotation of the gyro
+ *
+ * The rate is based on the most recent reading of the gyro analog value
+ *
+ * @return the current rate in degrees per second
+ */
+double ADXRS450_Gyro::GetRate() const {
+ return static_cast<double>(m_spi.GetAccumulatorLastValue()) *
+ kDegreePerSecondPerLSB;
+}
diff --git a/wpilibc/athena/src/AnalogAccelerometer.cpp b/wpilibc/athena/src/AnalogAccelerometer.cpp
new file mode 100644
index 0000000..6b2e1e9
--- /dev/null
+++ b/wpilibc/athena/src/AnalogAccelerometer.cpp
@@ -0,0 +1,139 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogAccelerometer.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Common function for initializing the accelerometer.
+ */
+void AnalogAccelerometer::InitAccelerometer() {
+ HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
+ m_analogInput->GetChannel());
+ LiveWindow::GetInstance()->AddSensor("Accelerometer",
+ m_analogInput->GetChannel(), this);
+}
+
+/**
+ * Create a new instance of an accelerometer.
+ *
+ * The constructor allocates desired analog input.
+ *
+ * @param channel The channel number for the analog input the accelerometer is
+ * connected to
+ */
+AnalogAccelerometer::AnalogAccelerometer(int channel) {
+ m_analogInput = std::make_shared<AnalogInput>(channel);
+ InitAccelerometer();
+}
+
+/**
+ * Create a new instance of Accelerometer from an existing AnalogInput.
+ *
+ * Make a new instance of accelerometer given an AnalogInput. This is
+ * particularly useful if the port is going to be read as an analog channel as
+ * well as through the Accelerometer class.
+ *
+ * @param channel The existing AnalogInput object for the analog input the
+ * accelerometer is connected to
+ */
+AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
+ : m_analogInput(channel, NullDeleter<AnalogInput>()) {
+ if (channel == nullptr) {
+ wpi_setWPIError(NullParameter);
+ } else {
+ InitAccelerometer();
+ }
+}
+
+/**
+ * Create a new instance of Accelerometer from an existing AnalogInput.
+ *
+ * Make a new instance of accelerometer given an AnalogInput. This is
+ * particularly useful if the port is going to be read as an analog channel as
+ * well as through the Accelerometer class.
+ *
+ * @param channel The existing AnalogInput object for the analog input the
+ * accelerometer is connected to
+ */
+AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
+ : m_analogInput(channel) {
+ if (channel == nullptr) {
+ wpi_setWPIError(NullParameter);
+ } else {
+ InitAccelerometer();
+ }
+}
+
+/**
+ * Return the acceleration in Gs.
+ *
+ * The acceleration is returned units of Gs.
+ *
+ * @return The current acceleration of the sensor in Gs.
+ */
+double AnalogAccelerometer::GetAcceleration() const {
+ return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
+}
+
+/**
+ * Set the accelerometer sensitivity.
+ *
+ * This sets the sensitivity of the accelerometer used for calculating the
+ * acceleration. The sensitivity varies by accelerometer model. There are
+ * constants defined for various models.
+ *
+ * @param sensitivity The sensitivity of accelerometer in Volts per G.
+ */
+void AnalogAccelerometer::SetSensitivity(double sensitivity) {
+ m_voltsPerG = sensitivity;
+}
+
+/**
+ * Set the voltage that corresponds to 0 G.
+ *
+ * The zero G voltage varies by accelerometer model. There are constants defined
+ * for various models.
+ *
+ * @param zero The zero G voltage.
+ */
+void AnalogAccelerometer::SetZero(double zero) { m_zeroGVoltage = zero; }
+
+/**
+ * Get the Acceleration for the PID Source parent.
+ *
+ * @return The current acceleration in Gs.
+ */
+double AnalogAccelerometer::PIDGet() { return GetAcceleration(); }
+
+void AnalogAccelerometer::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", GetAcceleration());
+ }
+}
+
+void AnalogAccelerometer::StartLiveWindowMode() {}
+
+void AnalogAccelerometer::StopLiveWindowMode() {}
+
+std::string AnalogAccelerometer::GetSmartDashboardType() const {
+ return "Accelerometer";
+}
+
+void AnalogAccelerometer::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> AnalogAccelerometer::GetTable() const {
+ return m_table;
+}
diff --git a/wpilibc/athena/src/AnalogGyro.cpp b/wpilibc/athena/src/AnalogGyro.cpp
new file mode 100644
index 0000000..d3e2cc6
--- /dev/null
+++ b/wpilibc/athena/src/AnalogGyro.cpp
@@ -0,0 +1,284 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogGyro.h"
+#include "HAL/AnalogGyro.h"
+
+#include <climits>
+
+#include "AnalogInput.h"
+#include "HAL/Errors.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Timer.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+const int AnalogGyro::kOversampleBits;
+const int AnalogGyro::kAverageBits;
+constexpr double AnalogGyro::kSamplesPerSecond;
+constexpr double AnalogGyro::kCalibrationSampleTime;
+constexpr double AnalogGyro::kDefaultVoltsPerDegreePerSecond;
+
+/**
+ * Gyro constructor using the Analog Input channel number.
+ *
+ * @param channel The analog channel the gyro is connected to. Gyros can only
+ * be used on on-board Analog Inputs 0-1.
+ */
+AnalogGyro::AnalogGyro(int channel)
+ : AnalogGyro(std::make_shared<AnalogInput>(channel)) {}
+
+/**
+ * Gyro constructor with a precreated AnalogInput object.
+ *
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this
+ * constructor.
+ *
+ * Gyros can only be used on on-board channels 0-1.
+ *
+ * @param channel A pointer to the AnalogInput object that the gyro is
+ * connected to.
+ */
+AnalogGyro::AnalogGyro(AnalogInput* channel)
+ : AnalogGyro(
+ std::shared_ptr<AnalogInput>(channel, NullDeleter<AnalogInput>())) {}
+
+/**
+ * Gyro constructor with a precreated AnalogInput object.
+ *
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this
+ * constructor.
+ *
+ * @param channel A pointer to the AnalogInput object that the gyro is
+ * connected to.
+ */
+AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
+ : m_analog(channel) {
+ if (channel == nullptr) {
+ wpi_setWPIError(NullParameter);
+ } else {
+ InitGyro();
+ Calibrate();
+ }
+}
+
+/**
+ * Gyro constructor using the Analog Input channel number with parameters for
+ * presetting the center and offset values. Bypasses calibration.
+ *
+ * @param channel The analog channel the gyro is connected to. Gyros can only
+ * be used on on-board Analog Inputs 0-1.
+ * @param center Preset uncalibrated value to use as the accumulator center
+ * value.
+ * @param offset Preset uncalibrated value to use as the gyro offset.
+ */
+AnalogGyro::AnalogGyro(int channel, int center, double offset) {
+ m_analog = std::make_shared<AnalogInput>(channel);
+ InitGyro();
+ int32_t status = 0;
+ HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
+ offset, center, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+ Reset();
+}
+
+/**
+ * Gyro constructor with a precreated AnalogInput object and calibrated
+ * parameters.
+ *
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this
+ * constructor.
+ *
+ * @param channel A pointer to the AnalogInput object that the gyro is
+ * connected to.
+ */
+AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
+ double offset)
+ : m_analog(channel) {
+ if (channel == nullptr) {
+ wpi_setWPIError(NullParameter);
+ } else {
+ InitGyro();
+ int32_t status = 0;
+ HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
+ offset, center, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+ Reset();
+ }
+}
+
+/**
+ * AnalogGyro Destructor
+ *
+ */
+AnalogGyro::~AnalogGyro() { HAL_FreeAnalogGyro(m_gyroHandle); }
+
+/**
+ * Reset the gyro.
+ *
+ * Resets the gyro to a heading of zero. This can be used if there is
+ * significant drift in the gyro and it needs to be recalibrated after it has
+ * been running.
+ */
+void AnalogGyro::Reset() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_ResetAnalogGyro(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Initialize the gyro. Calibration is handled by Calibrate().
+ */
+void AnalogGyro::InitGyro() {
+ if (StatusIsFatal()) return;
+ if (m_gyroHandle == HAL_kInvalidHandle) {
+ int32_t status = 0;
+ m_gyroHandle = HAL_InitializeAnalogGyro(m_analog->m_port, &status);
+ if (status == PARAMETER_OUT_OF_RANGE) {
+ wpi_setWPIErrorWithContext(ParameterOutOfRange,
+ " channel (must be accumulator channel)");
+ m_analog = nullptr;
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_analog = nullptr;
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+ }
+
+ int32_t status = 0;
+ HAL_SetupAnalogGyro(m_gyroHandle, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_analog = nullptr;
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+
+ HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
+ LiveWindow::GetInstance()->AddSensor("AnalogGyro", m_analog->GetChannel(),
+ this);
+}
+
+void AnalogGyro::Calibrate() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_CalibrateAnalogGyro(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Return the actual angle in degrees that the robot is currently facing.
+ *
+ * The angle is based on the current accumulator value corrected by the
+ * oversampling rate, the gyro type and the A/D calibration values.
+ * The angle is continuous, that is it will continue from 360->361 degrees. This
+ * allows algorithms that wouldn't want to see a discontinuity in the gyro
+ * output as it sweeps from 360 to 0 on the second time around.
+ *
+ * @return the current heading of the robot in degrees. This heading is based on
+ * integration of the returned rate from the gyro.
+ */
+double AnalogGyro::GetAngle() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Return the rate of rotation of the gyro
+ *
+ * The rate is based on the most recent reading of the gyro analog value
+ *
+ * @return the current rate in degrees per second
+ */
+double AnalogGyro::GetRate() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Return the gyro offset value. If run after calibration,
+ * the offset value can be used as a preset later.
+ *
+ * @return the current offset value
+ */
+double AnalogGyro::GetOffset() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Return the gyro center value. If run after calibration,
+ * the center value can be used as a preset later.
+ *
+ * @return the current center value
+ */
+int AnalogGyro::GetCenter() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Set the gyro sensitivity.
+ *
+ * This takes the number of volts/degree/second sensitivity of the gyro and uses
+ * it in subsequent calculations to allow the code to work with multiple gyros.
+ * This value is typically found in the gyro datasheet.
+ *
+ * @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
+ */
+void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) {
+ int32_t status = 0;
+ HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
+ voltsPerDegreePerSecond, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the size of the neutral zone.
+ *
+ * Any voltage from the gyro less than this amount from the center is
+ * considered stationary. Setting a deadband will decrease the amount of drift
+ * when the gyro isn't rotating, but will make it less accurate.
+ *
+ * @param volts The size of the deadband in volts
+ */
+void AnalogGyro::SetDeadband(double volts) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
diff --git a/wpilibc/athena/src/AnalogInput.cpp b/wpilibc/athena/src/AnalogInput.cpp
new file mode 100644
index 0000000..d370c3a
--- /dev/null
+++ b/wpilibc/athena/src/AnalogInput.cpp
@@ -0,0 +1,438 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogInput.h"
+#include "HAL/AnalogInput.h"
+
+#include <sstream>
+
+#include "HAL/AnalogAccumulator.h"
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Timer.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+const int AnalogInput::kAccumulatorModuleNumber;
+const int AnalogInput::kAccumulatorNumChannels;
+const int AnalogInput::kAccumulatorChannels[] = {0, 1};
+
+/**
+ * Construct an analog input.
+ *
+ * @param channel The channel number on the roboRIO to represent. 0-3 are
+ * on-board 4-7 are on the MXP port.
+ */
+AnalogInput::AnalogInput(int channel) {
+ std::stringstream buf;
+ buf << "Analog Input " << channel;
+
+ if (!SensorBase::CheckAnalogInputChannel(channel)) {
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+
+ m_channel = channel;
+
+ HAL_PortHandle port = HAL_GetPort(channel);
+ int32_t status = 0;
+ m_port = HAL_InitializeAnalogInputPort(port, &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumAnalogInputs(), channel,
+ HAL_GetErrorMessage(status));
+ m_channel = std::numeric_limits<int>::max();
+ m_port = HAL_kInvalidHandle;
+ return;
+ }
+
+ LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this);
+ HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel);
+}
+
+/**
+ * Channel destructor.
+ */
+AnalogInput::~AnalogInput() {
+ HAL_FreeAnalogInputPort(m_port);
+ m_port = HAL_kInvalidHandle;
+}
+
+/**
+ * Get a sample straight from this channel.
+ *
+ * The sample is a 12-bit value representing the 0V to 5V range of the A/D
+ * converter in the module. The units are in A/D converter codes. Use
+ * GetVoltage() to get the analog value in calibrated units.
+ *
+ * @return A sample straight from this channel.
+ */
+int AnalogInput::GetValue() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int value = HAL_GetAnalogValue(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Get a sample from the output of the oversample and average engine for this
+ * channel.
+ *
+ * The sample is 12-bit + the bits configured in SetOversampleBits().
+ * The value configured in SetAverageBits() will cause this value to be averaged
+ * 2**bits number of samples.
+ * This is not a sliding window. The sample will not change until
+ * 2**(OversampleBits + AverageBits) samples
+ * have been acquired from the module on this channel.
+ * Use GetAverageVoltage() to get the analog value in calibrated units.
+ *
+ * @return A sample from the oversample and average engine for this channel.
+ */
+int AnalogInput::GetAverageValue() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int value = HAL_GetAnalogAverageValue(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Get a scaled sample straight from this channel.
+ *
+ * The value is scaled to units of Volts using the calibrated scaling data from
+ * GetLSBWeight() and GetOffset().
+ *
+ * @return A scaled sample straight from this channel.
+ */
+double AnalogInput::GetVoltage() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double voltage = HAL_GetAnalogVoltage(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return voltage;
+}
+
+/**
+ * Get a scaled sample from the output of the oversample and average engine for
+ * this channel.
+ *
+ * The value is scaled to units of Volts using the calibrated scaling data from
+ * GetLSBWeight() and GetOffset().
+ * Using oversampling will cause this value to be higher resolution, but it will
+ * update more slowly.
+ * Using averaging will cause this value to be more stable, but it will update
+ * more slowly.
+ *
+ * @return A scaled sample from the output of the oversample and average engine
+ * for this channel.
+ */
+double AnalogInput::GetAverageVoltage() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double voltage = HAL_GetAnalogAverageVoltage(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return voltage;
+}
+
+/**
+ * Get the factory scaling least significant bit weight constant.
+ *
+ * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
+ *
+ * @return Least significant bit weight.
+ */
+int AnalogInput::GetLSBWeight() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return lsbWeight;
+}
+
+/**
+ * Get the factory scaling offset constant.
+ *
+ * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
+ *
+ * @return Offset constant.
+ */
+int AnalogInput::GetOffset() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int offset = HAL_GetAnalogOffset(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return offset;
+}
+
+/**
+ * Get the channel number.
+ *
+ * @return The channel number.
+ */
+int AnalogInput::GetChannel() const {
+ if (StatusIsFatal()) return 0;
+ return m_channel;
+}
+
+/**
+ * Set the number of averaging bits.
+ *
+ * This sets the number of averaging bits. The actual number of averaged samples
+ * is 2^bits.
+ * Use averaging to improve the stability of your measurement at the expense of
+ * sampling rate.
+ * The averaging is done automatically in the FPGA.
+ *
+ * @param bits Number of bits of averaging.
+ */
+void AnalogInput::SetAverageBits(int bits) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogAverageBits(m_port, bits, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the number of averaging bits previously configured.
+ *
+ * This gets the number of averaging bits from the FPGA. The actual number of
+ * averaged samples is 2^bits. The averaging is done automatically in the FPGA.
+ *
+ * @return Number of bits of averaging previously configured.
+ */
+int AnalogInput::GetAverageBits() const {
+ int32_t status = 0;
+ int averageBits = HAL_GetAnalogAverageBits(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return averageBits;
+}
+
+/**
+ * Set the number of oversample bits.
+ *
+ * This sets the number of oversample bits. The actual number of oversampled
+ * values is 2^bits. Use oversampling to improve the resolution of your
+ * measurements at the expense of sampling rate. The oversampling is done
+ * automatically in the FPGA.
+ *
+ * @param bits Number of bits of oversampling.
+ */
+void AnalogInput::SetOversampleBits(int bits) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogOversampleBits(m_port, bits, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the number of oversample bits previously configured.
+ *
+ * This gets the number of oversample bits from the FPGA. The actual number of
+ * oversampled values is 2^bits. The oversampling is done automatically in the
+ * FPGA.
+ *
+ * @return Number of bits of oversampling previously configured.
+ */
+int AnalogInput::GetOversampleBits() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int oversampleBits = HAL_GetAnalogOversampleBits(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return oversampleBits;
+}
+
+/**
+ * Is the channel attached to an accumulator.
+ *
+ * @return The analog input is attached to an accumulator.
+ */
+bool AnalogInput::IsAccumulatorChannel() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool isAccum = HAL_IsAccumulatorChannel(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return isAccum;
+}
+
+/**
+ * Initialize the accumulator.
+ */
+void AnalogInput::InitAccumulator() {
+ if (StatusIsFatal()) return;
+ m_accumulatorOffset = 0;
+ int32_t status = 0;
+ HAL_InitAccumulator(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set an initial value for the accumulator.
+ *
+ * This will be added to all values returned to the user.
+ *
+ * @param initialValue The value that the accumulator should start from when
+ * reset.
+ */
+void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) {
+ if (StatusIsFatal()) return;
+ m_accumulatorOffset = initialValue;
+}
+
+/**
+ * Resets the accumulator to the initial value.
+ */
+void AnalogInput::ResetAccumulator() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_ResetAccumulator(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ if (!StatusIsFatal()) {
+ // Wait until the next sample, so the next call to GetAccumulator*()
+ // won't have old values.
+ const double sampleTime = 1.0 / GetSampleRate();
+ const double overSamples = 1 << GetOversampleBits();
+ const double averageSamples = 1 << GetAverageBits();
+ Wait(sampleTime * overSamples * averageSamples);
+ }
+}
+
+/**
+ * Set the center value of the accumulator.
+ *
+ * The center value is subtracted from each A/D value before it is added to the
+ * accumulator. This is used for the center value of devices like gyros and
+ * accelerometers to take the device offset into account when integrating.
+ *
+ * This center value is based on the output of the oversampled and averaged
+ * source from the accumulator channel. Because of this, any non-zero
+ * oversample bits will affect the size of the value for this field.
+ */
+void AnalogInput::SetAccumulatorCenter(int center) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAccumulatorCenter(m_port, center, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the accumulator's deadband.
+ */
+void AnalogInput::SetAccumulatorDeadband(int deadband) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAccumulatorDeadband(m_port, deadband, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Read the accumulated value.
+ *
+ * Read the value that has been accumulating.
+ * The accumulator is attached after the oversample and average engine.
+ *
+ * @return The 64-bit value accumulated since the last Reset().
+ */
+int64_t AnalogInput::GetAccumulatorValue() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int64_t value = HAL_GetAccumulatorValue(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value + m_accumulatorOffset;
+}
+
+/**
+ * Read the number of accumulated values.
+ *
+ * Read the count of the accumulated values since the accumulator was last
+ * Reset().
+ *
+ * @return The number of times samples from the channel were accumulated.
+ */
+int64_t AnalogInput::GetAccumulatorCount() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int64_t count = HAL_GetAccumulatorCount(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return count;
+}
+
+/**
+ * Read the accumulated value and the number of accumulated values atomically.
+ *
+ * This function reads the value and count from the FPGA atomically.
+ * This can be used for averaging.
+ *
+ * @param value Reference to the 64-bit accumulated output.
+ * @param count Reference to the number of accumulation cycles.
+ */
+void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_GetAccumulatorOutput(m_port, &value, &count, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ value += m_accumulatorOffset;
+}
+
+/**
+ * Set the sample rate per channel for all analog channels.
+ *
+ * The maximum rate is 500kS/s divided by the number of channels in use.
+ * This is 62500 samples/s per channel.
+ *
+ * @param samplesPerSecond The number of samples per second.
+ */
+void AnalogInput::SetSampleRate(double samplesPerSecond) {
+ int32_t status = 0;
+ HAL_SetAnalogSampleRate(samplesPerSecond, &status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the current sample rate for all channels
+ *
+ * @return Sample rate.
+ */
+double AnalogInput::GetSampleRate() {
+ int32_t status = 0;
+ double sampleRate = HAL_GetAnalogSampleRate(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return sampleRate;
+}
+
+/**
+ * Get the Average value for the PID Source base object.
+ *
+ * @return The average voltage.
+ */
+double AnalogInput::PIDGet() {
+ if (StatusIsFatal()) return 0.0;
+ return GetAverageVoltage();
+}
+
+void AnalogInput::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", GetAverageVoltage());
+ }
+}
+
+void AnalogInput::StartLiveWindowMode() {}
+
+void AnalogInput::StopLiveWindowMode() {}
+
+std::string AnalogInput::GetSmartDashboardType() const {
+ return "Analog Input";
+}
+
+void AnalogInput::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> AnalogInput::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/AnalogOutput.cpp b/wpilibc/athena/src/AnalogOutput.cpp
new file mode 100644
index 0000000..3905ae1
--- /dev/null
+++ b/wpilibc/athena/src/AnalogOutput.cpp
@@ -0,0 +1,112 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogOutput.h"
+
+#include <limits>
+#include <sstream>
+
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Construct an analog output on the given channel.
+ *
+ * All analog outputs are located on the MXP port.
+ *
+ * @param channel The channel number on the roboRIO to represent.
+ */
+AnalogOutput::AnalogOutput(int channel) {
+ std::stringstream buf;
+ buf << "analog input " << channel;
+
+ if (!SensorBase::CheckAnalogOutputChannel(channel)) {
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ m_channel = std::numeric_limits<int>::max();
+ m_port = HAL_kInvalidHandle;
+ return;
+ }
+
+ m_channel = channel;
+
+ HAL_PortHandle port = HAL_GetPort(m_channel);
+ int32_t status = 0;
+ m_port = HAL_InitializeAnalogOutputPort(port, &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumAnalogOutputs(), channel,
+ HAL_GetErrorMessage(status));
+ m_channel = std::numeric_limits<int>::max();
+ m_port = HAL_kInvalidHandle;
+ return;
+ }
+
+ LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
+ HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
+}
+
+/**
+ * Destructor.
+ *
+ * Frees analog output resource.
+ */
+AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); }
+
+/**
+ * Get the channel of this AnalogOutput.
+ */
+int AnalogOutput::GetChannel() { return m_channel; }
+
+/**
+ * Set the value of the analog output.
+ *
+ * @param voltage The output value in Volts, from 0.0 to +5.0
+ */
+void AnalogOutput::SetVoltage(double voltage) {
+ int32_t status = 0;
+ HAL_SetAnalogOutput(m_port, voltage, &status);
+
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the voltage of the analog output
+ *
+ * @return The value in Volts, from 0.0 to +5.0
+ */
+double AnalogOutput::GetVoltage() const {
+ int32_t status = 0;
+ double voltage = HAL_GetAnalogOutput(m_port, &status);
+
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ return voltage;
+}
+
+void AnalogOutput::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", GetVoltage());
+ }
+}
+
+void AnalogOutput::StartLiveWindowMode() {}
+
+void AnalogOutput::StopLiveWindowMode() {}
+
+std::string AnalogOutput::GetSmartDashboardType() const {
+ return "Analog Output";
+}
+
+void AnalogOutput::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> AnalogOutput::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/AnalogPotentiometer.cpp b/wpilibc/athena/src/AnalogPotentiometer.cpp
new file mode 100644
index 0000000..7afc247
--- /dev/null
+++ b/wpilibc/athena/src/AnalogPotentiometer.cpp
@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogPotentiometer.h"
+
+#include "ControllerPower.h"
+
+using namespace frc;
+
+/**
+ * Construct an Analog Potentiometer object from a channel number.
+ *
+ * @param channel The channel number on the roboRIO to represent. 0-3 are
+ * on-board 4-7 are on the MXP port.
+ * @param fullRange The angular value (in desired units) representing the full
+ * 0-5V range of the input.
+ * @param offset The angular value (in desired units) representing the
+ * angular output at 0V.
+ */
+AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
+ double offset)
+ : m_analog_input(std::make_unique<AnalogInput>(channel)),
+ m_fullRange(fullRange),
+ m_offset(offset) {}
+
+/**
+ * Construct an Analog Potentiometer object from an existing Analog Input
+ * pointer.
+ *
+ * @param channel The existing Analog Input pointer
+ * @param fullRange The angular value (in desired units) representing the full
+ * 0-5V range of the input.
+ * @param offset The angular value (in desired units) representing the
+ * angular output at 0V.
+ */
+AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
+ double offset)
+ : m_analog_input(input, NullDeleter<AnalogInput>()),
+ m_fullRange(fullRange),
+ m_offset(offset) {}
+
+/**
+ * Construct an Analog Potentiometer object from an existing Analog Input
+ * pointer.
+ *
+ * @param channel The existing Analog Input pointer
+ * @param fullRange The angular value (in desired units) representing the full
+ * 0-5V range of the input.
+ * @param offset The angular value (in desired units) representing the
+ * angular output at 0V.
+ */
+AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
+ double fullRange, double offset)
+ : m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {}
+
+/**
+ * Get the current reading of the potentiometer.
+ *
+ * @return The current position of the potentiometer (in the units used for
+ * fullRange and offset).
+ */
+double AnalogPotentiometer::Get() const {
+ return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) *
+ m_fullRange +
+ m_offset;
+}
+
+/**
+ * Implement the PIDSource interface.
+ *
+ * @return The current reading.
+ */
+double AnalogPotentiometer::PIDGet() { return Get(); }
+
+/**
+ * @return the Smart Dashboard Type
+ */
+std::string AnalogPotentiometer::GetSmartDashboardType() const {
+ return "Analog Input";
+}
+
+/**
+ * Live Window code, only does anything if live window is activated.
+ */
+void AnalogPotentiometer::InitTable(std::shared_ptr<ITable> subtable) {
+ m_table = subtable;
+ UpdateTable();
+}
+
+void AnalogPotentiometer::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", Get());
+ }
+}
+
+std::shared_ptr<ITable> AnalogPotentiometer::GetTable() const {
+ return m_table;
+}
diff --git a/wpilibc/athena/src/AnalogTrigger.cpp b/wpilibc/athena/src/AnalogTrigger.cpp
new file mode 100644
index 0000000..220c897
--- /dev/null
+++ b/wpilibc/athena/src/AnalogTrigger.cpp
@@ -0,0 +1,185 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogTrigger.h"
+
+#include <memory>
+
+#include "AnalogInput.h"
+#include "HAL/HAL.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Constructor for an analog trigger given a channel number.
+ *
+ * @param channel The channel number on the roboRIO to represent. 0-3 are
+ * on-board 4-7 are on the MXP port.
+ */
+AnalogTrigger::AnalogTrigger(int channel)
+ : AnalogTrigger(new AnalogInput(channel)) {
+ m_ownsAnalog = true;
+}
+
+/**
+ * Construct an analog trigger given an analog input.
+ *
+ * This should be used in the case of sharing an analog channel between the
+ * trigger and an analog input object.
+ *
+ * @param channel The pointer to the existing AnalogInput object
+ */
+AnalogTrigger::AnalogTrigger(AnalogInput* input) {
+ m_analogInput = input;
+ int32_t status = 0;
+ int index = 0;
+ m_trigger = HAL_InitializeAnalogTrigger(input->m_port, &index, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_index = std::numeric_limits<int>::max();
+ m_trigger = HAL_kInvalidHandle;
+ return;
+ }
+ m_index = index;
+
+ HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, input->m_channel);
+}
+
+AnalogTrigger::~AnalogTrigger() {
+ int32_t status = 0;
+ HAL_CleanAnalogTrigger(m_trigger, &status);
+
+ if (m_ownsAnalog && m_analogInput != nullptr) {
+ delete m_analogInput;
+ }
+}
+
+/**
+ * Set the upper and lower limits of the analog trigger.
+ *
+ * The limits are given in ADC codes. If oversampling is used, the units must
+ * be scaled appropriately.
+ *
+ * @param lower The lower limit of the trigger in ADC codes (12-bit values).
+ * @param upper The upper limit of the trigger in ADC codes (12-bit values).
+ */
+void AnalogTrigger::SetLimitsRaw(int lower, int upper) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the upper and lower limits of the analog trigger.
+ *
+ * The limits are given as floating point voltage values.
+ *
+ * @param lower The lower limit of the trigger in Volts.
+ * @param upper The upper limit of the trigger in Volts.
+ */
+void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Configure the analog trigger to use the averaged vs. raw values.
+ *
+ * If the value is true, then the averaged value is selected for the analog
+ * trigger, otherwise the immediate value is used.
+ *
+ * @param useAveragedValue If true, use the Averaged value, otherwise use the
+ * instantaneous reading
+ */
+void AnalogTrigger::SetAveraged(bool useAveragedValue) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Configure the analog trigger to use a filtered value.
+ *
+ * The analog trigger will operate with a 3 point average rejection filter. This
+ * is designed to help with 360 degree pot applications for the period where
+ * the pot crosses through zero.
+ *
+ * @param useFilteredValue If true, use the 3 point rejection filter, otherwise
+ * use the unfiltered value
+ */
+void AnalogTrigger::SetFiltered(bool useFilteredValue) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Return the index of the analog trigger.
+ *
+ * This is the FPGA index of this analog trigger instance.
+ *
+ * @return The index of the analog trigger.
+ */
+int AnalogTrigger::GetIndex() const {
+ if (StatusIsFatal()) return -1;
+ return m_index;
+}
+
+/**
+ * Return the InWindow output of the analog trigger.
+ *
+ * True if the analog input is between the upper and lower limits.
+ *
+ * @return True if the analog input is between the upper and lower limits.
+ */
+bool AnalogTrigger::GetInWindow() {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return result;
+}
+
+/**
+ * Return the TriggerState output of the analog trigger.
+ *
+ * True if above upper limit.
+ * False if below lower limit.
+ * If in Hysteresis, maintain previous state.
+ *
+ * @return True if above upper limit. False if below lower limit. If in
+ * Hysteresis, maintain previous state.
+ */
+bool AnalogTrigger::GetTriggerState() {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return result;
+}
+
+/**
+ * Creates an AnalogTriggerOutput object.
+ *
+ * Gets an output object that can be used for routing.
+ * Caller is responsible for deleting the AnalogTriggerOutput object.
+ *
+ * @param type An enum of the type of output object to create.
+ * @return A pointer to a new AnalogTriggerOutput object.
+ */
+std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
+ AnalogTriggerType type) const {
+ if (StatusIsFatal()) return nullptr;
+ return std::shared_ptr<AnalogTriggerOutput>(
+ new AnalogTriggerOutput(*this, type), NullDeleter<AnalogTriggerOutput>());
+}
diff --git a/wpilibc/athena/src/AnalogTriggerOutput.cpp b/wpilibc/athena/src/AnalogTriggerOutput.cpp
new file mode 100644
index 0000000..e43f5ba
--- /dev/null
+++ b/wpilibc/athena/src/AnalogTriggerOutput.cpp
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogTriggerOutput.h"
+
+#include "AnalogTrigger.h"
+#include "HAL/HAL.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Create an object that represents one of the four outputs from an analog
+ * trigger.
+ *
+ * Because this class derives from DigitalSource, it can be passed into routing
+ * functions for Counter, Encoder, etc.
+ *
+ * @param trigger A pointer to the trigger for which this is an output.
+ * @param outputType An enum that specifies the output on the trigger to
+ * represent.
+ */
+AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
+ AnalogTriggerType outputType)
+ : m_trigger(trigger), m_outputType(outputType) {
+ HAL_Report(HALUsageReporting::kResourceType_AnalogTriggerOutput,
+ trigger.GetIndex(), static_cast<uint8_t>(outputType));
+}
+
+AnalogTriggerOutput::~AnalogTriggerOutput() {
+ if (m_interrupt != HAL_kInvalidHandle) {
+ int32_t status = 0;
+ HAL_CleanInterrupts(m_interrupt, &status);
+ // ignore status, as an invalid handle just needs to be ignored.
+ m_interrupt = HAL_kInvalidHandle;
+ }
+}
+
+/**
+ * Get the state of the analog trigger output.
+ *
+ * @return The state of the analog trigger output.
+ */
+bool AnalogTriggerOutput::Get() const {
+ int32_t status = 0;
+ bool result = HAL_GetAnalogTriggerOutput(
+ m_trigger.m_trigger, static_cast<HAL_AnalogTriggerType>(m_outputType),
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return result;
+}
+
+/**
+ * @return The HAL Handle to the specified source.
+ */
+HAL_Handle AnalogTriggerOutput::GetPortHandleForRouting() const {
+ return m_trigger.m_trigger;
+}
+
+/**
+ * Is source an AnalogTrigger
+ */
+bool AnalogTriggerOutput::IsAnalogTrigger() const { return true; }
+
+/**
+ * @return The type of analog trigger output to be used.
+ */
+AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const {
+ return m_outputType;
+}
+
+/**
+ * @return The channel of the source.
+ */
+int AnalogTriggerOutput::GetChannel() const { return m_trigger.m_index; }
diff --git a/wpilibc/athena/src/BuiltInAccelerometer.cpp b/wpilibc/athena/src/BuiltInAccelerometer.cpp
new file mode 100644
index 0000000..8b80bca
--- /dev/null
+++ b/wpilibc/athena/src/BuiltInAccelerometer.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "BuiltInAccelerometer.h"
+
+#include "HAL/Accelerometer.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Constructor.
+ *
+ * @param range The range the accelerometer will measure
+ */
+BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
+ SetRange(range);
+
+ HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
+ "Built-in accelerometer");
+ LiveWindow::GetInstance()->AddSensor((std::string) "BuiltInAccel", 0, this);
+}
+
+void BuiltInAccelerometer::SetRange(Range range) {
+ if (range == kRange_16G) {
+ wpi_setWPIErrorWithContext(
+ ParameterOutOfRange, "16G range not supported (use k2G, k4G, or k8G)");
+ }
+
+ HAL_SetAccelerometerActive(false);
+ HAL_SetAccelerometerRange((HAL_AccelerometerRange)range);
+ HAL_SetAccelerometerActive(true);
+}
+
+/**
+ * @return The acceleration of the roboRIO along the X axis in g-forces
+ */
+double BuiltInAccelerometer::GetX() { return HAL_GetAccelerometerX(); }
+
+/**
+ * @return The acceleration of the roboRIO along the Y axis in g-forces
+ */
+double BuiltInAccelerometer::GetY() { return HAL_GetAccelerometerY(); }
+
+/**
+ * @return The acceleration of the roboRIO along the Z axis in g-forces
+ */
+double BuiltInAccelerometer::GetZ() { return HAL_GetAccelerometerZ(); }
+
+std::string BuiltInAccelerometer::GetSmartDashboardType() const {
+ return "3AxisAccelerometer";
+}
+
+void BuiltInAccelerometer::InitTable(std::shared_ptr<ITable> subtable) {
+ m_table = subtable;
+ UpdateTable();
+}
+
+void BuiltInAccelerometer::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("X", GetX());
+ m_table->PutNumber("Y", GetY());
+ m_table->PutNumber("Z", GetZ());
+ }
+}
+
+std::shared_ptr<ITable> BuiltInAccelerometer::GetTable() const {
+ return m_table;
+}
diff --git a/wpilibc/athena/src/CameraServer.cpp b/wpilibc/athena/src/CameraServer.cpp
new file mode 100644
index 0000000..8492133
--- /dev/null
+++ b/wpilibc/athena/src/CameraServer.cpp
@@ -0,0 +1,712 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CameraServer.h"
+
+#include "Utility.h"
+#include "WPIErrors.h"
+#include "llvm/SmallString.h"
+#include "llvm/raw_ostream.h"
+#include "ntcore_cpp.h"
+
+using namespace frc;
+
+CameraServer* CameraServer::GetInstance() {
+ static CameraServer instance;
+ return &instance;
+}
+
+static llvm::StringRef MakeSourceValue(CS_Source source,
+ llvm::SmallVectorImpl<char>& buf) {
+ CS_Status status = 0;
+ buf.clear();
+ switch (cs::GetSourceKind(source, &status)) {
+ case cs::VideoSource::kUsb: {
+ llvm::StringRef prefix{"usb:"};
+ buf.append(prefix.begin(), prefix.end());
+ auto path = cs::GetUsbCameraPath(source, &status);
+ buf.append(path.begin(), path.end());
+ break;
+ }
+ case cs::VideoSource::kHttp: {
+ llvm::StringRef prefix{"ip:"};
+ buf.append(prefix.begin(), prefix.end());
+ auto urls = cs::GetHttpCameraUrls(source, &status);
+ if (!urls.empty()) buf.append(urls[0].begin(), urls[0].end());
+ break;
+ }
+ case cs::VideoSource::kCv:
+ // FIXME: Should be "cv:", but LabVIEW dashboard requires "usb:".
+ // https://github.com/wpilibsuite/allwpilib/issues/407
+ return "usb:";
+ default:
+ return "unknown:";
+ }
+
+ return llvm::StringRef{buf.begin(), buf.size()};
+}
+
+static std::string MakeStreamValue(llvm::StringRef address, int port) {
+ std::string rv;
+ llvm::raw_string_ostream stream(rv);
+ stream << "mjpg:http://" << address << ':' << port << "/?action=stream";
+ stream.flush();
+ return rv;
+}
+
+std::shared_ptr<ITable> CameraServer::GetSourceTable(CS_Source source) {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ return m_tables.lookup(source);
+}
+
+std::vector<std::string> CameraServer::GetSinkStreamValues(CS_Sink sink) {
+ CS_Status status = 0;
+
+ // Ignore all but MjpegServer
+ if (cs::GetSinkKind(sink, &status) != CS_SINK_MJPEG)
+ return std::vector<std::string>{};
+
+ // Get port
+ int port = cs::GetMjpegServerPort(sink, &status);
+
+ // Generate values
+ std::vector<std::string> values;
+ auto listenAddress = cs::GetMjpegServerListenAddress(sink, &status);
+ if (!listenAddress.empty()) {
+ // If a listen address is specified, only use that
+ values.emplace_back(MakeStreamValue(listenAddress, port));
+ } else {
+ // Otherwise generate for hostname and all interface addresses
+ values.emplace_back(MakeStreamValue(cs::GetHostname() + ".local", port));
+
+ for (const auto& addr : m_addresses) {
+ if (addr == "127.0.0.1") continue; // ignore localhost
+ values.emplace_back(MakeStreamValue(addr, port));
+ }
+ }
+
+ return values;
+}
+
+std::vector<std::string> CameraServer::GetSourceStreamValues(CS_Source source) {
+ CS_Status status = 0;
+
+ // Ignore all but HttpCamera
+ if (cs::GetSourceKind(source, &status) != CS_SOURCE_HTTP)
+ return std::vector<std::string>{};
+
+ // Generate values
+ auto values = cs::GetHttpCameraUrls(source, &status);
+ for (auto& value : values) value = "mjpg:" + value;
+
+ // Look to see if we have a passthrough server for this source
+ for (const auto& i : m_sinks) {
+ CS_Sink sink = i.second.GetHandle();
+ CS_Source sinkSource = cs::GetSinkSource(sink, &status);
+ if (source == sinkSource &&
+ cs::GetSinkKind(sink, &status) == CS_SINK_MJPEG) {
+ // Add USB-only passthrough
+ int port = cs::GetMjpegServerPort(sink, &status);
+ values.emplace_back(MakeStreamValue("172.22.11.2", port));
+ break;
+ }
+ }
+
+ // Set table value
+ return values;
+}
+
+void CameraServer::UpdateStreamValues() {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ // Over all the sinks...
+ for (const auto& i : m_sinks) {
+ CS_Status status = 0;
+ CS_Sink sink = i.second.GetHandle();
+
+ // Get the source's subtable (if none exists, we're done)
+ CS_Source source = cs::GetSinkSource(sink, &status);
+ if (source == 0) continue;
+ auto table = m_tables.lookup(source);
+ if (table) {
+ // Don't set stream values if this is a HttpCamera passthrough
+ if (cs::GetSourceKind(source, &status) == CS_SOURCE_HTTP) continue;
+
+ // Set table value
+ auto values = GetSinkStreamValues(sink);
+ if (!values.empty()) table->PutStringArray("streams", values);
+ }
+ }
+
+ // Over all the sources...
+ for (const auto& i : m_sources) {
+ CS_Source source = i.second.GetHandle();
+
+ // Get the source's subtable (if none exists, we're done)
+ auto table = m_tables.lookup(source);
+ if (table) {
+ // Set table value
+ auto values = GetSourceStreamValues(source);
+ if (!values.empty()) table->PutStringArray("streams", values);
+ }
+ }
+}
+
+static std::string PixelFormatToString(int pixelFormat) {
+ switch (pixelFormat) {
+ case cs::VideoMode::PixelFormat::kMJPEG:
+ return "MJPEG";
+ case cs::VideoMode::PixelFormat::kYUYV:
+ return "YUYV";
+ case cs::VideoMode::PixelFormat::kRGB565:
+ return "RGB565";
+ case cs::VideoMode::PixelFormat::kBGR:
+ return "BGR";
+ case cs::VideoMode::PixelFormat::kGray:
+ return "Gray";
+ default:
+ return "Unknown";
+ }
+}
+#if 0
+static cs::VideoMode::PixelFormat PixelFormatFromString(llvm::StringRef str) {
+ if (str == "MJPEG" || str == "mjpeg" || str == "JPEG" || str == "jpeg")
+ return cs::VideoMode::PixelFormat::kMJPEG;
+ if (str == "YUYV" || str == "yuyv") return cs::VideoMode::PixelFormat::kYUYV;
+ if (str == "RGB565" || str == "rgb565")
+ return cs::VideoMode::PixelFormat::kRGB565;
+ if (str == "BGR" || str == "bgr") return cs::VideoMode::PixelFormat::kBGR;
+ if (str == "GRAY" || str == "Gray" || str == "gray")
+ return cs::VideoMode::PixelFormat::kGray;
+ return cs::VideoMode::PixelFormat::kUnknown;
+}
+
+static cs::VideoMode VideoModeFromString(llvm::StringRef modeStr) {
+ cs::VideoMode mode;
+ size_t pos;
+
+ // width: [0-9]+
+ pos = modeStr.find_first_not_of("0123456789");
+ llvm::StringRef widthStr = modeStr.slice(0, pos);
+ modeStr = modeStr.drop_front(pos).ltrim(); // drop whitespace too
+
+ // 'x'
+ if (modeStr.empty() || modeStr[0] != 'x') return mode;
+ modeStr = modeStr.drop_front(1).ltrim(); // drop whitespace too
+
+ // height: [0-9]+
+ pos = modeStr.find_first_not_of("0123456789");
+ llvm::StringRef heightStr = modeStr.slice(0, pos);
+ modeStr = modeStr.drop_front(pos).ltrim(); // drop whitespace too
+
+ // format: all characters until whitespace
+ pos = modeStr.find_first_of(" \t\n\v\f\r");
+ llvm::StringRef formatStr = modeStr.slice(0, pos);
+ modeStr = modeStr.drop_front(pos).ltrim(); // drop whitespace too
+
+ // fps: [0-9.]+
+ pos = modeStr.find_first_not_of("0123456789.");
+ llvm::StringRef fpsStr = modeStr.slice(0, pos);
+ modeStr = modeStr.drop_front(pos).ltrim(); // drop whitespace too
+
+ // "fps"
+ if (!modeStr.startswith("fps")) return mode;
+
+ // make fps an integer string by dropping after the decimal
+ fpsStr = fpsStr.slice(0, fpsStr.find('.'));
+
+ // convert width, height, and fps to integers
+ if (widthStr.getAsInteger(10, mode.width)) return mode;
+ if (heightStr.getAsInteger(10, mode.height)) return mode;
+ if (fpsStr.getAsInteger(10, mode.fps)) return mode;
+
+ // convert format to enum value
+ mode.pixelFormat = PixelFormatFromString(formatStr);
+
+ return mode;
+}
+#endif
+static std::string VideoModeToString(const cs::VideoMode& mode) {
+ std::string rv;
+ llvm::raw_string_ostream oss{rv};
+ oss << mode.width << "x" << mode.height;
+ oss << " " << PixelFormatToString(mode.pixelFormat) << " ";
+ oss << mode.fps << " fps";
+ return oss.str();
+}
+
+static std::vector<std::string> GetSourceModeValues(int source) {
+ std::vector<std::string> rv;
+ CS_Status status = 0;
+ for (const auto& mode : cs::EnumerateSourceVideoModes(source, &status))
+ rv.emplace_back(VideoModeToString(mode));
+ return rv;
+}
+
+static inline llvm::StringRef Concatenate(llvm::StringRef lhs,
+ llvm::StringRef rhs,
+ llvm::SmallVectorImpl<char>& buf) {
+ buf.clear();
+ llvm::raw_svector_ostream oss{buf};
+ oss << lhs << rhs;
+ return oss.str();
+}
+
+static void PutSourcePropertyValue(ITable* table, const cs::VideoEvent& event,
+ bool isNew) {
+ llvm::SmallString<64> name;
+ llvm::SmallString<64> infoName;
+ if (llvm::StringRef{event.name}.startswith("raw_")) {
+ name = "RawProperty/";
+ name += event.name;
+ infoName = "RawPropertyInfo/";
+ infoName += event.name;
+ } else {
+ name = "Property/";
+ name += event.name;
+ infoName = "PropertyInfo/";
+ infoName += event.name;
+ }
+
+ llvm::SmallString<64> buf;
+ CS_Status status = 0;
+ switch (event.propertyKind) {
+ case cs::VideoProperty::kBoolean:
+ if (isNew)
+ table->SetDefaultBoolean(name, event.value != 0);
+ else
+ table->PutBoolean(name, event.value != 0);
+ break;
+ case cs::VideoProperty::kInteger:
+ case cs::VideoProperty::kEnum:
+ if (isNew) {
+ table->SetDefaultNumber(name, event.value);
+ table->PutNumber(Concatenate(infoName, "/min", buf),
+ cs::GetPropertyMin(event.propertyHandle, &status));
+ table->PutNumber(Concatenate(infoName, "/max", buf),
+ cs::GetPropertyMax(event.propertyHandle, &status));
+ table->PutNumber(Concatenate(infoName, "/step", buf),
+ cs::GetPropertyStep(event.propertyHandle, &status));
+ table->PutNumber(Concatenate(infoName, "/default", buf),
+ cs::GetPropertyDefault(event.propertyHandle, &status));
+ } else {
+ table->PutNumber(name, event.value);
+ }
+ break;
+ case cs::VideoProperty::kString:
+ if (isNew)
+ table->SetDefaultString(name, event.valueStr);
+ else
+ table->PutString(name, event.valueStr);
+ break;
+ default:
+ break;
+ }
+}
+
+CameraServer::CameraServer()
+ : m_publishTable{NetworkTable::GetTable(kPublishName)},
+ m_nextPort(kBasePort) {
+ // We publish sources to NetworkTables using the following structure:
+ // "/CameraPublisher/{Source.Name}/" - root
+ // - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
+ // - "streams" (string array): URLs that can be used to stream data
+ // - "description" (string): Description of the source
+ // - "connected" (boolean): Whether source is connected
+ // - "mode" (string): Current video mode
+ // - "modes" (string array): Available video modes
+ // - "Property/{Property}" - Property values
+ // - "PropertyInfo/{Property}" - Property supporting information
+
+ // Listener for video events
+ m_videoListener = cs::VideoListener{
+ [=](const cs::VideoEvent& event) {
+ CS_Status status = 0;
+ switch (event.kind) {
+ case cs::VideoEvent::kSourceCreated: {
+ // Create subtable for the camera
+ auto table = m_publishTable->GetSubTable(event.name);
+ {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ m_tables.insert(std::make_pair(event.sourceHandle, table));
+ }
+ llvm::SmallString<64> buf;
+ table->PutString("source",
+ MakeSourceValue(event.sourceHandle, buf));
+ llvm::SmallString<64> descBuf;
+ table->PutString(
+ "description",
+ cs::GetSourceDescription(event.sourceHandle, descBuf, &status));
+ table->PutBoolean("connected", cs::IsSourceConnected(
+ event.sourceHandle, &status));
+ table->PutStringArray("streams",
+ GetSourceStreamValues(event.sourceHandle));
+ auto mode = cs::GetSourceVideoMode(event.sourceHandle, &status);
+ table->SetDefaultString("mode", VideoModeToString(mode));
+ table->PutStringArray("modes",
+ GetSourceModeValues(event.sourceHandle));
+ break;
+ }
+ case cs::VideoEvent::kSourceDestroyed: {
+ auto table = GetSourceTable(event.sourceHandle);
+ if (table) {
+ table->PutString("source", "");
+ table->PutStringArray("streams", std::vector<std::string>{});
+ table->PutStringArray("modes", std::vector<std::string>{});
+ }
+ break;
+ }
+ case cs::VideoEvent::kSourceConnected: {
+ auto table = GetSourceTable(event.sourceHandle);
+ if (table) {
+ // update the description too (as it may have changed)
+ llvm::SmallString<64> descBuf;
+ table->PutString("description",
+ cs::GetSourceDescription(event.sourceHandle,
+ descBuf, &status));
+ table->PutBoolean("connected", true);
+ }
+ break;
+ }
+ case cs::VideoEvent::kSourceDisconnected: {
+ auto table = GetSourceTable(event.sourceHandle);
+ if (table) table->PutBoolean("connected", false);
+ break;
+ }
+ case cs::VideoEvent::kSourceVideoModesUpdated: {
+ auto table = GetSourceTable(event.sourceHandle);
+ if (table)
+ table->PutStringArray("modes",
+ GetSourceModeValues(event.sourceHandle));
+ break;
+ }
+ case cs::VideoEvent::kSourceVideoModeChanged: {
+ auto table = GetSourceTable(event.sourceHandle);
+ if (table) table->PutString("mode", VideoModeToString(event.mode));
+ break;
+ }
+ case cs::VideoEvent::kSourcePropertyCreated: {
+ auto table = GetSourceTable(event.sourceHandle);
+ if (table) PutSourcePropertyValue(table.get(), event, true);
+ break;
+ }
+ case cs::VideoEvent::kSourcePropertyValueUpdated: {
+ auto table = GetSourceTable(event.sourceHandle);
+ if (table) PutSourcePropertyValue(table.get(), event, false);
+ break;
+ }
+ case cs::VideoEvent::kSourcePropertyChoicesUpdated: {
+ auto table = GetSourceTable(event.sourceHandle);
+ if (table) {
+ llvm::SmallString<64> name{"PropertyInfo/"};
+ name += event.name;
+ name += "/choices";
+ auto choices =
+ cs::GetEnumPropertyChoices(event.propertyHandle, &status);
+ table->PutStringArray(name, choices);
+ }
+ break;
+ }
+ case cs::VideoEvent::kSinkSourceChanged:
+ case cs::VideoEvent::kSinkCreated:
+ case cs::VideoEvent::kSinkDestroyed: {
+ UpdateStreamValues();
+ break;
+ }
+ case cs::VideoEvent::kNetworkInterfacesChanged: {
+ m_addresses = cs::GetNetworkInterfaces();
+ break;
+ }
+ default:
+ break;
+ }
+ },
+ 0x4fff, true};
+
+ // Listener for NetworkTable events
+ // We don't currently support changing settings via NT due to
+ // synchronization issues, so just update to current setting if someone
+ // else tries to change it.
+ llvm::SmallString<64> buf;
+ m_tableListener = nt::AddEntryListener(
+ Concatenate(kPublishName, "/", buf),
+ [=](unsigned int uid, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, unsigned int flags) {
+ llvm::StringRef relativeKey =
+ key.substr(llvm::StringRef(kPublishName).size() + 1);
+
+ // get source (sourceName/...)
+ auto subKeyIndex = relativeKey.find('/');
+ if (subKeyIndex == llvm::StringRef::npos) return;
+ llvm::StringRef sourceName = relativeKey.slice(0, subKeyIndex);
+ auto sourceIt = m_sources.find(sourceName);
+ if (sourceIt == m_sources.end()) return;
+
+ // get subkey
+ relativeKey = relativeKey.substr(subKeyIndex + 1);
+
+ // handle standard names
+ llvm::StringRef propName;
+ if (relativeKey == "mode") {
+ // reset to current mode
+ nt::SetEntryValue(key, nt::Value::MakeString(VideoModeToString(
+ sourceIt->second.GetVideoMode())));
+ return;
+ } else if (relativeKey.startswith("Property/")) {
+ propName = relativeKey.substr(9);
+ } else if (relativeKey.startswith("RawProperty/")) {
+ propName = relativeKey.substr(12);
+ } else {
+ return; // ignore
+ }
+
+ // everything else is a property
+ auto property = sourceIt->second.GetProperty(propName);
+ switch (property.GetKind()) {
+ case cs::VideoProperty::kNone:
+ return;
+ case cs::VideoProperty::kBoolean:
+ nt::SetEntryValue(key, nt::Value::MakeBoolean(property.Get() != 0));
+ return;
+ case cs::VideoProperty::kInteger:
+ case cs::VideoProperty::kEnum:
+ nt::SetEntryValue(key, nt::Value::MakeDouble(property.Get()));
+ return;
+ case cs::VideoProperty::kString:
+ nt::SetEntryValue(key, nt::Value::MakeString(property.GetString()));
+ return;
+ default:
+ return;
+ }
+ },
+ NT_NOTIFY_IMMEDIATE | NT_NOTIFY_UPDATE);
+}
+
+cs::UsbCamera CameraServer::StartAutomaticCapture() {
+ return StartAutomaticCapture(m_defaultUsbDevice++);
+}
+
+cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
+ llvm::SmallString<64> buf;
+ llvm::raw_svector_ostream name{buf};
+ name << "USB Camera " << dev;
+
+ cs::UsbCamera camera{name.str(), dev};
+ StartAutomaticCapture(camera);
+ return camera;
+}
+
+cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
+ int dev) {
+ cs::UsbCamera camera{name, dev};
+ StartAutomaticCapture(camera);
+ return camera;
+}
+
+cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
+ llvm::StringRef path) {
+ cs::UsbCamera camera{name, path};
+ StartAutomaticCapture(camera);
+ return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef host) {
+ return AddAxisCamera("Axis Camera", host);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(const char* host) {
+ return AddAxisCamera("Axis Camera", host);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(const std::string& host) {
+ return AddAxisCamera("Axis Camera", host);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::ArrayRef<std::string> hosts) {
+ return AddAxisCamera("Axis Camera", hosts);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
+ llvm::StringRef host) {
+ cs::AxisCamera camera{name, host};
+ StartAutomaticCapture(camera);
+ return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
+ const char* host) {
+ cs::AxisCamera camera{name, host};
+ StartAutomaticCapture(camera);
+ return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
+ const std::string& host) {
+ cs::AxisCamera camera{name, host};
+ StartAutomaticCapture(camera);
+ return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
+ llvm::ArrayRef<std::string> hosts) {
+ cs::AxisCamera camera{name, hosts};
+ StartAutomaticCapture(camera);
+ return camera;
+}
+
+void CameraServer::StartAutomaticCapture(const cs::VideoSource& camera) {
+ llvm::SmallString<64> name{"serve_"};
+ name += camera.GetName();
+
+ AddCamera(camera);
+ auto server = AddServer(name);
+ server.SetSource(camera);
+}
+
+cs::CvSink CameraServer::GetVideo() {
+ cs::VideoSource source;
+ {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ if (m_primarySourceName.empty()) {
+ wpi_setWPIErrorWithContext(CameraServerError, "no camera available");
+ return cs::CvSink{};
+ }
+ auto it = m_sources.find(m_primarySourceName);
+ if (it == m_sources.end()) {
+ wpi_setWPIErrorWithContext(CameraServerError, "no camera available");
+ return cs::CvSink{};
+ }
+ source = it->second;
+ }
+ return GetVideo(std::move(source));
+}
+
+cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
+ llvm::SmallString<64> name{"opencv_"};
+ name += camera.GetName();
+
+ {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ auto it = m_sinks.find(name);
+ if (it != m_sinks.end()) {
+ auto kind = it->second.GetKind();
+ if (kind != cs::VideoSink::kCv) {
+ llvm::SmallString<64> buf;
+ llvm::raw_svector_ostream err{buf};
+ err << "expected OpenCV sink, but got " << kind;
+ wpi_setWPIErrorWithContext(CameraServerError, err.str());
+ return cs::CvSink{};
+ }
+ return *static_cast<cs::CvSink*>(&it->second);
+ }
+ }
+
+ cs::CvSink newsink{name};
+ newsink.SetSource(camera);
+ AddServer(newsink);
+ return newsink;
+}
+
+cs::CvSink CameraServer::GetVideo(llvm::StringRef name) {
+ cs::VideoSource source;
+ {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ auto it = m_sources.find(name);
+ if (it == m_sources.end()) {
+ llvm::SmallString<64> buf;
+ llvm::raw_svector_ostream err{buf};
+ err << "could not find camera " << name;
+ wpi_setWPIErrorWithContext(CameraServerError, err.str());
+ return cs::CvSink{};
+ }
+ source = it->second;
+ }
+ return GetVideo(source);
+}
+
+cs::CvSource CameraServer::PutVideo(llvm::StringRef name, int width,
+ int height) {
+ cs::CvSource source{name, cs::VideoMode::kMJPEG, width, height, 30};
+ StartAutomaticCapture(source);
+ return source;
+}
+
+cs::MjpegServer CameraServer::AddServer(llvm::StringRef name) {
+ int port;
+ {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ port = m_nextPort++;
+ }
+ return AddServer(name, port);
+}
+
+cs::MjpegServer CameraServer::AddServer(llvm::StringRef name, int port) {
+ cs::MjpegServer server{name, port};
+ AddServer(server);
+ return server;
+}
+
+void CameraServer::AddServer(const cs::VideoSink& server) {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ m_sinks.emplace_second(server.GetName(), server);
+}
+
+void CameraServer::RemoveServer(llvm::StringRef name) {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ m_sinks.erase(name);
+}
+
+cs::VideoSink CameraServer::GetServer() {
+ llvm::SmallString<64> name;
+ {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ if (m_primarySourceName.empty()) {
+ wpi_setWPIErrorWithContext(CameraServerError, "no camera available");
+ return cs::VideoSink{};
+ }
+ name = "serve_";
+ name += m_primarySourceName;
+ }
+ return GetServer(name);
+}
+
+cs::VideoSink CameraServer::GetServer(llvm::StringRef name) {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ auto it = m_sinks.find(name);
+ if (it == m_sinks.end()) {
+ llvm::SmallString<64> buf;
+ llvm::raw_svector_ostream err{buf};
+ err << "could not find server " << name;
+ wpi_setWPIErrorWithContext(CameraServerError, err.str());
+ return cs::VideoSink{};
+ }
+ return it->second;
+}
+
+void CameraServer::AddCamera(const cs::VideoSource& camera) {
+ std::string name = camera.GetName();
+ std::lock_guard<std::mutex> lock(m_mutex);
+ if (m_primarySourceName.empty()) m_primarySourceName = name;
+ m_sources.emplace_second(name, camera);
+}
+
+void CameraServer::RemoveCamera(llvm::StringRef name) {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ m_sources.erase(name);
+}
+
+void CameraServer::SetSize(int size) {
+ std::lock_guard<std::mutex> lock(m_mutex);
+ if (m_primarySourceName.empty()) return;
+ auto it = m_sources.find(m_primarySourceName);
+ if (it == m_sources.end()) return;
+ if (size == kSize160x120)
+ it->second.SetResolution(160, 120);
+ else if (size == kSize320x240)
+ it->second.SetResolution(320, 240);
+ else if (size == kSize640x480)
+ it->second.SetResolution(640, 480);
+}
diff --git a/wpilibc/athena/src/Compressor.cpp b/wpilibc/athena/src/Compressor.cpp
new file mode 100644
index 0000000..84722c7
--- /dev/null
+++ b/wpilibc/athena/src/Compressor.cpp
@@ -0,0 +1,328 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Compressor.h"
+#include "HAL/Compressor.h"
+
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "HAL/Solenoid.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Constructor.
+ *
+ * @param module The PCM ID to use (0-62)
+ */
+Compressor::Compressor(int pcmID) : m_module(pcmID) {
+ int32_t status = 0;
+ m_compressorHandle = HAL_InitializeCompressor(m_module, &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumPCMModules(), pcmID,
+ HAL_GetErrorMessage(status));
+ return;
+ }
+ SetClosedLoopControl(true);
+}
+
+/**
+ * Starts closed-loop control. Note that closed loop control is enabled by
+ * default.
+ */
+void Compressor::Start() {
+ if (StatusIsFatal()) return;
+ SetClosedLoopControl(true);
+}
+
+/**
+ * Stops closed-loop control. Note that closed loop control is enabled by
+ * default.
+ */
+void Compressor::Stop() {
+ if (StatusIsFatal()) return;
+ SetClosedLoopControl(false);
+}
+
+/**
+ * Check if compressor output is active.
+ *
+ * @return true if the compressor is on
+ */
+bool Compressor::Enabled() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value;
+
+ value = HAL_GetCompressor(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Check if the pressure switch is triggered.
+ *
+ * @return true if pressure is low
+ */
+bool Compressor::GetPressureSwitchValue() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value;
+
+ value = HAL_GetCompressorPressureSwitch(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Query how much current the compressor is drawing.
+ *
+ * @return The current through the compressor, in amps
+ */
+double Compressor::GetCompressorCurrent() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ double value;
+
+ value = HAL_GetCompressorCurrent(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Enables or disables automatically turning the compressor on when the
+ * pressure is low.
+ *
+ * @param on Set to true to enable closed loop control of the compressor. False
+ * to disable.
+ */
+void Compressor::SetClosedLoopControl(bool on) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+
+ HAL_SetCompressorClosedLoopControl(m_compressorHandle, on, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+}
+
+/**
+ * Returns true if the compressor will automatically turn on when the
+ * pressure is low.
+ *
+ * @return True if closed loop control of the compressor is enabled. False if
+ * disabled.
+ */
+bool Compressor::GetClosedLoopControl() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value;
+
+ value = HAL_GetCompressorClosedLoopControl(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Query if the compressor output has been disabled due to high current draw.
+ *
+ * @return true if PCM is in fault state : Compressor Drive is
+ * disabled due to compressor current being too high.
+ */
+bool Compressor::GetCompressorCurrentTooHighFault() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value;
+
+ value = HAL_GetCompressorCurrentTooHighFault(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Query if the compressor output has been disabled due to high current draw
+ * (sticky).
+ *
+ * A sticky fault will not clear on device reboot, it must be cleared through
+ * code or the webdash.
+ *
+ * @return true if PCM sticky fault is set : Compressor Drive is
+ * disabled due to compressor current being too high.
+ */
+bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value;
+
+ value =
+ HAL_GetCompressorCurrentTooHighStickyFault(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Query if the compressor output has been disabled due to a short circuit
+ * (sticky).
+ *
+ * A sticky fault will not clear on device reboot, it must be cleared through
+ * code or the webdash.
+ *
+ * @return true if PCM sticky fault is set : Compressor output
+ * appears to be shorted.
+ */
+bool Compressor::GetCompressorShortedStickyFault() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value;
+
+ value = HAL_GetCompressorShortedStickyFault(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Query if the compressor output has been disabled due to a short circuit.
+ *
+ * @return true if PCM is in fault state : Compressor output
+ * appears to be shorted.
+ */
+bool Compressor::GetCompressorShortedFault() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value;
+
+ value = HAL_GetCompressorShortedFault(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Query if the compressor output does not appear to be wired (sticky).
+ *
+ * A sticky fault will not clear on device reboot, it must be cleared through
+ * code or the webdash.
+ *
+ * @return true if PCM sticky fault is set : Compressor does not
+ * appear to be wired, i.e. compressor is not drawing enough current.
+ */
+bool Compressor::GetCompressorNotConnectedStickyFault() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value;
+
+ value = HAL_GetCompressorNotConnectedStickyFault(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Query if the compressor output does not appear to be wired.
+ *
+ * @return true if PCM is in fault state : Compressor does not
+ * appear to be wired, i.e. compressor is not drawing enough current.
+ */
+bool Compressor::GetCompressorNotConnectedFault() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value;
+
+ value = HAL_GetCompressorNotConnectedFault(m_compressorHandle, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Clear ALL sticky faults inside PCM that Compressor is wired to.
+ *
+ * If a sticky fault is set, then it will be persistently cleared. Compressor
+ * drive maybe momentarily disable while flags are being cleared. Care should
+ * be taken to not call this too frequently, otherwise normal compressor
+ * functionality may be prevented.
+ *
+ * If no sticky faults are set then this call will have no effect.
+ */
+void Compressor::ClearAllPCMStickyFaults() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+
+ HAL_ClearAllPCMStickyFaults(m_module, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+}
+
+void Compressor::UpdateTable() {
+ if (m_table) {
+ m_table->PutBoolean("Enabled", Enabled());
+ m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
+ }
+}
+
+void Compressor::StartLiveWindowMode() {}
+
+void Compressor::StopLiveWindowMode() {}
+
+std::string Compressor::GetSmartDashboardType() const { return "Compressor"; }
+
+void Compressor::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Compressor::GetTable() const { return m_table; }
+
+void Compressor::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (!value->IsBoolean()) return;
+ if (value->GetBoolean())
+ Start();
+ else
+ Stop();
+}
diff --git a/wpilibc/athena/src/ControllerPower.cpp b/wpilibc/athena/src/ControllerPower.cpp
new file mode 100644
index 0000000..8694781
--- /dev/null
+++ b/wpilibc/athena/src/ControllerPower.cpp
@@ -0,0 +1,190 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "ControllerPower.h"
+
+#include <stdint.h>
+
+#include "ErrorBase.h"
+#include "HAL/HAL.h"
+#include "HAL/Power.h"
+
+using namespace frc;
+
+/**
+ * Get the input voltage to the robot controller.
+ *
+ * @return The controller input voltage value in Volts
+ */
+double ControllerPower::GetInputVoltage() {
+ int32_t status = 0;
+ double retVal = HAL_GetVinVoltage(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the input current to the robot controller.
+ *
+ * @return The controller input current value in Amps
+ */
+double ControllerPower::GetInputCurrent() {
+ int32_t status = 0;
+ double retVal = HAL_GetVinCurrent(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the voltage of the 6V rail.
+ *
+ * @return The controller 6V rail voltage value in Volts
+ */
+double ControllerPower::GetVoltage6V() {
+ int32_t status = 0;
+ double retVal = HAL_GetUserVoltage6V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the current output of the 6V rail.
+ *
+ * @return The controller 6V rail output current value in Amps
+ */
+double ControllerPower::GetCurrent6V() {
+ int32_t status = 0;
+ double retVal = HAL_GetUserCurrent6V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the enabled state of the 6V rail. The rail may be disabled due to a
+ * controller brownout, a short circuit on the rail, or controller over-voltage.
+ *
+ * @return The controller 6V rail enabled value. True for enabled.
+ */
+bool ControllerPower::GetEnabled6V() {
+ int32_t status = 0;
+ bool retVal = HAL_GetUserActive6V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 6V rail since the controller
+ * has booted.
+ *
+ * @return The number of faults.
+ */
+int ControllerPower::GetFaultCount6V() {
+ int32_t status = 0;
+ int retVal = HAL_GetUserCurrentFaults6V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the voltage of the 5V rail.
+ *
+ * @return The controller 5V rail voltage value in Volts
+ */
+double ControllerPower::GetVoltage5V() {
+ int32_t status = 0;
+ double retVal = HAL_GetUserVoltage5V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the current output of the 5V rail.
+ *
+ * @return The controller 5V rail output current value in Amps
+ */
+double ControllerPower::GetCurrent5V() {
+ int32_t status = 0;
+ double retVal = HAL_GetUserCurrent5V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the enabled state of the 5V rail. The rail may be disabled due to a
+ * controller brownout, a short circuit on the rail, or controller over-voltage.
+ *
+ * @return The controller 5V rail enabled value. True for enabled.
+ */
+bool ControllerPower::GetEnabled5V() {
+ int32_t status = 0;
+ bool retVal = HAL_GetUserActive5V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 5V rail since the controller
+ * has booted.
+ *
+ * @return The number of faults
+ */
+int ControllerPower::GetFaultCount5V() {
+ int32_t status = 0;
+ int retVal = HAL_GetUserCurrentFaults5V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the voltage of the 3.3V rail.
+ *
+ * @return The controller 3.3V rail voltage value in Volts
+ */
+double ControllerPower::GetVoltage3V3() {
+ int32_t status = 0;
+ double retVal = HAL_GetUserVoltage3V3(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the current output of the 3.3V rail.
+ *
+ * @return The controller 3.3V rail output current value in Amps
+ */
+double ControllerPower::GetCurrent3V3() {
+ int32_t status = 0;
+ double retVal = HAL_GetUserCurrent3V3(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the enabled state of the 3.3V rail. The rail may be disabled due to a
+ * controller brownout, a short circuit on the rail, or controller over-voltage.
+ *
+ * @return The controller 3.3V rail enabled value. True for enabled.
+ */
+bool ControllerPower::GetEnabled3V3() {
+ int32_t status = 0;
+ bool retVal = HAL_GetUserActive3V3(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 3.3V rail since the
+ * controller has booted.
+ *
+ * @return The number of faults
+ */
+int ControllerPower::GetFaultCount3V3() {
+ int32_t status = 0;
+ int retVal = HAL_GetUserCurrentFaults3V3(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
diff --git a/wpilibc/athena/src/Counter.cpp b/wpilibc/athena/src/Counter.cpp
new file mode 100644
index 0000000..ca13452
--- /dev/null
+++ b/wpilibc/athena/src/Counter.cpp
@@ -0,0 +1,637 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Counter.h"
+
+#include "AnalogTrigger.h"
+#include "DigitalInput.h"
+#include "HAL/HAL.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Create an instance of a counter where no sources are selected.
+ *
+ * They all must be selected by calling functions to specify the upsource and
+ * the downsource independently.
+ *
+ * This creates a ChipObject counter and initializes status variables
+ * appropriately.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param mode The counter mode
+ */
+Counter::Counter(Mode mode) {
+ int32_t status = 0;
+ m_counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, &m_index, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ SetMaxPeriod(.5);
+
+ HAL_Report(HALUsageReporting::kResourceType_Counter, m_index, mode);
+}
+
+/**
+ * Create an instance of a counter from a Digital Source (such as a Digital
+ * Input).
+ *
+ * This is used if an existing digital input is to be shared by multiple other
+ * objects such as encoders or if the Digital Source is not a Digital Input
+ * channel (such as an Analog Trigger).
+ *
+ * The counter will start counting immediately.
+ * @param source A pointer to the existing DigitalSource object. It will be set
+ * as the Up Source.
+ */
+Counter::Counter(DigitalSource* source) : Counter(kTwoPulse) {
+ SetUpSource(source);
+ ClearDownSource();
+}
+
+/**
+ * Create an instance of a counter from a Digital Source (such as a Digital
+ * Input).
+ *
+ * This is used if an existing digital input is to be shared by multiple other
+ * objects such as encoders or if the Digital Source is not a Digital Input
+ * channel (such as an Analog Trigger).
+ *
+ * The counter will start counting immediately.
+ *
+ * @param source A pointer to the existing DigitalSource object. It will be
+ * set as the Up Source.
+ */
+Counter::Counter(std::shared_ptr<DigitalSource> source) : Counter(kTwoPulse) {
+ SetUpSource(source);
+ ClearDownSource();
+}
+
+/**
+ * Create an instance of a Counter object.
+ *
+ * Create an up-Counter instance given a channel.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param channel The DIO channel to use as the up source. 0-9 are on-board,
+ * 10-25 are on the MXP
+ */
+Counter::Counter(int channel) : Counter(kTwoPulse) {
+ SetUpSource(channel);
+ ClearDownSource();
+}
+
+/**
+ * Create an instance of a Counter object.
+ *
+ * Create an instance of a simple up-Counter given an analog trigger.
+ * Use the trigger state output from the analog trigger.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param trigger The pointer to the existing AnalogTrigger object.
+ */
+WPI_DEPRECATED("Use pass-by-reference instead.")
+Counter::Counter(AnalogTrigger* trigger) : Counter(kTwoPulse) {
+ SetUpSource(trigger->CreateOutput(AnalogTriggerType::kState));
+ ClearDownSource();
+}
+
+/**
+ * Create an instance of a Counter object.
+ *
+ * Create an instance of a simple up-Counter given an analog trigger.
+ * Use the trigger state output from the analog trigger.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param trigger The reference to the existing AnalogTrigger object.
+ */
+Counter::Counter(const AnalogTrigger& trigger) : Counter(kTwoPulse) {
+ SetUpSource(trigger.CreateOutput(AnalogTriggerType::kState));
+ ClearDownSource();
+}
+
+/**
+ * Create an instance of a Counter object.
+ *
+ * Creates a full up-down counter given two Digital Sources.
+ *
+ * @param encodingType The quadrature decoding mode (1x or 2x)
+ * @param upSource The pointer to the DigitalSource to set as the up source
+ * @param downSource The pointer to the DigitalSource to set as the down
+ * source
+ * @param inverted True to invert the output (reverse the direction)
+ */
+Counter::Counter(EncodingType encodingType, DigitalSource* upSource,
+ DigitalSource* downSource, bool inverted)
+ : Counter(encodingType, std::shared_ptr<DigitalSource>(
+ upSource, NullDeleter<DigitalSource>()),
+ std::shared_ptr<DigitalSource>(downSource,
+ NullDeleter<DigitalSource>()),
+ inverted) {}
+
+/**
+ * Create an instance of a Counter object.
+ *
+ * Creates a full up-down counter given two Digital Sources.
+ *
+ * @param encodingType The quadrature decoding mode (1x or 2x)
+ * @param upSource The pointer to the DigitalSource to set as the up source
+ * @param downSource The pointer to the DigitalSource to set as the down
+ * source
+ * @param inverted True to invert the output (reverse the direction)
+ */
+Counter::Counter(EncodingType encodingType,
+ std::shared_ptr<DigitalSource> upSource,
+ std::shared_ptr<DigitalSource> downSource, bool inverted)
+ : Counter(kExternalDirection) {
+ if (encodingType != k1X && encodingType != k2X) {
+ wpi_setWPIErrorWithContext(
+ ParameterOutOfRange,
+ "Counter only supports 1X and 2X quadrature decoding.");
+ return;
+ }
+ SetUpSource(upSource);
+ SetDownSource(downSource);
+ int32_t status = 0;
+
+ if (encodingType == k1X) {
+ SetUpSourceEdge(true, false);
+ HAL_SetCounterAverageSize(m_counter, 1, &status);
+ } else {
+ SetUpSourceEdge(true, true);
+ HAL_SetCounterAverageSize(m_counter, 2, &status);
+ }
+
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ SetDownSourceEdge(inverted, true);
+}
+
+/**
+ * Delete the Counter object.
+ */
+Counter::~Counter() {
+ SetUpdateWhenEmpty(true);
+
+ int32_t status = 0;
+ HAL_FreeCounter(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_counter = HAL_kInvalidHandle;
+}
+
+/**
+ * Set the upsource for the counter as a digital input channel.
+ *
+ * @param channel The DIO channel to use as the up source. 0-9 are on-board,
+ * 10-25 are on the MXP
+ */
+void Counter::SetUpSource(int channel) {
+ if (StatusIsFatal()) return;
+ SetUpSource(std::make_shared<DigitalInput>(channel));
+}
+
+/**
+ * Set the up counting source to be an analog trigger.
+ *
+ * @param analogTrigger The analog trigger object that is used for the Up Source
+ * @param triggerType The analog trigger output that will trigger the counter.
+ */
+void Counter::SetUpSource(AnalogTrigger* analogTrigger,
+ AnalogTriggerType triggerType) {
+ SetUpSource(std::shared_ptr<AnalogTrigger>(analogTrigger,
+ NullDeleter<AnalogTrigger>()),
+ triggerType);
+}
+
+/**
+ * Set the up counting source to be an analog trigger.
+ *
+ * @param analogTrigger The analog trigger object that is used for the Up Source
+ * @param triggerType The analog trigger output that will trigger the counter.
+ */
+void Counter::SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
+ AnalogTriggerType triggerType) {
+ if (StatusIsFatal()) return;
+ SetUpSource(analogTrigger->CreateOutput(triggerType));
+}
+
+/**
+ * Set the source object that causes the counter to count up.
+ *
+ * Set the up counting DigitalSource.
+ *
+ * @param source Pointer to the DigitalSource object to set as the up source
+ */
+void Counter::SetUpSource(std::shared_ptr<DigitalSource> source) {
+ if (StatusIsFatal()) return;
+ m_upSource = source;
+ if (m_upSource->StatusIsFatal()) {
+ CloneError(*m_upSource);
+ } else {
+ int32_t status = 0;
+ HAL_SetCounterUpSource(
+ m_counter, source->GetPortHandleForRouting(),
+ (HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(),
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ }
+}
+
+void Counter::SetUpSource(DigitalSource* source) {
+ SetUpSource(
+ std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
+}
+
+/**
+ * Set the source object that causes the counter to count up.
+ *
+ * Set the up counting DigitalSource.
+ *
+ * @param source Reference to the DigitalSource object to set as the up source
+ */
+void Counter::SetUpSource(DigitalSource& source) {
+ SetUpSource(
+ std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
+}
+
+/**
+ * Set the edge sensitivity on an up counting source.
+ *
+ * Set the up source to either detect rising edges or falling edges or both.
+ *
+ * @param risingEdge True to trigger on rising edges
+ * @param fallingEdge True to trigger on falling edges
+ */
+void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) {
+ if (StatusIsFatal()) return;
+ if (m_upSource == nullptr) {
+ wpi_setWPIErrorWithContext(
+ NullParameter,
+ "Must set non-nullptr UpSource before setting UpSourceEdge");
+ }
+ int32_t status = 0;
+ HAL_SetCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Disable the up counting source to the counter.
+ */
+void Counter::ClearUpSource() {
+ if (StatusIsFatal()) return;
+ m_upSource.reset();
+ int32_t status = 0;
+ HAL_ClearCounterUpSource(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the down counting source to be a digital input channel.
+ *
+ * @param channel The DIO channel to use as the up source. 0-9 are on-board,
+ * 10-25 are on the MXP
+ */
+void Counter::SetDownSource(int channel) {
+ if (StatusIsFatal()) return;
+ SetDownSource(std::make_shared<DigitalInput>(channel));
+}
+
+/**
+ * Set the down counting source to be an analog trigger.
+ *
+ * @param analogTrigger The analog trigger object that is used for the Down
+ * Source
+ * @param triggerType The analog trigger output that will trigger the counter.
+ */
+void Counter::SetDownSource(AnalogTrigger* analogTrigger,
+ AnalogTriggerType triggerType) {
+ SetDownSource(std::shared_ptr<AnalogTrigger>(analogTrigger,
+ NullDeleter<AnalogTrigger>()),
+ triggerType);
+}
+
+/**
+ * Set the down counting source to be an analog trigger.
+ *
+ * @param analogTrigger The analog trigger object that is used for the Down
+ * Source
+ * @param triggerType The analog trigger output that will trigger the counter.
+ */
+void Counter::SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
+ AnalogTriggerType triggerType) {
+ if (StatusIsFatal()) return;
+ SetDownSource(analogTrigger->CreateOutput(triggerType));
+}
+
+/**
+ * Set the source object that causes the counter to count down.
+ *
+ * Set the down counting DigitalSource.
+ *
+ * @param source Pointer to the DigitalSource object to set as the down source
+ */
+void Counter::SetDownSource(std::shared_ptr<DigitalSource> source) {
+ if (StatusIsFatal()) return;
+ m_downSource = source;
+ if (m_downSource->StatusIsFatal()) {
+ CloneError(*m_downSource);
+ } else {
+ int32_t status = 0;
+ HAL_SetCounterDownSource(
+ m_counter, source->GetPortHandleForRouting(),
+ (HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(),
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ }
+}
+
+void Counter::SetDownSource(DigitalSource* source) {
+ SetDownSource(
+ std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
+}
+
+/**
+ * Set the source object that causes the counter to count down.
+ *
+ * Set the down counting DigitalSource.
+ *
+ * @param source Reference to the DigitalSource object to set as the down source
+ */
+void Counter::SetDownSource(DigitalSource& source) {
+ SetDownSource(
+ std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
+}
+
+/**
+ * Set the edge sensitivity on a down counting source.
+ *
+ * Set the down source to either detect rising edges or falling edges.
+ *
+ * @param risingEdge True to trigger on rising edges
+ * @param fallingEdge True to trigger on falling edges
+ */
+void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
+ if (StatusIsFatal()) return;
+ if (m_downSource == nullptr) {
+ wpi_setWPIErrorWithContext(
+ NullParameter,
+ "Must set non-nullptr DownSource before setting DownSourceEdge");
+ }
+ int32_t status = 0;
+ HAL_SetCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Disable the down counting source to the counter.
+ */
+void Counter::ClearDownSource() {
+ if (StatusIsFatal()) return;
+ m_downSource.reset();
+ int32_t status = 0;
+ HAL_ClearCounterDownSource(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set standard up / down counting mode on this counter.
+ *
+ * Up and down counts are sourced independently from two inputs.
+ */
+void Counter::SetUpDownCounterMode() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetCounterUpDownMode(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set external direction mode on this counter.
+ *
+ * Counts are sourced on the Up counter input.
+ * The Down counter input represents the direction to count.
+ */
+void Counter::SetExternalDirectionMode() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetCounterExternalDirectionMode(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set Semi-period mode on this counter.
+ *
+ * Counts up on both rising and falling edges.
+ */
+void Counter::SetSemiPeriodMode(bool highSemiPeriod) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetCounterSemiPeriodMode(m_counter, highSemiPeriod, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Configure the counter to count in up or down based on the length of the input
+ * pulse.
+ *
+ * This mode is most useful for direction sensitive gear tooth sensors.
+ *
+ * @param threshold The pulse length beyond which the counter counts the
+ * opposite direction. Units are seconds.
+ */
+void Counter::SetPulseLengthMode(double threshold) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetCounterPulseLengthMode(m_counter, threshold, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the Samples to Average which specifies the number of samples of the timer
+ * to average when calculating the period.
+ *
+ * Perform averaging to account for mechanical imperfections or as oversampling
+ * to increase resolution.
+ *
+ * @return The number of samples being averaged (from 1 to 127)
+ */
+int Counter::GetSamplesToAverage() const {
+ int32_t status = 0;
+ int samples = HAL_GetCounterSamplesToAverage(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return samples;
+}
+
+/**
+ * Set the Samples to Average which specifies the number of samples of the timer
+ * to average when calculating the period. Perform averaging to account for
+ * mechanical imperfections or as oversampling to increase resolution.
+ *
+ * @param samplesToAverage The number of samples to average from 1 to 127.
+ */
+void Counter::SetSamplesToAverage(int samplesToAverage) {
+ if (samplesToAverage < 1 || samplesToAverage > 127) {
+ wpi_setWPIErrorWithContext(
+ ParameterOutOfRange,
+ "Average counter values must be between 1 and 127");
+ }
+ int32_t status = 0;
+ HAL_SetCounterSamplesToAverage(m_counter, samplesToAverage, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Read the current counter value.
+ *
+ * Read the value at this instant. It may still be running, so it reflects the
+ * current value. Next time it is read, it might have a different value.
+ */
+int Counter::Get() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int value = HAL_GetCounter(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Reset the Counter to zero.
+ *
+ * Set the counter value to zero. This doesn't effect the running state of the
+ * counter, just sets the current value to zero.
+ */
+void Counter::Reset() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_ResetCounter(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the Period of the most recent count.
+ *
+ * Returns the time interval of the most recent count. This can be used for
+ * velocity calculations to determine shaft speed.
+ *
+ * @returns The period between the last two pulses in units of seconds.
+ */
+double Counter::GetPeriod() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetCounterPeriod(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Set the maximum period where the device is still considered "moving".
+ *
+ * Sets the maximum period where the device is considered moving. This value is
+ * used to determine the "stopped" state of the counter using the GetStopped
+ * method.
+ *
+ * @param maxPeriod The maximum period where the counted device is considered
+ * moving in seconds.
+ */
+void Counter::SetMaxPeriod(double maxPeriod) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetCounterMaxPeriod(m_counter, maxPeriod, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Select whether you want to continue updating the event timer output when
+ * there are no samples captured.
+ *
+ * The output of the event timer has a buffer of periods that are averaged and
+ * posted to a register on the FPGA. When the timer detects that the event
+ * source has stopped (based on the MaxPeriod) the buffer of samples to be
+ * averaged is emptied. If you enable the update when empty, you will be
+ * notified of the stopped source and the event time will report 0 samples.
+ * If you disable update when empty, the most recent average will remain on
+ * the output until a new sample is acquired. You will never see 0 samples
+ * output (except when there have been no events since an FPGA reset) and you
+ * will likely not see the stopped bit become true (since it is updated at the
+ * end of an average and there are no samples to average).
+ *
+ * @param enabled True to enable update when empty
+ */
+void Counter::SetUpdateWhenEmpty(bool enabled) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetCounterUpdateWhenEmpty(m_counter, enabled, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Determine if the clock is stopped.
+ *
+ * Determine if the clocked input is stopped based on the MaxPeriod value set
+ * using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the
+ * device (and counter) are assumed to be stopped and it returns true.
+ *
+ * @return Returns true if the most recent counter period exceeds the MaxPeriod
+ * value set by SetMaxPeriod.
+ */
+bool Counter::GetStopped() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value = HAL_GetCounterStopped(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * The last direction the counter value changed.
+ *
+ * @return The last direction the counter value changed.
+ */
+bool Counter::GetDirection() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value = HAL_GetCounterDirection(m_counter, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Set the Counter to return reversed sensing on the direction.
+ *
+ * This allows counters to change the direction they are counting in the case of
+ * 1X and 2X quadrature encoding only. Any other counter mode isn't supported.
+ *
+ * @param reverseDirection true if the value counted should be negated.
+ */
+void Counter::SetReverseDirection(bool reverseDirection) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void Counter::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", Get());
+ }
+}
+
+void Counter::StartLiveWindowMode() {}
+
+void Counter::StopLiveWindowMode() {}
+
+std::string Counter::GetSmartDashboardType() const { return "Counter"; }
+
+void Counter::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Counter::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/DigitalGlitchFilter.cpp b/wpilibc/athena/src/DigitalGlitchFilter.cpp
new file mode 100644
index 0000000..287ff88
--- /dev/null
+++ b/wpilibc/athena/src/DigitalGlitchFilter.cpp
@@ -0,0 +1,200 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "DigitalGlitchFilter.h"
+
+#include <algorithm>
+#include <array>
+
+#include "Counter.h"
+#include "Encoder.h"
+#include "HAL/Constants.h"
+#include "HAL/DIO.h"
+#include "HAL/HAL.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+std::array<bool, 3> DigitalGlitchFilter::m_filterAllocated = {
+ {false, false, false}};
+priority_mutex DigitalGlitchFilter::m_mutex;
+
+DigitalGlitchFilter::DigitalGlitchFilter() {
+ std::lock_guard<priority_mutex> sync(m_mutex);
+ auto index =
+ std::find(m_filterAllocated.begin(), m_filterAllocated.end(), false);
+ wpi_assert(index != m_filterAllocated.end());
+
+ m_channelIndex = std::distance(m_filterAllocated.begin(), index);
+ *index = true;
+
+ HAL_Report(HALUsageReporting::kResourceType_DigitalFilter, m_channelIndex);
+}
+
+DigitalGlitchFilter::~DigitalGlitchFilter() {
+ if (m_channelIndex >= 0) {
+ std::lock_guard<priority_mutex> sync(m_mutex);
+ m_filterAllocated[m_channelIndex] = false;
+ }
+}
+
+/**
+ * Assigns the DigitalSource to this glitch filter.
+ *
+ * @param input The DigitalSource to add.
+ */
+void DigitalGlitchFilter::Add(DigitalSource* input) {
+ DoAdd(input, m_channelIndex + 1);
+}
+
+void DigitalGlitchFilter::DoAdd(DigitalSource* input, int requested_index) {
+ // Some sources from Counters and Encoders are null. By pushing the check
+ // here, we catch the issue more generally.
+ if (input) {
+ // we don't support GlitchFilters on AnalogTriggers.
+ if (input->IsAnalogTrigger()) {
+ wpi_setErrorWithContext(
+ -1, "Analog Triggers not supported for DigitalGlitchFilters");
+ return;
+ }
+ int32_t status = 0;
+ HAL_SetFilterSelect(input->GetPortHandleForRouting(), requested_index,
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ // Validate that we set it correctly.
+ int actual_index =
+ HAL_GetFilterSelect(input->GetPortHandleForRouting(), &status);
+ wpi_assertEqual(actual_index, requested_index);
+
+ HAL_Report(HALUsageReporting::kResourceType_DigitalInput,
+ input->GetChannel());
+ }
+}
+
+/**
+ * Assigns the Encoder to this glitch filter.
+ *
+ * @param input The Encoder to add.
+ */
+void DigitalGlitchFilter::Add(Encoder* input) {
+ Add(input->m_aSource.get());
+ if (StatusIsFatal()) {
+ return;
+ }
+ Add(input->m_bSource.get());
+}
+
+/**
+ * Assigns the Counter to this glitch filter.
+ *
+ * @param input The Counter to add.
+ */
+void DigitalGlitchFilter::Add(Counter* input) {
+ Add(input->m_upSource.get());
+ if (StatusIsFatal()) {
+ return;
+ }
+ Add(input->m_downSource.get());
+}
+
+/**
+ * Removes a digital input from this filter.
+ *
+ * Removes the DigitalSource from this glitch filter and re-assigns it to
+ * the default filter.
+ *
+ * @param input The DigitalSource to remove.
+ */
+void DigitalGlitchFilter::Remove(DigitalSource* input) { DoAdd(input, 0); }
+
+/**
+ * Removes an encoder from this filter.
+ *
+ * Removes the Encoder from this glitch filter and re-assigns it to
+ * the default filter.
+ *
+ * @param input The Encoder to remove.
+ */
+void DigitalGlitchFilter::Remove(Encoder* input) {
+ Remove(input->m_aSource.get());
+ if (StatusIsFatal()) {
+ return;
+ }
+ Remove(input->m_bSource.get());
+}
+
+/**
+ * Removes a counter from this filter.
+ *
+ * Removes the Counter from this glitch filter and re-assigns it to
+ * the default filter.
+ *
+ * @param input The Counter to remove.
+ */
+void DigitalGlitchFilter::Remove(Counter* input) {
+ Remove(input->m_upSource.get());
+ if (StatusIsFatal()) {
+ return;
+ }
+ Remove(input->m_downSource.get());
+}
+
+/**
+ * Sets the number of cycles that the input must not change state for.
+ *
+ * @param fpga_cycles The number of FPGA cycles.
+ */
+void DigitalGlitchFilter::SetPeriodCycles(int fpga_cycles) {
+ int32_t status = 0;
+ HAL_SetFilterPeriod(m_channelIndex, fpga_cycles, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Sets the number of nanoseconds that the input must not change state for.
+ *
+ * @param nanoseconds The number of nanoseconds.
+ */
+void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) {
+ int32_t status = 0;
+ int fpga_cycles =
+ nanoseconds * HAL_GetSystemClockTicksPerMicrosecond() / 4 / 1000;
+ HAL_SetFilterPeriod(m_channelIndex, fpga_cycles, &status);
+
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Gets the number of cycles that the input must not change state for.
+ *
+ * @return The number of cycles.
+ */
+int DigitalGlitchFilter::GetPeriodCycles() {
+ int32_t status = 0;
+ int fpga_cycles = HAL_GetFilterPeriod(m_channelIndex, &status);
+
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ return fpga_cycles;
+}
+
+/**
+ * Gets the number of nanoseconds that the input must not change state for.
+ *
+ * @return The number of nanoseconds.
+ */
+uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() {
+ int32_t status = 0;
+ int fpga_cycles = HAL_GetFilterPeriod(m_channelIndex, &status);
+
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ return static_cast<uint64_t>(fpga_cycles) * 1000L /
+ static_cast<uint64_t>(HAL_GetSystemClockTicksPerMicrosecond() / 4);
+}
diff --git a/wpilibc/athena/src/DigitalInput.cpp b/wpilibc/athena/src/DigitalInput.cpp
new file mode 100644
index 0000000..2eeefbb
--- /dev/null
+++ b/wpilibc/athena/src/DigitalInput.cpp
@@ -0,0 +1,122 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "DigitalInput.h"
+
+#include <limits>
+#include <sstream>
+
+#include "HAL/DIO.h"
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Create an instance of a Digital Input class.
+ *
+ * Creates a digital input given a channel.
+ *
+ * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
+ */
+DigitalInput::DigitalInput(int channel) {
+ std::stringstream buf;
+
+ if (!CheckDigitalChannel(channel)) {
+ buf << "Digital Channel " << channel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ m_channel = std::numeric_limits<int>::max();
+ return;
+ }
+ m_channel = channel;
+
+ int32_t status = 0;
+ m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(),
+ channel, HAL_GetErrorMessage(status));
+ m_handle = HAL_kInvalidHandle;
+ m_channel = std::numeric_limits<int>::max();
+ return;
+ }
+
+ LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this);
+ HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel);
+}
+
+/**
+ * Free resources associated with the Digital Input class.
+ */
+DigitalInput::~DigitalInput() {
+ if (StatusIsFatal()) return;
+ if (m_interrupt != HAL_kInvalidHandle) {
+ int32_t status = 0;
+ HAL_CleanInterrupts(m_interrupt, &status);
+ // ignore status, as an invalid handle just needs to be ignored.
+ m_interrupt = HAL_kInvalidHandle;
+ }
+
+ HAL_FreeDIOPort(m_handle);
+}
+
+/**
+ * Get the value from a digital input channel.
+ *
+ * Retrieve the value of a single digital input channel from the FPGA.
+ */
+bool DigitalInput::Get() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value = HAL_GetDIO(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * @return The GPIO channel number that this object represents.
+ */
+int DigitalInput::GetChannel() const { return m_channel; }
+
+/**
+ * @return The HAL Handle to the specified source.
+ */
+HAL_Handle DigitalInput::GetPortHandleForRouting() const { return m_handle; }
+
+/**
+ * Is source an AnalogTrigger
+ */
+bool DigitalInput::IsAnalogTrigger() const { return false; }
+
+/**
+ * @return The type of analog trigger output to be used. 0 for Digitals
+ */
+AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
+ return (AnalogTriggerType)0;
+}
+
+void DigitalInput::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutBoolean("Value", Get());
+ }
+}
+
+void DigitalInput::StartLiveWindowMode() {}
+
+void DigitalInput::StopLiveWindowMode() {}
+
+std::string DigitalInput::GetSmartDashboardType() const {
+ return "DigitalInput";
+}
+
+void DigitalInput::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> DigitalInput::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/DigitalOutput.cpp b/wpilibc/athena/src/DigitalOutput.cpp
new file mode 100644
index 0000000..381df60
--- /dev/null
+++ b/wpilibc/athena/src/DigitalOutput.cpp
@@ -0,0 +1,261 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "DigitalOutput.h"
+
+#include <limits>
+#include <sstream>
+
+#include "HAL/DIO.h"
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Create an instance of a digital output.
+ *
+ * Create a digital output given a channel.
+ *
+ * @param channel The digital channel 0-9 are on-board, 10-25 are on the MXP
+ * port
+ */
+DigitalOutput::DigitalOutput(int channel) {
+ std::stringstream buf;
+
+ m_pwmGenerator = HAL_kInvalidHandle;
+ if (!CheckDigitalChannel(channel)) {
+ buf << "Digital Channel " << channel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ m_channel = std::numeric_limits<int>::max();
+ return;
+ }
+ m_channel = channel;
+
+ int32_t status = 0;
+ m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), false, &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(),
+ channel, HAL_GetErrorMessage(status));
+ m_channel = std::numeric_limits<int>::max();
+ m_handle = HAL_kInvalidHandle;
+ return;
+ }
+
+ HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel);
+}
+
+/**
+ * Free the resources associated with a digital output.
+ */
+DigitalOutput::~DigitalOutput() {
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+ if (StatusIsFatal()) return;
+ // Disable the PWM in case it was running.
+ DisablePWM();
+
+ HAL_FreeDIOPort(m_handle);
+}
+
+/**
+ * Set the value of a digital output.
+ *
+ * Set the value of a digital output to either one (true) or zero (false).
+ *
+ * @param value 1 (true) for high, 0 (false) for disabled
+ */
+void DigitalOutput::Set(bool value) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+ HAL_SetDIO(m_handle, value, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Gets the value being output from the Digital Output.
+ *
+ * @return the state of the digital output.
+ */
+bool DigitalOutput::Get() const {
+ if (StatusIsFatal()) return false;
+
+ int32_t status = 0;
+ bool val = HAL_GetDIO(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return val;
+}
+
+/**
+ * @return The GPIO channel number that this object represents.
+ */
+int DigitalOutput::GetChannel() const { return m_channel; }
+
+/**
+ * Output a single pulse on the digital output line.
+ *
+ * Send a single pulse on the digital output line where the pulse duration is
+ * specified in seconds. Maximum pulse length is 0.0016 seconds.
+ *
+ * @param length The pulse length in seconds
+ */
+void DigitalOutput::Pulse(double length) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+ HAL_Pulse(m_handle, length, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Determine if the pulse is still going.
+ *
+ * Determine if a previously started pulse is still going.
+ */
+bool DigitalOutput::IsPulsing() const {
+ if (StatusIsFatal()) return false;
+
+ int32_t status = 0;
+ bool value = HAL_IsPulsing(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Change the PWM frequency of the PWM output on a Digital Output line.
+ *
+ * The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is
+ * logarithmic.
+ *
+ * There is only one PWM frequency for all digital channels.
+ *
+ * @param rate The frequency to output all digital output PWM signals.
+ */
+void DigitalOutput::SetPWMRate(double rate) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+ HAL_SetDigitalPWMRate(rate, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Enable a PWM Output on this line.
+ *
+ * Allocate one of the 6 DO PWM generator resources from this module.
+ *
+ * Supply the initial duty-cycle to output so as to avoid a glitch when first
+ * starting.
+ *
+ * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
+ * but is reduced the higher the frequency of the PWM signal is.
+ *
+ * @param initialDutyCycle The duty-cycle to start generating. [0..1]
+ */
+void DigitalOutput::EnablePWM(double initialDutyCycle) {
+ if (m_pwmGenerator != HAL_kInvalidHandle) return;
+
+ int32_t status = 0;
+
+ if (StatusIsFatal()) return;
+ m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ if (StatusIsFatal()) return;
+ HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ if (StatusIsFatal()) return;
+ HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Change this line from a PWM output back to a static Digital Output line.
+ *
+ * Free up one of the 6 DO PWM generator resources that were in use.
+ */
+void DigitalOutput::DisablePWM() {
+ if (StatusIsFatal()) return;
+ if (m_pwmGenerator == HAL_kInvalidHandle) return;
+
+ int32_t status = 0;
+
+ // Disable the output by routing to a dead bit.
+ HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_FreeDigitalPWM(m_pwmGenerator, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ m_pwmGenerator = HAL_kInvalidHandle;
+}
+
+/**
+ * Change the duty-cycle that is being generated on the line.
+ *
+ * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
+ * but is reduced the higher the frequency of the PWM signal is.
+ *
+ * @param dutyCycle The duty-cycle to change to. [0..1]
+ */
+void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+ HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * @return The HAL Handle to the specified source.
+ */
+HAL_Handle DigitalOutput::GetPortHandleForRouting() const { return m_handle; }
+
+/**
+ * Is source an AnalogTrigger
+ */
+bool DigitalOutput::IsAnalogTrigger() const { return false; }
+
+/**
+ * @return The type of analog trigger output to be used. 0 for Digitals
+ */
+AnalogTriggerType DigitalOutput::GetAnalogTriggerTypeForRouting() const {
+ return (AnalogTriggerType)0;
+}
+
+void DigitalOutput::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (!value->IsBoolean()) return;
+ Set(value->GetBoolean());
+}
+
+void DigitalOutput::UpdateTable() {}
+
+void DigitalOutput::StartLiveWindowMode() {
+ if (m_table != nullptr) {
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void DigitalOutput::StopLiveWindowMode() {
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string DigitalOutput::GetSmartDashboardType() const {
+ return "Digital Output";
+}
+
+void DigitalOutput::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> DigitalOutput::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/DoubleSolenoid.cpp b/wpilibc/athena/src/DoubleSolenoid.cpp
new file mode 100644
index 0000000..1954ada
--- /dev/null
+++ b/wpilibc/athena/src/DoubleSolenoid.cpp
@@ -0,0 +1,225 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "DoubleSolenoid.h"
+
+#include <sstream>
+
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "HAL/Solenoid.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Constructor.
+ *
+ * Uses the default PCM ID of 0.
+ *
+ * @param forwardChannel The forward channel number on the PCM (0..7).
+ * @param reverseChannel The reverse channel number on the PCM (0..7).
+ */
+DoubleSolenoid::DoubleSolenoid(int forwardChannel, int reverseChannel)
+ : DoubleSolenoid(GetDefaultSolenoidModule(), forwardChannel,
+ reverseChannel) {}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The CAN ID of the PCM.
+ * @param forwardChannel The forward channel on the PCM to control (0..7).
+ * @param reverseChannel The reverse channel on the PCM to control (0..7).
+ */
+DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
+ int reverseChannel)
+ : SolenoidBase(moduleNumber),
+ m_forwardChannel(forwardChannel),
+ m_reverseChannel(reverseChannel) {
+ std::stringstream buf;
+ if (!CheckSolenoidModule(m_moduleNumber)) {
+ buf << "Solenoid Module " << m_moduleNumber;
+ wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
+ return;
+ }
+ if (!CheckSolenoidChannel(m_forwardChannel)) {
+ buf << "Solenoid Module " << m_forwardChannel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+ if (!CheckSolenoidChannel(m_reverseChannel)) {
+ buf << "Solenoid Module " << m_reverseChannel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+ int32_t status = 0;
+ m_forwardHandle = HAL_InitializeSolenoidPort(
+ HAL_GetPortWithModule(moduleNumber, m_forwardChannel), &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
+ forwardChannel, HAL_GetErrorMessage(status));
+ m_forwardHandle = HAL_kInvalidHandle;
+ m_reverseHandle = HAL_kInvalidHandle;
+ return;
+ }
+
+ m_reverseHandle = HAL_InitializeSolenoidPort(
+ HAL_GetPortWithModule(moduleNumber, m_reverseChannel), &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
+ reverseChannel, HAL_GetErrorMessage(status));
+ // free forward solenoid
+ HAL_FreeSolenoidPort(m_forwardHandle);
+ m_forwardHandle = HAL_kInvalidHandle;
+ m_reverseHandle = HAL_kInvalidHandle;
+ return;
+ }
+
+ m_forwardMask = 1 << m_forwardChannel;
+ m_reverseMask = 1 << m_reverseChannel;
+
+ HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel,
+ m_moduleNumber);
+ HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel,
+ m_moduleNumber);
+ LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber,
+ m_forwardChannel, this);
+}
+
+/**
+ * Destructor.
+ */
+DoubleSolenoid::~DoubleSolenoid() {
+ HAL_FreeSolenoidPort(m_forwardHandle);
+ HAL_FreeSolenoidPort(m_reverseHandle);
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the value of a solenoid.
+ *
+ * @param value The value to set (Off, Forward or Reverse)
+ */
+void DoubleSolenoid::Set(Value value) {
+ if (StatusIsFatal()) return;
+
+ bool forward = false;
+ bool reverse = false;
+ switch (value) {
+ case kOff:
+ forward = false;
+ reverse = false;
+ break;
+ case kForward:
+ forward = true;
+ reverse = false;
+ break;
+ case kReverse:
+ forward = false;
+ reverse = true;
+ break;
+ }
+ int fstatus = 0;
+ HAL_SetSolenoid(m_forwardHandle, forward, &fstatus);
+ int rstatus = 0;
+ HAL_SetSolenoid(m_reverseHandle, reverse, &rstatus);
+
+ wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus));
+ wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus));
+}
+
+/**
+ * Read the current value of the solenoid.
+ *
+ * @return The current value of the solenoid.
+ */
+DoubleSolenoid::Value DoubleSolenoid::Get() const {
+ if (StatusIsFatal()) return kOff;
+ int fstatus = 0;
+ int rstatus = 0;
+ bool valueForward = HAL_GetSolenoid(m_forwardHandle, &fstatus);
+ bool valueReverse = HAL_GetSolenoid(m_reverseHandle, &rstatus);
+
+ wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus));
+ wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus));
+
+ if (valueForward) return kForward;
+ if (valueReverse) return kReverse;
+ return kOff;
+}
+/**
+ * Check if the forward solenoid is blacklisted.
+ *
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool DoubleSolenoid::IsFwdSolenoidBlackListed() const {
+ int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
+ return (blackList & m_forwardMask) ? 1 : 0;
+}
+/**
+ * Check if the reverse solenoid is blacklisted.
+ *
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
+ int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
+ return (blackList & m_reverseMask) ? 1 : 0;
+}
+
+void DoubleSolenoid::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value,
+ bool isNew) {
+ if (!value->IsString()) return;
+ Value lvalue = kOff;
+ if (value->GetString() == "Forward")
+ lvalue = kForward;
+ else if (value->GetString() == "Reverse")
+ lvalue = kReverse;
+ Set(lvalue);
+}
+
+void DoubleSolenoid::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutString(
+ "Value", (Get() == kForward ? "Forward"
+ : (Get() == kReverse ? "Reverse" : "Off")));
+ }
+}
+
+void DoubleSolenoid::StartLiveWindowMode() {
+ Set(kOff);
+ if (m_table != nullptr) {
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void DoubleSolenoid::StopLiveWindowMode() {
+ Set(kOff);
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string DoubleSolenoid::GetSmartDashboardType() const {
+ return "Double Solenoid";
+}
+
+void DoubleSolenoid::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> DoubleSolenoid::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/DriverStation.cpp b/wpilibc/athena/src/DriverStation.cpp
new file mode 100644
index 0000000..fd91d95
--- /dev/null
+++ b/wpilibc/athena/src/DriverStation.cpp
@@ -0,0 +1,672 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "DriverStation.h"
+
+#include <chrono>
+
+#include "AnalogInput.h"
+#include "FRC_NetworkCommunication/FRCComm.h"
+#include "HAL/HAL.h"
+#include "HAL/Power.h"
+#include "HAL/cpp/Log.h"
+#include "MotorSafetyHelper.h"
+#include "Timer.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+#include "llvm/SmallString.h"
+
+using namespace frc;
+
+const double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
+
+const int DriverStation::kJoystickPorts;
+
+DriverStation::~DriverStation() {
+ m_isRunning = false;
+ m_dsThread.join();
+}
+
+/**
+ * Return a pointer to the singleton DriverStation.
+ *
+ * @return Pointer to the DS instance
+ */
+DriverStation& DriverStation::GetInstance() {
+ static DriverStation instance;
+ return instance;
+}
+
+/**
+ * Report an error to the DriverStation messages window.
+ *
+ * The error is also printed to the program console.
+ */
+void DriverStation::ReportError(llvm::StringRef error) {
+ llvm::SmallString<128> temp;
+ HAL_SendError(1, 1, 0, error.c_str(temp), "", "", 1);
+}
+
+/**
+ * Report a warning to the DriverStation messages window.
+ *
+ * The warning is also printed to the program console.
+ */
+void DriverStation::ReportWarning(llvm::StringRef error) {
+ llvm::SmallString<128> temp;
+ HAL_SendError(0, 1, 0, error.c_str(temp), "", "", 1);
+}
+
+/**
+ * Report an error to the DriverStation messages window.
+ *
+ * The error is also printed to the program console.
+ */
+void DriverStation::ReportError(bool is_error, int32_t code,
+ llvm::StringRef error, llvm::StringRef location,
+ llvm::StringRef stack) {
+ llvm::SmallString<128> errorTemp;
+ llvm::SmallString<128> locationTemp;
+ llvm::SmallString<128> stackTemp;
+ HAL_SendError(is_error, code, 0, error.c_str(errorTemp),
+ location.c_str(locationTemp), stack.c_str(stackTemp), 1);
+}
+
+/**
+ * Get the value of the axis on a joystick.
+ *
+ * This depends on the mapping of the joystick connected to the specified port.
+ *
+ * @param stick The joystick to read.
+ * @param axis The analog axis value to read from the joystick.
+ * @return The value of the axis on the joystick.
+ */
+double DriverStation::GetStickAxis(int stick, int axis) {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return 0;
+ }
+ std::unique_lock<priority_mutex> lock(m_joystickDataMutex);
+ if (axis >= m_joystickAxes[stick].count) {
+ // Unlock early so error printing isn't locked.
+ m_joystickDataMutex.unlock();
+ lock.release();
+ if (axis >= HAL_kMaxJoystickAxes)
+ wpi_setWPIError(BadJoystickAxis);
+ else
+ ReportJoystickUnpluggedWarning(
+ "Joystick Axis missing, check if all controllers are plugged in");
+ return 0.0;
+ }
+
+ return m_joystickAxes[stick].axes[axis];
+}
+
+/**
+ * Get the state of a POV on the joystick.
+ *
+ * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
+ */
+int DriverStation::GetStickPOV(int stick, int pov) {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return -1;
+ }
+ std::unique_lock<priority_mutex> lock(m_joystickDataMutex);
+ if (pov >= m_joystickPOVs[stick].count) {
+ // Unlock early so error printing isn't locked.
+ lock.unlock();
+ if (pov >= HAL_kMaxJoystickPOVs)
+ wpi_setWPIError(BadJoystickAxis);
+ else
+ ReportJoystickUnpluggedWarning(
+ "Joystick POV missing, check if all controllers are plugged in");
+ return -1;
+ }
+
+ return m_joystickPOVs[stick].povs[pov];
+}
+
+/**
+ * The state of the buttons on the joystick.
+ *
+ * @param stick The joystick to read.
+ * @return The state of the buttons on the joystick.
+ */
+int DriverStation::GetStickButtons(int stick) const {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return 0;
+ }
+ std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
+ return m_joystickButtons[stick].buttons;
+}
+
+/**
+ * The state of one joystick button. Button indexes begin at 1.
+ *
+ * @param stick The joystick to read.
+ * @param button The button index, beginning at 1.
+ * @return The state of the joystick button.
+ */
+bool DriverStation::GetStickButton(int stick, int button) {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return false;
+ }
+ if (button == 0) {
+ ReportJoystickUnpluggedError(
+ "ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
+ return false;
+ }
+ std::unique_lock<priority_mutex> lock(m_joystickDataMutex);
+ if (button > m_joystickButtons[stick].count) {
+ // Unlock early so error printing isn't locked.
+ lock.unlock();
+ ReportJoystickUnpluggedWarning(
+ "Joystick Button missing, check if all controllers are "
+ "plugged in");
+ return false;
+ }
+
+ return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
+}
+
+/**
+ * Returns the number of axes on a given joystick port.
+ *
+ * @param stick The joystick port number
+ * @return The number of axes on the indicated joystick
+ */
+int DriverStation::GetStickAxisCount(int stick) const {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return 0;
+ }
+ std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
+ return m_joystickAxes[stick].count;
+}
+
+/**
+ * Returns the number of POVs on a given joystick port.
+ *
+ * @param stick The joystick port number
+ * @return The number of POVs on the indicated joystick
+ */
+int DriverStation::GetStickPOVCount(int stick) const {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return 0;
+ }
+ std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
+ return m_joystickPOVs[stick].count;
+}
+
+/**
+ * Returns the number of buttons on a given joystick port.
+ *
+ * @param stick The joystick port number
+ * @return The number of buttons on the indicated joystick
+ */
+int DriverStation::GetStickButtonCount(int stick) const {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return 0;
+ }
+ std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
+ return m_joystickButtons[stick].count;
+}
+
+/**
+ * Returns a boolean indicating if the controller is an xbox controller.
+ *
+ * @param stick The joystick port number
+ * @return A boolean that is true if the controller is an xbox controller.
+ */
+bool DriverStation::GetJoystickIsXbox(int stick) const {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return false;
+ }
+ std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
+ return static_cast<bool>(m_joystickDescriptor[stick].isXbox);
+}
+
+/**
+ * Returns the type of joystick at a given port.
+ *
+ * @param stick The joystick port number
+ * @return The HID type of joystick at the given port
+ */
+int DriverStation::GetJoystickType(int stick) const {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return -1;
+ }
+ std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
+ return static_cast<int>(m_joystickDescriptor[stick].type);
+}
+
+/**
+ * Returns the name of the joystick at the given port.
+ *
+ * @param stick The joystick port number
+ * @return The name of the joystick at the given port
+ */
+std::string DriverStation::GetJoystickName(int stick) const {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ }
+ std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
+ std::string retVal(m_joystickDescriptor[stick].name);
+ return retVal;
+}
+
+/**
+ * Returns the types of Axes on a given joystick port.
+ *
+ * @param stick The joystick port number and the target axis
+ * @return What type of axis the axis is reporting to be
+ */
+int DriverStation::GetJoystickAxisType(int stick, int axis) const {
+ if (stick >= kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ return -1;
+ }
+ std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
+ return m_joystickDescriptor[stick].axisTypes[axis];
+}
+
+/**
+ * Check if the DS has enabled the robot.
+ *
+ * @return True if the robot is enabled and the DS is connected
+ */
+bool DriverStation::IsEnabled() const {
+ HAL_ControlWord controlWord;
+ UpdateControlWord(false, controlWord);
+ return controlWord.enabled && controlWord.dsAttached;
+}
+
+/**
+ * Check if the robot is disabled.
+ *
+ * @return True if the robot is explicitly disabled or the DS is not connected
+ */
+bool DriverStation::IsDisabled() const {
+ HAL_ControlWord controlWord;
+ UpdateControlWord(false, controlWord);
+ return !(controlWord.enabled && controlWord.dsAttached);
+}
+
+/**
+ * Check if the DS is commanding autonomous mode.
+ *
+ * @return True if the robot is being commanded to be in autonomous mode
+ */
+bool DriverStation::IsAutonomous() const {
+ HAL_ControlWord controlWord;
+ UpdateControlWord(false, controlWord);
+ return controlWord.autonomous;
+}
+
+/**
+ * Check if the DS is commanding teleop mode.
+ *
+ * @return True if the robot is being commanded to be in teleop mode
+ */
+bool DriverStation::IsOperatorControl() const {
+ HAL_ControlWord controlWord;
+ UpdateControlWord(false, controlWord);
+ return !(controlWord.autonomous || controlWord.test);
+}
+
+/**
+ * Check if the DS is commanding test mode.
+ *
+ * @return True if the robot is being commanded to be in test mode
+ */
+bool DriverStation::IsTest() const {
+ HAL_ControlWord controlWord;
+ UpdateControlWord(false, controlWord);
+ return controlWord.test;
+}
+
+/**
+ * Check if the DS is attached.
+ *
+ * @return True if the DS is connected to the robot
+ */
+bool DriverStation::IsDSAttached() const {
+ HAL_ControlWord controlWord;
+ UpdateControlWord(false, controlWord);
+ return controlWord.dsAttached;
+}
+
+/**
+ * Has a new control packet from the driver station arrived since the last time
+ * this function was called?
+ *
+ * Warning: If you call this function from more than one place at the same time,
+ * you will not get the intended behavior.
+ *
+ * @return True if the control data has been updated since the last call.
+ */
+bool DriverStation::IsNewControlData() const {
+ return m_newControlData.exchange(false);
+}
+
+/**
+ * Is the driver station attached to a Field Management System?
+ *
+ * @return True if the robot is competing on a field being controlled by a Field
+ * Management System
+ */
+bool DriverStation::IsFMSAttached() const {
+ HAL_ControlWord controlWord;
+ UpdateControlWord(false, controlWord);
+ return controlWord.fmsAttached;
+}
+
+/**
+ * Check if the FPGA outputs are enabled.
+ *
+ * The outputs may be disabled if the robot is disabled or e-stopped, the
+ * watchdog has expired, or if the roboRIO browns out.
+ *
+ * @return True if the FPGA outputs are enabled.
+ */
+bool DriverStation::IsSysActive() const {
+ int32_t status = 0;
+ bool retVal = HAL_GetSystemActive(&status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Check if the system is browned out.
+ *
+ * @return True if the system is browned out
+ */
+bool DriverStation::IsBrownedOut() const {
+ int32_t status = 0;
+ bool retVal = HAL_GetBrownedOut(&status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Return the alliance that the driver station says it is on.
+ *
+ * This could return kRed or kBlue.
+ *
+ * @return The Alliance enum (kRed, kBlue or kInvalid)
+ */
+DriverStation::Alliance DriverStation::GetAlliance() const {
+ int32_t status = 0;
+ auto allianceStationID = HAL_GetAllianceStation(&status);
+ switch (allianceStationID) {
+ case HAL_AllianceStationID_kRed1:
+ case HAL_AllianceStationID_kRed2:
+ case HAL_AllianceStationID_kRed3:
+ return kRed;
+ case HAL_AllianceStationID_kBlue1:
+ case HAL_AllianceStationID_kBlue2:
+ case HAL_AllianceStationID_kBlue3:
+ return kBlue;
+ default:
+ return kInvalid;
+ }
+}
+
+/**
+ * Return the driver station location on the field.
+ *
+ * This could return 1, 2, or 3.
+ *
+ * @return The location of the driver station (1-3, 0 for invalid)
+ */
+int DriverStation::GetLocation() const {
+ int32_t status = 0;
+ auto allianceStationID = HAL_GetAllianceStation(&status);
+ switch (allianceStationID) {
+ case HAL_AllianceStationID_kRed1:
+ case HAL_AllianceStationID_kBlue1:
+ return 1;
+ case HAL_AllianceStationID_kRed2:
+ case HAL_AllianceStationID_kBlue2:
+ return 2;
+ case HAL_AllianceStationID_kRed3:
+ case HAL_AllianceStationID_kBlue3:
+ return 3;
+ default:
+ return 0;
+ }
+}
+
+/**
+ * Wait until a new packet comes from the driver station.
+ *
+ * This blocks on a semaphore, so the waiting is efficient.
+ *
+ * This is a good way to delay processing until there is new driver station data
+ * to act on.
+ */
+void DriverStation::WaitForData() { WaitForData(0); }
+
+/**
+ * Wait until a new packet comes from the driver station, or wait for a timeout.
+ *
+ * If the timeout is less then or equal to 0, wait indefinitely.
+ *
+ * Timeout is in milliseconds
+ *
+ * This blocks on a semaphore, so the waiting is efficient.
+ *
+ * This is a good way to delay processing until there is new driver station data
+ * to act on.
+ *
+ * @param timeout Timeout time in seconds
+ *
+ * @return true if new data, otherwise false
+ */
+bool DriverStation::WaitForData(double timeout) {
+#if defined(_MSC_VER) && _MSC_VER < 1900
+ auto timeoutTime = std::chrono::steady_clock::now() +
+ std::chrono::duration<int64_t, std::nano>(
+ static_cast<int64_t>(timeout * 1e9));
+#else
+ auto timeoutTime =
+ std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
+#endif
+
+ std::unique_lock<priority_mutex> lock(m_waitForDataMutex);
+ while (!m_waitForDataPredicate) {
+ if (timeout > 0) {
+ auto timedOut = m_waitForDataCond.wait_until(lock, timeoutTime);
+ if (timedOut == std::cv_status::timeout) {
+ return false;
+ }
+ } else {
+ m_waitForDataCond.wait(lock);
+ }
+ }
+ m_waitForDataPredicate = false;
+ return true;
+}
+
+/**
+ * Return the approximate match time.
+ *
+ * The FMS does not send an official match time to the robots, but does send an
+ * approximate match time. The value will count down the time remaining in the
+ * current period (auto or teleop).
+ *
+ * Warning: This is not an official time (so it cannot be used to dispute ref
+ * calls or guarantee that a function will trigger before the match ends).
+ *
+ * The Practice Match function of the DS approximates the behaviour seen on the
+ * field.
+ *
+ * @return Time remaining in current match period (auto or teleop)
+ */
+double DriverStation::GetMatchTime() const {
+ int32_t status;
+ return HAL_GetMatchTime(&status);
+}
+
+/**
+ * Read the battery voltage.
+ *
+ * @return The battery voltage in Volts.
+ */
+double DriverStation::GetBatteryVoltage() const {
+ int32_t status = 0;
+ double voltage = HAL_GetVinVoltage(&status);
+ wpi_setErrorWithContext(status, "getVinVoltage");
+
+ return voltage;
+}
+
+/**
+ * Copy data from the DS task for the user.
+ *
+ * If no new data exists, it will just be returned, otherwise
+ * the data will be copied from the DS polling loop.
+ */
+void DriverStation::GetData() {
+ // Get the status of all of the joysticks, and save to the cache
+ for (uint8_t stick = 0; stick < kJoystickPorts; stick++) {
+ HAL_GetJoystickAxes(stick, &m_joystickAxesCache[stick]);
+ HAL_GetJoystickPOVs(stick, &m_joystickPOVsCache[stick]);
+ HAL_GetJoystickButtons(stick, &m_joystickButtonsCache[stick]);
+ HAL_GetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]);
+ }
+ // Force a control word update, to make sure the data is the newest.
+ HAL_ControlWord controlWord;
+ UpdateControlWord(true, controlWord);
+ // Obtain a write lock on the data, swap the cached data into the
+ // main data arrays
+ std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
+ m_joystickAxes.swap(m_joystickAxesCache);
+ m_joystickPOVs.swap(m_joystickPOVsCache);
+ m_joystickButtons.swap(m_joystickButtonsCache);
+ m_joystickDescriptor.swap(m_joystickDescriptorCache);
+}
+
+/**
+ * DriverStation constructor.
+ *
+ * This is only called once the first time GetInstance() is called
+ */
+DriverStation::DriverStation() {
+ m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
+ m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
+ m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
+ m_joystickDescriptor =
+ std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
+ m_joystickAxesCache = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
+ m_joystickPOVsCache = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
+ m_joystickButtonsCache =
+ std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
+ m_joystickDescriptorCache =
+ std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
+
+ // All joysticks should default to having zero axes, povs and buttons, so
+ // uninitialized memory doesn't get sent to speed controllers.
+ for (unsigned int i = 0; i < kJoystickPorts; i++) {
+ m_joystickAxes[i].count = 0;
+ m_joystickPOVs[i].count = 0;
+ m_joystickButtons[i].count = 0;
+ m_joystickDescriptor[i].isXbox = 0;
+ m_joystickDescriptor[i].type = -1;
+ m_joystickDescriptor[i].name[0] = '\0';
+
+ m_joystickAxesCache[i].count = 0;
+ m_joystickPOVsCache[i].count = 0;
+ m_joystickButtonsCache[i].count = 0;
+ m_joystickDescriptorCache[i].isXbox = 0;
+ m_joystickDescriptorCache[i].type = -1;
+ m_joystickDescriptorCache[i].name[0] = '\0';
+ }
+
+ m_dsThread = std::thread(&DriverStation::Run, this);
+}
+
+/**
+ * Reports errors related to unplugged joysticks
+ * Throttles the errors so that they don't overwhelm the DS
+ */
+void DriverStation::ReportJoystickUnpluggedError(llvm::StringRef message) {
+ double currentTime = Timer::GetFPGATimestamp();
+ if (currentTime > m_nextMessageTime) {
+ ReportError(message);
+ m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
+ }
+}
+
+/**
+ * Reports errors related to unplugged joysticks.
+ *
+ * Throttles the errors so that they don't overwhelm the DS.
+ */
+void DriverStation::ReportJoystickUnpluggedWarning(llvm::StringRef message) {
+ double currentTime = Timer::GetFPGATimestamp();
+ if (currentTime > m_nextMessageTime) {
+ ReportWarning(message);
+ m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
+ }
+}
+
+void DriverStation::Run() {
+ m_isRunning = true;
+ int period = 0;
+ while (m_isRunning) {
+ HAL_WaitForDSData();
+ GetData();
+ // notify IsNewControlData variables
+ m_newControlData = true;
+
+ // notify WaitForData block
+ {
+ std::lock_guard<priority_mutex> lock(m_waitForDataMutex);
+ m_waitForDataPredicate = true;
+ }
+ m_waitForDataCond.notify_all();
+
+ if (++period >= 4) {
+ MotorSafetyHelper::CheckMotors();
+ period = 0;
+ }
+ if (m_userInDisabled) HAL_ObserveUserProgramDisabled();
+ if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous();
+ if (m_userInTeleop) HAL_ObserveUserProgramTeleop();
+ if (m_userInTest) HAL_ObserveUserProgramTest();
+ }
+}
+
+/**
+ * Gets ControlWord data from the cache. If 50ms has passed, or the force
+ * parameter is set, the cached data is updated. Otherwise the data is just
+ * copied from the cache.
+ *
+ * @param force True to force an update to the cache, otherwise update if 50ms
+ * have passed.
+ * @param controlWord Structure to put the return control word data into.
+ */
+void DriverStation::UpdateControlWord(bool force,
+ HAL_ControlWord& controlWord) const {
+ auto now = std::chrono::steady_clock::now();
+ std::lock_guard<priority_mutex> lock(m_controlWordMutex);
+ // Update every 50 ms or on force.
+ if ((now - m_lastControlWordUpdate > std::chrono::milliseconds(50)) ||
+ force) {
+ HAL_GetControlWord(&m_controlWordCache);
+ m_lastControlWordUpdate = now;
+ }
+ controlWord = m_controlWordCache;
+}
diff --git a/wpilibc/athena/src/Encoder.cpp b/wpilibc/athena/src/Encoder.cpp
new file mode 100644
index 0000000..7fad9eb
--- /dev/null
+++ b/wpilibc/athena/src/Encoder.cpp
@@ -0,0 +1,527 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Encoder.h"
+
+#include "DigitalInput.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Common initialization code for Encoders.
+ *
+ * This code allocates resources for Encoders and is common to all constructors.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param reverseDirection If true, counts down instead of up (this is all
+ * relative)
+ * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
+ * decoding. If 4X is selected, then an encoder FPGA
+ * object is used and the returned counts will be 4x
+ * the encoder spec'd value since all rising and
+ * falling edges are counted. If 1X or 2X are selected
+ * then a counter object will be used and the returned
+ * value will either exactly match the spec'd count or
+ * be double (2x) the spec'd count.
+ */
+void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
+ int32_t status = 0;
+ m_encoder = HAL_InitializeEncoder(
+ m_aSource->GetPortHandleForRouting(),
+ (HAL_AnalogTriggerType)m_aSource->GetAnalogTriggerTypeForRouting(),
+ m_bSource->GetPortHandleForRouting(),
+ (HAL_AnalogTriggerType)m_bSource->GetAnalogTriggerTypeForRouting(),
+ reverseDirection, (HAL_EncoderEncodingType)encodingType, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
+ encodingType);
+ LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannel(),
+ this);
+}
+
+/**
+ * Encoder constructor.
+ *
+ * Construct a Encoder given a and b channels.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param aChannel The a channel DIO channel. 0-9 are on-board, 10-25
+ * are on the MXP port
+ * @param bChannel The b channel DIO channel. 0-9 are on-board, 10-25
+ * are on the MXP port
+ * @param reverseDirection represents the orientation of the encoder and
+ * inverts the output values if necessary so forward
+ * represents positive values.
+ * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
+ * decoding. If 4X is selected, then an encoder FPGA
+ * object is used and the returned counts will be 4x
+ * the encoder spec'd value since all rising and
+ * falling edges are counted. If 1X or 2X are selected
+ * then a counter object will be used and the returned
+ * value will either exactly match the spec'd count or
+ * be double (2x) the spec'd count.
+ */
+Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
+ EncodingType encodingType) {
+ m_aSource = std::make_shared<DigitalInput>(aChannel);
+ m_bSource = std::make_shared<DigitalInput>(bChannel);
+ InitEncoder(reverseDirection, encodingType);
+}
+
+/**
+ * Encoder constructor.
+ *
+ * Construct a Encoder given a and b channels as digital inputs. This is used in
+ * the case where the digital inputs are shared. The Encoder class will not
+ * allocate the digital inputs and assume that they already are counted.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param aSource The source that should be used for the a channel.
+ * @param bSource the source that should be used for the b channel.
+ * @param reverseDirection represents the orientation of the encoder and
+ * inverts the output values if necessary so forward
+ * represents positive values.
+ * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
+ * decoding. If 4X is selected, then an encoder FPGA
+ * object is used and the returned counts will be 4x
+ * the encoder spec'd value since all rising and
+ * falling edges are counted. If 1X or 2X are selected
+ * then a counter object will be used and the returned
+ * value will either exactly match the spec'd count or
+ * be double (2x) the spec'd count.
+ */
+Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
+ bool reverseDirection, EncodingType encodingType)
+ : m_aSource(aSource, NullDeleter<DigitalSource>()),
+ m_bSource(bSource, NullDeleter<DigitalSource>()) {
+ if (m_aSource == nullptr || m_bSource == nullptr)
+ wpi_setWPIError(NullParameter);
+ else
+ InitEncoder(reverseDirection, encodingType);
+}
+
+Encoder::Encoder(std::shared_ptr<DigitalSource> aSource,
+ std::shared_ptr<DigitalSource> bSource, bool reverseDirection,
+ EncodingType encodingType)
+ : m_aSource(aSource), m_bSource(bSource) {
+ if (m_aSource == nullptr || m_bSource == nullptr)
+ wpi_setWPIError(NullParameter);
+ else
+ InitEncoder(reverseDirection, encodingType);
+}
+
+/**
+ * Encoder constructor.
+ *
+ * Construct a Encoder given a and b channels as digital inputs. This is used in
+ * the case where the digital inputs are shared. The Encoder class will not
+ * allocate the digital inputs and assume that they already are counted.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param aSource The source that should be used for the a channel.
+ * @param bSource the source that should be used for the b channel.
+ * @param reverseDirection represents the orientation of the encoder and
+ * inverts the output values if necessary so forward
+ * represents positive values.
+ * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
+ * decoding. If 4X is selected, then an encoder FPGA
+ * object is used and the returned counts will be 4x
+ * the encoder spec'd value since all rising and
+ * falling edges are counted. If 1X or 2X are selected
+ * then a counter object will be used and the returned
+ * value will either exactly match the spec'd count or
+ * be double (2x) the spec'd count.
+ */
+Encoder::Encoder(DigitalSource& aSource, DigitalSource& bSource,
+ bool reverseDirection, EncodingType encodingType)
+ : m_aSource(&aSource, NullDeleter<DigitalSource>()),
+ m_bSource(&bSource, NullDeleter<DigitalSource>()) {
+ InitEncoder(reverseDirection, encodingType);
+}
+
+/**
+ * Free the resources for an Encoder.
+ *
+ * Frees the FPGA resources associated with an Encoder.
+ */
+Encoder::~Encoder() {
+ int32_t status = 0;
+ HAL_FreeEncoder(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * The encoding scale factor 1x, 2x, or 4x, per the requested encodingType.
+ *
+ * Used to divide raw edge counts down to spec'd counts.
+ */
+int Encoder::GetEncodingScale() const {
+ int32_t status = 0;
+ int val = HAL_GetEncoderEncodingScale(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return val;
+}
+
+/**
+ * Gets the raw value from the encoder.
+ *
+ * The raw value is the actual count unscaled by the 1x, 2x, or 4x scale
+ * factor.
+ *
+ * @return Current raw count from the encoder
+ */
+int Encoder::GetRaw() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int value = HAL_GetEncoderRaw(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Gets the current count.
+ *
+ * Returns the current count on the Encoder. This method compensates for the
+ * decoding type.
+ *
+ * @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale
+ * factor.
+ */
+int Encoder::Get() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int value = HAL_GetEncoder(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Reset the Encoder distance to zero.
+ *
+ * Resets the current count to zero on the encoder.
+ */
+void Encoder::Reset() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_ResetEncoder(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Returns the period of the most recent pulse.
+ *
+ * Returns the period of the most recent Encoder pulse in seconds.
+ * This method compensates for the decoding type.
+ *
+ * @deprecated Use GetRate() in favor of this method. This returns unscaled
+ * periods and GetRate() scales using value from
+ * SetDistancePerPulse().
+ *
+ * @return Period in seconds of the most recent pulse.
+ */
+double Encoder::GetPeriod() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetEncoderPeriod(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Sets the maximum period for stopped detection.
+ *
+ * Sets the value that represents the maximum period of the Encoder before it
+ * will assume that the attached device is stopped. This timeout allows users
+ * to determine if the wheels or other shaft has stopped rotating.
+ * This method compensates for the decoding type.
+ *
+ * @deprecated Use SetMinRate() in favor of this method. This takes unscaled
+ * periods and SetMinRate() scales using value from
+ * SetDistancePerPulse().
+ *
+ * @param maxPeriod The maximum time between rising and falling edges before
+ * the FPGA will report the device stopped. This is expressed
+ * in seconds.
+ */
+void Encoder::SetMaxPeriod(double maxPeriod) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Determine if the encoder is stopped.
+ *
+ * Using the MaxPeriod value, a boolean is returned that is true if the encoder
+ * is considered stopped and false if it is still moving. A stopped encoder is
+ * one where the most recent pulse width exceeds the MaxPeriod.
+ *
+ * @return True if the encoder is considered stopped.
+ */
+bool Encoder::GetStopped() const {
+ if (StatusIsFatal()) return true;
+ int32_t status = 0;
+ bool value = HAL_GetEncoderStopped(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * The last direction the encoder value changed.
+ *
+ * @return The last direction the encoder value changed.
+ */
+bool Encoder::GetDirection() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value = HAL_GetEncoderDirection(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * The scale needed to convert a raw counter value into a number of encoder
+ * pulses.
+ */
+double Encoder::DecodingScaleFactor() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return val;
+}
+
+/**
+ * Get the distance the robot has driven since the last reset.
+ *
+ * @return The distance driven since the last reset as scaled by the value from
+ * SetDistancePerPulse().
+ */
+double Encoder::GetDistance() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetEncoderDistance(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Get the current rate of the encoder.
+ *
+ * Units are distance per second as scaled by the value from
+ * SetDistancePerPulse().
+ *
+ * @return The current rate of the encoder.
+ */
+double Encoder::GetRate() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetEncoderRate(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Set the minimum rate of the device before the hardware reports it stopped.
+ *
+ * @param minRate The minimum rate. The units are in distance per second as
+ * scaled by the value from SetDistancePerPulse().
+ */
+void Encoder::SetMinRate(double minRate) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetEncoderMinRate(m_encoder, minRate, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the distance per pulse for this encoder.
+ *
+ * This sets the multiplier used to determine the distance driven based on the
+ * count value from the encoder.
+ *
+ * Do not include the decoding type in this scale. The library already
+ * compensates for the decoding type.
+ *
+ * Set this value based on the encoder's rated Pulses per Revolution and
+ * factor in gearing reductions following the encoder shaft.
+ *
+ * This distance can be in any units you like, linear or angular.
+ *
+ * @param distancePerPulse The scale factor that will be used to convert pulses
+ * to useful units.
+ */
+void Encoder::SetDistancePerPulse(double distancePerPulse) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetEncoderDistancePerPulse(m_encoder, distancePerPulse, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the direction sensing for this encoder.
+ *
+ * This sets the direction sensing on the encoder so that it could count in the
+ * correct software direction regardless of the mounting.
+ *
+ * @param reverseDirection true if the encoder direction should be reversed
+ */
+void Encoder::SetReverseDirection(bool reverseDirection) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetEncoderReverseDirection(m_encoder, reverseDirection, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the Samples to Average which specifies the number of samples of the timer
+ * to average when calculating the period.
+ *
+ * Perform averaging to account for mechanical imperfections or as oversampling
+ * to increase resolution.
+ *
+ * @param samplesToAverage The number of samples to average from 1 to 127.
+ */
+void Encoder::SetSamplesToAverage(int samplesToAverage) {
+ if (samplesToAverage < 1 || samplesToAverage > 127) {
+ wpi_setWPIErrorWithContext(
+ ParameterOutOfRange,
+ "Average counter values must be between 1 and 127");
+ return;
+ }
+ int32_t status = 0;
+ HAL_SetEncoderSamplesToAverage(m_encoder, samplesToAverage, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the Samples to Average which specifies the number of samples of the timer
+ * to average when calculating the period.
+ *
+ * Perform averaging to account for mechanical imperfections or as oversampling
+ * to increase resolution.
+ *
+ * @return The number of samples being averaged (from 1 to 127)
+ */
+int Encoder::GetSamplesToAverage() const {
+ int32_t status = 0;
+ int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return result;
+}
+
+/**
+ * Implement the PIDSource interface.
+ *
+ * @return The current value of the selected source parameter.
+ */
+double Encoder::PIDGet() {
+ if (StatusIsFatal()) return 0.0;
+ switch (GetPIDSourceType()) {
+ case PIDSourceType::kDisplacement:
+ return GetDistance();
+ case PIDSourceType::kRate:
+ return GetRate();
+ default:
+ return 0.0;
+ }
+}
+
+/**
+ * Set the index source for the encoder.
+ *
+ * When this source is activated, the encoder count automatically resets.
+ *
+ * @param channel A DIO channel to set as the encoder index
+ * @param type The state that will cause the encoder to reset
+ */
+void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
+ // Force digital input if just given an index
+ m_indexSource = std::make_unique<DigitalInput>(channel);
+ SetIndexSource(m_indexSource.get(), type);
+}
+
+/**
+ * Set the index source for the encoder.
+ *
+ * When this source is activated, the encoder count automatically resets.
+ *
+ * @param channel A digital source to set as the encoder index
+ * @param type The state that will cause the encoder to reset
+ */
+WPI_DEPRECATED("Use pass-by-reference instead.")
+void Encoder::SetIndexSource(DigitalSource* source,
+ Encoder::IndexingType type) {
+ SetIndexSource(*source, type);
+}
+
+/**
+ * Set the index source for the encoder.
+ *
+ * When this source is activated, the encoder count automatically resets.
+ *
+ * @param channel A digital source to set as the encoder index
+ * @param type The state that will cause the encoder to reset
+ */
+void Encoder::SetIndexSource(const DigitalSource& source,
+ Encoder::IndexingType type) {
+ int32_t status = 0;
+ HAL_SetEncoderIndexSource(
+ m_encoder, source.GetPortHandleForRouting(),
+ (HAL_AnalogTriggerType)source.GetAnalogTriggerTypeForRouting(),
+ (HAL_EncoderIndexingType)type, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+int Encoder::GetFPGAIndex() const {
+ int32_t status = 0;
+ int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return val;
+}
+
+void Encoder::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Speed", GetRate());
+ m_table->PutNumber("Distance", GetDistance());
+ int32_t status = 0;
+ double distancePerPulse =
+ HAL_GetEncoderDistancePerPulse(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_table->PutNumber("Distance per Tick", distancePerPulse);
+ }
+}
+
+void Encoder::StartLiveWindowMode() {}
+
+void Encoder::StopLiveWindowMode() {}
+
+std::string Encoder::GetSmartDashboardType() const {
+ int32_t status = 0;
+ HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X)
+ return "Quadrature Encoder";
+ else
+ return "Encoder";
+}
+
+void Encoder::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Encoder::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/GearTooth.cpp b/wpilibc/athena/src/GearTooth.cpp
new file mode 100644
index 0000000..210f12d
--- /dev/null
+++ b/wpilibc/athena/src/GearTooth.cpp
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "GearTooth.h"
+
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+constexpr double GearTooth::kGearToothThreshold;
+
+/**
+ * Common code called by the constructors.
+ */
+void GearTooth::EnableDirectionSensing(bool directionSensitive) {
+ if (directionSensitive) {
+ SetPulseLengthMode(kGearToothThreshold);
+ }
+}
+
+/**
+ * Construct a GearTooth sensor given a channel.
+ *
+ * @param channel The DIO channel that the sensor is connected to.
+ * 0-9 are on-board, 10-25 are on the MXP.
+ * @param directionSensitive True to enable the pulse length decoding in
+ * hardware to specify count direction.
+ */
+GearTooth::GearTooth(int channel, bool directionSensitive) : Counter(channel) {
+ EnableDirectionSensing(directionSensitive);
+ LiveWindow::GetInstance()->AddSensor("GearTooth", channel, this);
+}
+
+/**
+ * Construct a GearTooth sensor given a digital input.
+ *
+ * This should be used when sharing digital inputs.
+ *
+ * @param source A pointer to the existing DigitalSource object
+ * (such as a DigitalInput)
+ * @param directionSensitive True to enable the pulse length decoding in
+ * hardware to specify count direction.
+ */
+GearTooth::GearTooth(DigitalSource* source, bool directionSensitive)
+ : Counter(source) {
+ EnableDirectionSensing(directionSensitive);
+}
+
+/**
+ * Construct a GearTooth sensor given a digital input.
+ *
+ * This should be used when sharing digital inputs.
+ *
+ * @param source A reference to the existing DigitalSource object
+ * (such as a DigitalInput)
+ * @param directionSensitive True to enable the pulse length decoding in
+ * hardware to specify count direction.
+ */
+GearTooth::GearTooth(std::shared_ptr<DigitalSource> source,
+ bool directionSensitive)
+ : Counter(source) {
+ EnableDirectionSensing(directionSensitive);
+}
+
+std::string GearTooth::GetSmartDashboardType() const { return "GearTooth"; }
diff --git a/wpilibc/athena/src/GenericHID.cpp b/wpilibc/athena/src/GenericHID.cpp
new file mode 100644
index 0000000..8878276
--- /dev/null
+++ b/wpilibc/athena/src/GenericHID.cpp
@@ -0,0 +1,129 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "GenericHID.h"
+
+#include "DriverStation.h"
+#include "HAL/HAL.h"
+
+using namespace frc;
+
+GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
+ m_port = port;
+}
+
+/**
+ * Get the value of the axis.
+ *
+ * @param axis The axis to read, starting at 0.
+ * @return The value of the axis.
+ */
+double GenericHID::GetRawAxis(int axis) const {
+ return m_ds.GetStickAxis(m_port, axis);
+}
+
+/**
+ * Get the button value (starting at button 1)
+ *
+ * The buttons are returned in a single 16 bit value with one bit representing
+ * the state of each button. The appropriate button is returned as a boolean
+ * value.
+ *
+ * @param button The button number to be read (starting at 1)
+ * @return The state of the button.
+ **/
+bool GenericHID::GetRawButton(int button) const {
+ return m_ds.GetStickButton(m_port, button);
+}
+
+/**
+ * Get the angle in degrees of a POV on the HID.
+ *
+ * The POV angles start at 0 in the up direction, and increase clockwise
+ * (e.g. right is 90, upper-left is 315).
+ *
+ * @param pov The index of the POV to read (starting at 0)
+ * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
+ */
+int GenericHID::GetPOV(int pov) const {
+ return m_ds.GetStickPOV(GetPort(), pov);
+}
+
+/**
+ * Get the number of POVs for the HID.
+ *
+ * @return the number of POVs for the current HID
+ */
+int GenericHID::GetPOVCount() const { return m_ds.GetStickPOVCount(GetPort()); }
+
+/**
+ * Get the port number of the HID.
+ *
+ * @return The port number of the HID.
+ */
+int GenericHID::GetPort() const { return m_port; }
+
+/**
+ * Get the type of the HID.
+ *
+ * @return the type of the HID.
+ */
+GenericHID::HIDType GenericHID::GetType() const {
+ return static_cast<HIDType>(m_ds.GetJoystickType(m_port));
+}
+
+/**
+ * Get the name of the HID.
+ *
+ * @return the name of the HID.
+ */
+std::string GenericHID::GetName() const { return m_ds.GetJoystickName(m_port); }
+
+/**
+ * Set a single HID output value for the HID.
+ *
+ * @param outputNumber The index of the output to set (1-32)
+ * @param value The value to set the output to
+ */
+
+void GenericHID::SetOutput(int outputNumber, bool value) {
+ m_outputs =
+ (m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
+
+ HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
+}
+
+/**
+ * Set all output values for the HID.
+ *
+ * @param value The 32 bit output value (1 bit for each output)
+ */
+void GenericHID::SetOutputs(int value) {
+ m_outputs = value;
+ HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
+}
+
+/**
+ * Set the rumble output for the HID.
+ *
+ * The DS currently supports 2 rumble values, left rumble and right rumble.
+ *
+ * @param type Which rumble value to set
+ * @param value The normalized value (0 to 1) to set the rumble to
+ */
+void GenericHID::SetRumble(RumbleType type, double value) {
+ if (value < 0)
+ value = 0;
+ else if (value > 1)
+ value = 1;
+ if (type == kLeftRumble) {
+ m_leftRumble = value * 65535;
+ } else {
+ m_rightRumble = value * 65535;
+ }
+ HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
+}
diff --git a/wpilibc/athena/src/I2C.cpp b/wpilibc/athena/src/I2C.cpp
new file mode 100644
index 0000000..0f010f5
--- /dev/null
+++ b/wpilibc/athena/src/I2C.cpp
@@ -0,0 +1,195 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/I2C.h"
+#include "I2C.h"
+
+#include "HAL/HAL.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Constructor.
+ *
+ * @param port The I2C port to which the device is connected.
+ * @param deviceAddress The address of the device on the I2C bus.
+ */
+I2C::I2C(Port port, int deviceAddress)
+ : m_port(port), m_deviceAddress(deviceAddress) {
+ int32_t status = 0;
+ HAL_InitializeI2C(m_port, &status);
+ // wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_Report(HALUsageReporting::kResourceType_I2C, deviceAddress);
+}
+
+/**
+ * Destructor.
+ */
+I2C::~I2C() { HAL_CloseI2C(m_port); }
+
+/**
+ * Generic transaction.
+ *
+ * This is a lower-level interface to the I2C hardware giving you more control
+ * over each transaction.
+ *
+ * @param dataToSend Buffer of data to send as part of the transaction.
+ * @param sendSize Number of bytes to send as part of the transaction.
+ * @param dataReceived Buffer to read data into.
+ * @param receiveSize Number of bytes to read from the device.
+ * @return Transfer Aborted... false for success, true for aborted.
+ */
+bool I2C::Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived,
+ int receiveSize) {
+ int32_t status = 0;
+ status = HAL_TransactionI2C(m_port, m_deviceAddress, dataToSend, sendSize,
+ dataReceived, receiveSize);
+ // wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return status < receiveSize;
+}
+
+/**
+ * Attempt to address a device on the I2C bus.
+ *
+ * This allows you to figure out if there is a device on the I2C bus that
+ * responds to the address specified in the constructor.
+ *
+ * @return Transfer Aborted... false for success, true for aborted.
+ */
+bool I2C::AddressOnly() { return Transaction(nullptr, 0, nullptr, 0); }
+
+/**
+ * Execute a write transaction with the device.
+ *
+ * Write a single byte to a register on a device and wait until the
+ * transaction is complete.
+ *
+ * @param registerAddress The address of the register on the device to be
+ * written.
+ * @param data The byte to write to the register on the device.
+ * @return Transfer Aborted... false for success, true for aborted.
+ */
+bool I2C::Write(int registerAddress, uint8_t data) {
+ uint8_t buffer[2];
+ buffer[0] = registerAddress;
+ buffer[1] = data;
+ int32_t status = 0;
+ status = HAL_WriteI2C(m_port, m_deviceAddress, buffer, sizeof(buffer));
+ return status < static_cast<int>(sizeof(buffer));
+}
+
+/**
+ * Execute a bulk write transaction with the device.
+ *
+ * Write multiple bytes to a device and wait until the
+ * transaction is complete.
+ *
+ * @param data The data to write to the register on the device.
+ * @param count The number of bytes to be written.
+ * @return Transfer Aborted... false for success, true for aborted.
+ */
+bool I2C::WriteBulk(uint8_t* data, int count) {
+ int32_t status = 0;
+ status = HAL_WriteI2C(m_port, m_deviceAddress, data, count);
+ return status < count;
+}
+
+/**
+ * Execute a read transaction with the device.
+ *
+ * Read bytes from a device.
+ * Most I2C devices will auto-increment the register pointer internally allowing
+ * you to read consecutive registers on a device in a single transaction.
+ *
+ * @param registerAddress The register to read first in the transaction.
+ * @param count The number of bytes to read in the transaction.
+ * @param buffer A pointer to the array of bytes to store the data
+ * read from the device.
+ * @return Transfer Aborted... false for success, true for aborted.
+ */
+bool I2C::Read(int registerAddress, int count, uint8_t* buffer) {
+ if (count < 1) {
+ wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
+ return true;
+ }
+ if (buffer == nullptr) {
+ wpi_setWPIErrorWithContext(NullParameter, "buffer");
+ return true;
+ }
+ return Transaction(reinterpret_cast<uint8_t*>(®isterAddress),
+ sizeof(registerAddress), buffer, count);
+}
+
+/**
+ * Execute a read only transaction with the device.
+ *
+ * Read bytes from a device. This method does not write any data to prompt the
+ * device.
+ *
+ * @param buffer A pointer to the array of bytes to store the data read from
+ * the device.
+ * @param count The number of bytes to read in the transaction.
+ * @return Transfer Aborted... false for success, true for aborted.
+ */
+bool I2C::ReadOnly(int count, uint8_t* buffer) {
+ if (count < 1) {
+ wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
+ return true;
+ }
+ if (buffer == nullptr) {
+ wpi_setWPIErrorWithContext(NullParameter, "buffer");
+ return true;
+ }
+ int32_t status = 0;
+ status = HAL_ReadI2C(m_port, m_deviceAddress, buffer, count);
+ return status < count;
+}
+
+/**
+ * Send a broadcast write to all devices on the I2C bus.
+ *
+ * This is not currently implemented!
+ *
+ * @param registerAddress The register to write on all devices on the bus.
+ * @param data The value to write to the devices.
+ */
+// [[gnu::warning("I2C::Broadcast() is not implemented.")]] void I2C::Broadcast(
+// int registerAddress, uint8_t data) {}
+
+/**
+ * Verify that a device's registers contain expected values.
+ *
+ * Most devices will have a set of registers that contain a known value that
+ * can be used to identify them. This allows an I2C device driver to easily
+ * verify that the device contains the expected value.
+ *
+ * @pre The device must support and be configured to use register
+ * auto-increment.
+ *
+ * @param registerAddress The base register to start reading from the device.
+ * @param count The size of the field to be verified.
+ * @param expected A buffer containing the values expected from the
+ * device.
+ */
+bool I2C::VerifySensor(int registerAddress, int count,
+ const uint8_t* expected) {
+ // TODO: Make use of all 7 read bytes
+ uint8_t deviceData[4];
+ for (int i = 0, curRegisterAddress = registerAddress; i < count;
+ i += 4, curRegisterAddress += 4) {
+ int toRead = count - i < 4 ? count - i : 4;
+ // Read the chunk of data. Return false if the sensor does not respond.
+ if (Read(curRegisterAddress, toRead, deviceData)) return false;
+
+ for (int j = 0; j < toRead; j++) {
+ if (deviceData[j] != expected[i + j]) return false;
+ }
+ }
+ return true;
+}
diff --git a/wpilibc/athena/src/Internal/HardwareHLReporting.cpp b/wpilibc/athena/src/Internal/HardwareHLReporting.cpp
new file mode 100644
index 0000000..8c66d1c
--- /dev/null
+++ b/wpilibc/athena/src/Internal/HardwareHLReporting.cpp
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Internal/HardwareHLReporting.h"
+
+#include "HAL/HAL.h"
+
+using namespace frc;
+
+void HardwareHLReporting::ReportScheduler() {
+ HAL_Report(HALUsageReporting::kResourceType_Command,
+ HALUsageReporting::kCommand_Scheduler);
+}
+
+void HardwareHLReporting::ReportSmartDashboard() {
+ HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0);
+}
diff --git a/wpilibc/athena/src/InterruptableSensorBase.cpp b/wpilibc/athena/src/InterruptableSensorBase.cpp
new file mode 100644
index 0000000..f5a006d
--- /dev/null
+++ b/wpilibc/athena/src/InterruptableSensorBase.cpp
@@ -0,0 +1,196 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "InterruptableSensorBase.h"
+
+#include "HAL/HAL.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+InterruptableSensorBase::InterruptableSensorBase() {}
+
+/**
+ * Request one of the 8 interrupts asynchronously on this digital input.
+ *
+ * Request interrupts in asynchronous mode where the user's interrupt handler
+ * will be called when the interrupt fires. Users that want control over the
+ * thread priority should use the synchronous method with their own spawned
+ * thread. The default is interrupt on rising edges only.
+ */
+void InterruptableSensorBase::RequestInterrupts(
+ HAL_InterruptHandlerFunction handler, void* param) {
+ if (StatusIsFatal()) return;
+
+ wpi_assert(m_interrupt == HAL_kInvalidHandle);
+ AllocateInterrupts(false);
+ if (StatusIsFatal()) return; // if allocate failed, out of interrupts
+
+ int32_t status = 0;
+ HAL_RequestInterrupts(
+ m_interrupt, GetPortHandleForRouting(),
+ static_cast<HAL_AnalogTriggerType>(GetAnalogTriggerTypeForRouting()),
+ &status);
+ SetUpSourceEdge(true, false);
+ HAL_AttachInterruptHandler(m_interrupt, handler, param, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Request one of the 8 interrupts synchronously on this digital input.
+ *
+ * Request interrupts in synchronous mode where the user program will have to
+ * explicitly wait for the interrupt to occur using WaitForInterrupt.
+ * The default is interrupt on rising edges only.
+ */
+void InterruptableSensorBase::RequestInterrupts() {
+ if (StatusIsFatal()) return;
+
+ wpi_assert(m_interrupt == HAL_kInvalidHandle);
+ AllocateInterrupts(true);
+ if (StatusIsFatal()) return; // if allocate failed, out of interrupts
+
+ int32_t status = 0;
+ HAL_RequestInterrupts(
+ m_interrupt, GetPortHandleForRouting(),
+ static_cast<HAL_AnalogTriggerType>(GetAnalogTriggerTypeForRouting()),
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ SetUpSourceEdge(true, false);
+}
+
+void InterruptableSensorBase::AllocateInterrupts(bool watcher) {
+ wpi_assert(m_interrupt == HAL_kInvalidHandle);
+ // Expects the calling leaf class to allocate an interrupt index.
+ int32_t status = 0;
+ m_interrupt = HAL_InitializeInterrupts(watcher, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Cancel interrupts on this device.
+ *
+ * This deallocates all the chipobject structures and disables any interrupts.
+ */
+void InterruptableSensorBase::CancelInterrupts() {
+ if (StatusIsFatal()) return;
+ wpi_assert(m_interrupt != HAL_kInvalidHandle);
+ int32_t status = 0;
+ HAL_CleanInterrupts(m_interrupt, &status);
+ // ignore status, as an invalid handle just needs to be ignored.
+ m_interrupt = HAL_kInvalidHandle;
+}
+
+/**
+ * In synchronous mode, wait for the defined interrupt to occur.
+ *
+ * You should <b>NOT</b> attempt to read the sensor from another thread while
+ * waiting for an interrupt. This is not threadsafe, and can cause memory
+ * corruption
+ *
+ * @param timeout Timeout in seconds
+ * @param ignorePrevious If true, ignore interrupts that happened before
+ * WaitForInterrupt was called.
+ * @return What interrupts fired
+ */
+InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
+ double timeout, bool ignorePrevious) {
+ if (StatusIsFatal()) return InterruptableSensorBase::kTimeout;
+ wpi_assert(m_interrupt != HAL_kInvalidHandle);
+ int32_t status = 0;
+ int result;
+
+ result = HAL_WaitForInterrupt(m_interrupt, timeout, ignorePrevious, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ return static_cast<WaitResult>(result);
+}
+
+/**
+ * Enable interrupts to occur on this input.
+ *
+ * Interrupts are disabled when the RequestInterrupt call is made. This gives
+ * time to do the setup of the other options before starting to field
+ * interrupts.
+ */
+void InterruptableSensorBase::EnableInterrupts() {
+ if (StatusIsFatal()) return;
+ wpi_assert(m_interrupt != HAL_kInvalidHandle);
+ int32_t status = 0;
+ HAL_EnableInterrupts(m_interrupt, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Disable Interrupts without without deallocating structures.
+ */
+void InterruptableSensorBase::DisableInterrupts() {
+ if (StatusIsFatal()) return;
+ wpi_assert(m_interrupt != HAL_kInvalidHandle);
+ int32_t status = 0;
+ HAL_DisableInterrupts(m_interrupt, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Return the timestamp for the rising interrupt that occurred most recently.
+ *
+ * This is in the same time domain as GetClock().
+ * The rising-edge interrupt should be enabled with
+ * {@link #DigitalInput.SetUpSourceEdge}
+ *
+ * @return Timestamp in seconds since boot.
+ */
+double InterruptableSensorBase::ReadRisingTimestamp() {
+ if (StatusIsFatal()) return 0.0;
+ wpi_assert(m_interrupt != HAL_kInvalidHandle);
+ int32_t status = 0;
+ double timestamp = HAL_ReadInterruptRisingTimestamp(m_interrupt, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return timestamp;
+}
+
+/**
+ * Return the timestamp for the falling interrupt that occurred most recently.
+ *
+ * This is in the same time domain as GetClock().
+ * The falling-edge interrupt should be enabled with
+ * {@link #DigitalInput.SetUpSourceEdge}
+ *
+ * @return Timestamp in seconds since boot.
+*/
+double InterruptableSensorBase::ReadFallingTimestamp() {
+ if (StatusIsFatal()) return 0.0;
+ wpi_assert(m_interrupt != HAL_kInvalidHandle);
+ int32_t status = 0;
+ double timestamp = HAL_ReadInterruptFallingTimestamp(m_interrupt, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return timestamp;
+}
+
+/**
+ * Set which edge to trigger interrupts on
+ *
+ * @param risingEdge true to interrupt on rising edge
+ * @param fallingEdge true to interrupt on falling edge
+ */
+void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge,
+ bool fallingEdge) {
+ if (StatusIsFatal()) return;
+ if (m_interrupt == HAL_kInvalidHandle) {
+ wpi_setWPIErrorWithContext(
+ NullParameter,
+ "You must call RequestInterrupts before SetUpSourceEdge");
+ return;
+ }
+ if (m_interrupt != HAL_kInvalidHandle) {
+ int32_t status = 0;
+ HAL_SetInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ }
+}
diff --git a/wpilibc/athena/src/IterativeRobot.cpp b/wpilibc/athena/src/IterativeRobot.cpp
new file mode 100644
index 0000000..3b4e64f
--- /dev/null
+++ b/wpilibc/athena/src/IterativeRobot.cpp
@@ -0,0 +1,263 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "IterativeRobot.h"
+
+#include "DriverStation.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "networktables/NetworkTable.h"
+
+using namespace frc;
+
+/**
+ * Provide an alternate "main loop" via StartCompetition().
+ *
+ * This specific StartCompetition() implements "main loop" behaviour synced with
+ * the DS packets.
+ */
+void IterativeRobot::StartCompetition() {
+ HAL_Report(HALUsageReporting::kResourceType_Framework,
+ HALUsageReporting::kFramework_Iterative);
+
+ LiveWindow* lw = LiveWindow::GetInstance();
+ // first and one-time initialization
+ NetworkTable::GetTable("LiveWindow")
+ ->GetSubTable("~STATUS~")
+ ->PutBoolean("LW Enabled", false);
+ RobotInit();
+
+ // Tell the DS that the robot is ready to be enabled
+ HAL_ObserveUserProgramStarting();
+
+ // loop forever, calling the appropriate mode-dependent function
+ lw->SetEnabled(false);
+ while (true) {
+ // wait for driver station data so the loop doesn't hog the CPU
+ m_ds.WaitForData();
+ // Call the appropriate function depending upon the current robot mode
+ if (IsDisabled()) {
+ // call DisabledInit() if we are now just entering disabled mode from
+ // either a different mode or from power-on
+ if (!m_disabledInitialized) {
+ lw->SetEnabled(false);
+ DisabledInit();
+ m_disabledInitialized = true;
+ // reset the initialization flags for the other modes
+ m_autonomousInitialized = false;
+ m_teleopInitialized = false;
+ m_testInitialized = false;
+ }
+ HAL_ObserveUserProgramDisabled();
+ DisabledPeriodic();
+ } else if (IsAutonomous()) {
+ // call AutonomousInit() if we are now just entering autonomous mode from
+ // either a different mode or from power-on
+ if (!m_autonomousInitialized) {
+ lw->SetEnabled(false);
+ AutonomousInit();
+ m_autonomousInitialized = true;
+ // reset the initialization flags for the other modes
+ m_disabledInitialized = false;
+ m_teleopInitialized = false;
+ m_testInitialized = false;
+ }
+ HAL_ObserveUserProgramAutonomous();
+ AutonomousPeriodic();
+ } else if (IsTest()) {
+ // call TestInit() if we are now just entering test mode from
+ // either a different mode or from power-on
+ if (!m_testInitialized) {
+ lw->SetEnabled(true);
+ TestInit();
+ m_testInitialized = true;
+ // reset the initialization flags for the other modes
+ m_disabledInitialized = false;
+ m_autonomousInitialized = false;
+ m_teleopInitialized = false;
+ }
+ HAL_ObserveUserProgramTest();
+ TestPeriodic();
+ } else {
+ // call TeleopInit() if we are now just entering teleop mode from
+ // either a different mode or from power-on
+ if (!m_teleopInitialized) {
+ lw->SetEnabled(false);
+ TeleopInit();
+ m_teleopInitialized = true;
+ // reset the initialization flags for the other modes
+ m_disabledInitialized = false;
+ m_autonomousInitialized = false;
+ m_testInitialized = false;
+ Scheduler::GetInstance()->SetEnabled(true);
+ }
+ HAL_ObserveUserProgramTeleop();
+ TeleopPeriodic();
+ }
+ RobotPeriodic();
+ }
+}
+
+/**
+ * Robot-wide initialization code should go here.
+ *
+ * Users should override this method for default Robot-wide initialization which
+ * will be called when the robot is first powered on. It will be called exactly
+ * one time.
+ *
+ * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
+ * indicators will be off until RobotInit() exits. Code in RobotInit() that
+ * waits for enable will cause the robot to never indicate that the code is
+ * ready, causing the robot to be bypassed in a match.
+ */
+void IterativeRobot::RobotInit() {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Initialization code for disabled mode should go here.
+ *
+ * Users should override this method for initialization code which will be
+ * called each time
+ * the robot enters disabled mode.
+ */
+void IterativeRobot::DisabledInit() {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Initialization code for autonomous mode should go here.
+ *
+ * Users should override this method for initialization code which will be
+ * called each time the robot enters autonomous mode.
+ */
+void IterativeRobot::AutonomousInit() {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Initialization code for teleop mode should go here.
+ *
+ * Users should override this method for initialization code which will be
+ * called each time the robot enters teleop mode.
+ */
+void IterativeRobot::TeleopInit() {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Initialization code for test mode should go here.
+ *
+ * Users should override this method for initialization code which will be
+ * called each time the robot enters test mode.
+ */
+void IterativeRobot::TestInit() {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Periodic code for all modes should go here.
+ *
+ * This function is called each time a new packet is received from the driver
+ * station.
+ *
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
+ */
+void IterativeRobot::RobotPeriodic() {
+ static bool firstRun = true;
+ if (firstRun) {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+ firstRun = false;
+ }
+}
+
+/**
+ * Periodic code for disabled mode should go here.
+ *
+ * Users should override this method for code which will be called each time a
+ * new packet is received from the driver station and the robot is in disabled
+ * mode.
+ *
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
+ */
+void IterativeRobot::DisabledPeriodic() {
+ static bool firstRun = true;
+ if (firstRun) {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+ firstRun = false;
+ }
+}
+
+/**
+ * Periodic code for autonomous mode should go here.
+ *
+ * Users should override this method for code which will be called each time a
+ * new packet is received from the driver station and the robot is in autonomous
+ * mode.
+ *
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
+ */
+void IterativeRobot::AutonomousPeriodic() {
+ static bool firstRun = true;
+ if (firstRun) {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+ firstRun = false;
+ }
+}
+
+/**
+ * Periodic code for teleop mode should go here.
+ *
+ * Users should override this method for code which will be called each time a
+ * new packet is received from the driver station and the robot is in teleop
+ * mode.
+ *
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
+ */
+void IterativeRobot::TeleopPeriodic() {
+ static bool firstRun = true;
+ if (firstRun) {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+ firstRun = false;
+ }
+}
+
+/**
+ * Periodic code for test mode should go here.
+ *
+ * Users should override this method for code which will be called each time a
+ * new packet is received from the driver station and the robot is in test mode.
+ *
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
+ */
+void IterativeRobot::TestPeriodic() {
+ static bool firstRun = true;
+ if (firstRun) {
+ std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+ firstRun = false;
+ }
+}
diff --git a/wpilibc/athena/src/Jaguar.cpp b/wpilibc/athena/src/Jaguar.cpp
new file mode 100644
index 0000000..1d6cce8
--- /dev/null
+++ b/wpilibc/athena/src/Jaguar.cpp
@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Jaguar.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a Jaguar connected via PWM.
+ *
+ * @param channel The PWM channel that the Jaguar is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+Jaguar::Jaguar(int channel) : PWMSpeedController(channel) {
+ /**
+ * Input profile defined by Luminary Micro.
+ *
+ * Full reverse ranges from 0.671325ms to 0.6972211ms
+ * Proportional reverse ranges from 0.6972211ms to 1.4482078ms
+ * Neutral ranges from 1.4482078ms to 1.5517922ms
+ * Proportional forward ranges from 1.5517922ms to 2.3027789ms
+ * Full forward ranges from 2.3027789ms to 2.328675ms
+ */
+ SetBounds(2.31, 1.55, 1.507, 1.454, .697);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel());
+ LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
+}
diff --git a/wpilibc/athena/src/Joystick.cpp b/wpilibc/athena/src/Joystick.cpp
new file mode 100644
index 0000000..809950b
--- /dev/null
+++ b/wpilibc/athena/src/Joystick.cpp
@@ -0,0 +1,281 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Joystick.h"
+
+#include <cmath>
+
+#include "DriverStation.h"
+#include "HAL/HAL.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+const int Joystick::kDefaultXAxis;
+const int Joystick::kDefaultYAxis;
+const int Joystick::kDefaultZAxis;
+const int Joystick::kDefaultTwistAxis;
+const int Joystick::kDefaultThrottleAxis;
+const int Joystick::kDefaultTriggerButton;
+const int Joystick::kDefaultTopButton;
+static Joystick* joysticks[DriverStation::kJoystickPorts];
+static bool joySticksInitialized = false;
+
+/**
+ * Construct an instance of a joystick.
+ *
+ * The joystick index is the USB port on the Driver Station.
+ *
+ * @param port The port on the Driver Station that the joystick is plugged into
+ * (0-5).
+ */
+Joystick::Joystick(int port) : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
+ m_axes[kXAxis] = kDefaultXAxis;
+ m_axes[kYAxis] = kDefaultYAxis;
+ m_axes[kZAxis] = kDefaultZAxis;
+ m_axes[kTwistAxis] = kDefaultTwistAxis;
+ m_axes[kThrottleAxis] = kDefaultThrottleAxis;
+
+ m_buttons[kTriggerButton] = kDefaultTriggerButton;
+ m_buttons[kTopButton] = kDefaultTopButton;
+
+ HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
+}
+
+/**
+ * Version of the constructor to be called by sub-classes.
+ *
+ * This constructor allows the subclass to configure the number of constants
+ * for axes and buttons.
+ *
+ * @param port The port on the Driver Station that the joystick is
+ * plugged into.
+ * @param numAxisTypes The number of axis types in the enum.
+ * @param numButtonTypes The number of button types in the enum.
+ */
+Joystick::Joystick(int port, int numAxisTypes, int numButtonTypes)
+ : JoystickBase(port),
+ m_ds(DriverStation::GetInstance()),
+ m_axes(numAxisTypes),
+ m_buttons(numButtonTypes) {
+ if (!joySticksInitialized) {
+ for (auto& joystick : joysticks) joystick = nullptr;
+ joySticksInitialized = true;
+ }
+ if (GetPort() >= DriverStation::kJoystickPorts) {
+ wpi_setWPIError(BadJoystickIndex);
+ } else {
+ joysticks[GetPort()] = this;
+ }
+}
+
+Joystick* Joystick::GetStickForPort(int port) {
+ Joystick* stick = joysticks[port];
+ if (stick == nullptr) {
+ stick = new Joystick(port);
+ joysticks[port] = stick;
+ }
+ return stick;
+}
+
+/**
+ * Get the X value of the joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only
+ * here to complete the GenericHID interface.
+ */
+double Joystick::GetX(JoystickHand hand) const {
+ return GetRawAxis(m_axes[kXAxis]);
+}
+
+/**
+ * Get the Y value of the joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only
+ * here to complete the GenericHID interface.
+ */
+double Joystick::GetY(JoystickHand hand) const {
+ return GetRawAxis(m_axes[kYAxis]);
+}
+
+/**
+ * Get the Z value of the current joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+double Joystick::GetZ(JoystickHand hand) const {
+ return GetRawAxis(m_axes[kZAxis]);
+}
+
+/**
+ * Get the twist value of the current joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+double Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
+
+/**
+ * Get the throttle value of the current joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+double Joystick::GetThrottle() const {
+ return GetRawAxis(m_axes[kThrottleAxis]);
+}
+
+/**
+ * For the current joystick, return the axis determined by the argument.
+ *
+ * This is for cases where the joystick axis is returned programatically,
+ * otherwise one of the previous functions would be preferable (for example
+ * GetX()).
+ *
+ * @param axis The axis to read.
+ * @return The value of the axis.
+ */
+double Joystick::GetAxis(AxisType axis) const {
+ switch (axis) {
+ case kXAxis:
+ return this->GetX();
+ case kYAxis:
+ return this->GetY();
+ case kZAxis:
+ return this->GetZ();
+ case kTwistAxis:
+ return this->GetTwist();
+ case kThrottleAxis:
+ return this->GetThrottle();
+ default:
+ wpi_setWPIError(BadJoystickAxis);
+ return 0.0;
+ }
+}
+
+/**
+ * Read the state of the trigger on the joystick.
+ *
+ * Look up which button has been assigned to the trigger and read its state.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only
+ * here to complete the GenericHID interface.
+ * @return The state of the trigger.
+ */
+bool Joystick::GetTrigger(JoystickHand hand) const {
+ return GetRawButton(m_buttons[kTriggerButton]);
+}
+
+/**
+ * Read the state of the top button on the joystick.
+ *
+ * Look up which button has been assigned to the top and read its state.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only
+ * here to complete the GenericHID interface.
+ * @return The state of the top button.
+ */
+bool Joystick::GetTop(JoystickHand hand) const {
+ return GetRawButton(m_buttons[kTopButton]);
+}
+
+/**
+ * Get buttons based on an enumerated type.
+ *
+ * The button type will be looked up in the list of buttons and then read.
+ *
+ * @param button The type of button to read.
+ * @return The state of the button.
+ */
+bool Joystick::GetButton(ButtonType button) const {
+ switch (button) {
+ case kTriggerButton:
+ return GetTrigger();
+ case kTopButton:
+ return GetTop();
+ default:
+ return false;
+ }
+}
+
+/**
+ * Get the number of axis for a joystick
+ *
+ * @return the number of axis for the current joystick
+ */
+int Joystick::GetAxisCount() const { return m_ds.GetStickAxisCount(GetPort()); }
+
+/**
+ * Get the axis type of a joystick axis.
+ *
+ * @return the axis type of a joystick axis.
+ */
+int Joystick::GetAxisType(int axis) const {
+ return m_ds.GetJoystickAxisType(GetPort(), axis);
+}
+
+/**
+ * Get the number of buttons for a joystick.
+ *
+ * @return the number of buttons on the current joystick
+ */
+int Joystick::GetButtonCount() const {
+ return m_ds.GetStickButtonCount(GetPort());
+}
+
+/**
+ * Get the channel currently associated with the specified axis.
+ *
+ * @param axis The axis to look up the channel for.
+ * @return The channel fr the axis.
+ */
+int Joystick::GetAxisChannel(AxisType axis) const { return m_axes[axis]; }
+
+/**
+ * Set the channel associated with a specified axis.
+ *
+ * @param axis The axis to set the channel for.
+ * @param channel The channel to set the axis to.
+ */
+void Joystick::SetAxisChannel(AxisType axis, int channel) {
+ m_axes[axis] = channel;
+}
+
+/**
+ * Get the magnitude of the direction vector formed by the joystick's
+ * current position relative to its origin.
+ *
+ * @return The magnitude of the direction vector
+ */
+double Joystick::GetMagnitude() const {
+ return std::sqrt(std::pow(GetX(), 2) + std::pow(GetY(), 2));
+}
+
+/**
+ * Get the direction of the vector formed by the joystick and its origin
+ * in radians.
+ *
+ * @return The direction of the vector in radians
+ */
+double Joystick::GetDirectionRadians() const {
+ return std::atan2(GetX(), -GetY());
+}
+
+/**
+ * Get the direction of the vector formed by the joystick and its origin
+ * in degrees.
+ *
+ * uses std::acos(-1) to represent Pi due to absence of readily accessible Pi
+ * constant in C++
+ *
+ * @return The direction of the vector in degrees
+ */
+double Joystick::GetDirectionDegrees() const {
+ return (180 / std::acos(-1)) * GetDirectionRadians();
+}
diff --git a/wpilibc/athena/src/MotorSafetyHelper.cpp b/wpilibc/athena/src/MotorSafetyHelper.cpp
new file mode 100644
index 0000000..9f1ee89
--- /dev/null
+++ b/wpilibc/athena/src/MotorSafetyHelper.cpp
@@ -0,0 +1,136 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "MotorSafetyHelper.h"
+
+#include <sstream>
+
+#include "DriverStation.h"
+#include "MotorSafety.h"
+#include "Timer.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+std::set<MotorSafetyHelper*> MotorSafetyHelper::m_helperList;
+priority_recursive_mutex MotorSafetyHelper::m_listMutex;
+
+/**
+ * The constructor for a MotorSafetyHelper object.
+ *
+ * The helper object is constructed for every object that wants to implement the
+ * Motor Safety protocol. The helper object has the code to actually do the
+ * timing and call the motors Stop() method when the timeout expires. The motor
+ * object is expected to call the Feed() method whenever the motors value is
+ * updated.
+ *
+ * @param safeObject a pointer to the motor object implementing MotorSafety.
+ * This is used to call the Stop() method on the motor.
+ */
+MotorSafetyHelper::MotorSafetyHelper(MotorSafety* safeObject)
+ : m_safeObject(safeObject) {
+ m_enabled = false;
+ m_expiration = DEFAULT_SAFETY_EXPIRATION;
+ m_stopTime = Timer::GetFPGATimestamp();
+
+ std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
+ m_helperList.insert(this);
+}
+
+MotorSafetyHelper::~MotorSafetyHelper() {
+ std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
+ m_helperList.erase(this);
+}
+
+/**
+ * Feed the motor safety object.
+ * Resets the timer on this object that is used to do the timeouts.
+ */
+void MotorSafetyHelper::Feed() {
+ std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
+ m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
+}
+
+/**
+ * Set the expiration time for the corresponding motor safety object.
+ * @param expirationTime The timeout value in seconds.
+ */
+void MotorSafetyHelper::SetExpiration(double expirationTime) {
+ std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
+ m_expiration = expirationTime;
+}
+
+/**
+ * Retrieve the timeout value for the corresponding motor safety object.
+ * @return the timeout value in seconds.
+ */
+double MotorSafetyHelper::GetExpiration() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
+ return m_expiration;
+}
+
+/**
+ * Determine if the motor is still operating or has timed out.
+ * @return a true value if the motor is still operating normally and hasn't
+ * timed out.
+ */
+bool MotorSafetyHelper::IsAlive() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
+ return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
+}
+
+/**
+ * Check if this motor has exceeded its timeout.
+ * This method is called periodically to determine if this motor has exceeded
+ * its timeout value. If it has, the stop method is called, and the motor is
+ * shut down until its value is updated again.
+ */
+void MotorSafetyHelper::Check() {
+ DriverStation& ds = DriverStation::GetInstance();
+ if (!m_enabled || ds.IsDisabled() || ds.IsTest()) return;
+
+ std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
+ if (m_stopTime < Timer::GetFPGATimestamp()) {
+ std::ostringstream desc;
+ m_safeObject->GetDescription(desc);
+ desc << "... Output not updated often enough.";
+ wpi_setWPIErrorWithContext(Timeout, desc.str().c_str());
+ m_safeObject->StopMotor();
+ }
+}
+
+/**
+ * Enable/disable motor safety for this device
+ * Turn on and off the motor safety option for this PWM object.
+ * @param enabled True if motor safety is enforced for this object
+ */
+void MotorSafetyHelper::SetSafetyEnabled(bool enabled) {
+ std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
+ m_enabled = enabled;
+}
+
+/**
+ * Return the state of the motor safety enabled flag
+ * Return if the motor safety is currently enabled for this devicce.
+ * @return True if motor safety is enforced for this device
+ */
+bool MotorSafetyHelper::IsSafetyEnabled() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
+ return m_enabled;
+}
+
+/**
+ * Check the motors to see if any have timed out.
+ * This static method is called periodically to poll all the motors and stop
+ * any that have timed out.
+ */
+void MotorSafetyHelper::CheckMotors() {
+ std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
+ for (auto elem : m_helperList) {
+ elem->Check();
+ }
+}
diff --git a/wpilibc/athena/src/Notifier.cpp b/wpilibc/athena/src/Notifier.cpp
new file mode 100644
index 0000000..67abe37
--- /dev/null
+++ b/wpilibc/athena/src/Notifier.cpp
@@ -0,0 +1,141 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Notifier.h"
+
+#include "HAL/HAL.h"
+#include "Timer.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+priority_mutex Notifier::m_destructorMutex;
+
+/**
+ * Create a Notifier for timer event notification.
+ *
+ * @param handler The handler is called at the notification time which is set
+ * using StartSingle or StartPeriodic.
+ */
+Notifier::Notifier(TimerEventHandler handler) {
+ if (handler == nullptr)
+ wpi_setWPIErrorWithContext(NullParameter, "handler must not be nullptr");
+ m_handler = handler;
+ int32_t status = 0;
+ m_notifier = HAL_InitializeNotifier(&Notifier::Notify, this, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Free the resources for a timer event.
+ */
+Notifier::~Notifier() {
+ int32_t status = 0;
+ // atomically set handle to 0, then clean
+ HAL_NotifierHandle handle = m_notifier.exchange(0);
+ HAL_CleanNotifier(handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ /* Acquire the mutex; this makes certain that the handler is not being
+ * executed by the interrupt manager.
+ */
+ std::lock_guard<priority_mutex> lockStatic(Notifier::m_destructorMutex);
+ std::lock_guard<priority_mutex> lock(m_processMutex);
+}
+
+/**
+ * Update the HAL alarm time.
+ */
+void Notifier::UpdateAlarm() {
+ int32_t status = 0;
+ // Return if we are being destructed, or were not created successfully
+ if (m_notifier == 0) return;
+ HAL_UpdateNotifierAlarm(
+ m_notifier, static_cast<uint64_t>(m_expirationTime * 1e6), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Notify is called by the HAL layer. We simply need to pass it through to
+ * the user handler.
+ */
+void Notifier::Notify(uint64_t currentTimeInt, HAL_NotifierHandle handle) {
+ Notifier* notifier;
+ {
+ // Lock static mutex to grab the notifier param
+ std::lock_guard<priority_mutex> lock(Notifier::m_destructorMutex);
+ int32_t status = 0;
+ auto notifierPointer = HAL_GetNotifierParam(handle, &status);
+ if (notifierPointer == nullptr) return;
+ notifier = static_cast<Notifier*>(notifierPointer);
+ notifier->m_processMutex.lock();
+ }
+
+ if (notifier->m_periodic) {
+ notifier->m_expirationTime += notifier->m_period;
+ notifier->UpdateAlarm();
+ }
+
+ auto handler = notifier->m_handler;
+
+ if (handler) handler();
+ notifier->m_processMutex.unlock();
+}
+
+/**
+ * Register for single event notification.
+ *
+ * A timer event is queued for a single event after the specified delay.
+ *
+ * @param delay Seconds to wait before the handler is called.
+ */
+void Notifier::StartSingle(double delay) {
+ std::lock_guard<priority_mutex> sync(m_processMutex);
+ m_periodic = false;
+ m_period = delay;
+ m_expirationTime = GetClock() + m_period;
+ UpdateAlarm();
+}
+
+/**
+ * Register for periodic event notification.
+ *
+ * A timer event is queued for periodic event notification. Each time the
+ * interrupt occurs, the event will be immediately requeued for the same time
+ * interval.
+ *
+ * @param period Period in seconds to call the handler starting one period
+ * after the call to this method.
+ */
+void Notifier::StartPeriodic(double period) {
+ std::lock_guard<priority_mutex> sync(m_processMutex);
+ m_periodic = true;
+ m_period = period;
+ m_expirationTime = GetClock() + m_period;
+ UpdateAlarm();
+}
+
+/**
+ * Stop timer events from occuring.
+ *
+ * Stop any repeating timer events from occuring. This will also remove any
+ * single notification events from the queue.
+ *
+ * If a timer-based call to the registered handler is in progress, this function
+ * will block until the handler call is complete.
+ */
+void Notifier::Stop() {
+ int32_t status = 0;
+ HAL_StopNotifierAlarm(m_notifier, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ // Wait for a currently executing handler to complete before returning from
+ // Stop()
+ std::lock_guard<priority_mutex> lockStatic(Notifier::m_destructorMutex);
+ std::lock_guard<priority_mutex> lock(m_processMutex);
+}
diff --git a/wpilibc/athena/src/PIDController.cpp b/wpilibc/athena/src/PIDController.cpp
new file mode 100644
index 0000000..d81d681
--- /dev/null
+++ b/wpilibc/athena/src/PIDController.cpp
@@ -0,0 +1,636 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "PIDController.h"
+
+#include <cmath>
+#include <vector>
+
+#include "HAL/HAL.h"
+#include "Notifier.h"
+#include "PIDOutput.h"
+#include "PIDSource.h"
+
+using namespace frc;
+
+static const std::string kP = "p";
+static const std::string kI = "i";
+static const std::string kD = "d";
+static const std::string kF = "f";
+static const std::string kSetpoint = "setpoint";
+static const std::string kEnabled = "enabled";
+
+/**
+ * Allocate a PID object with the given constants for P, I, D.
+ *
+ * @param Kp the proportional coefficient
+ * @param Ki the integral coefficient
+ * @param Kd the derivative coefficient
+ * @param source The PIDSource object that is used to get values
+ * @param output The PIDOutput object that is set to the output value
+ * @param period the loop time for doing calculations. This particularly
+ * effects calculations of the integral and differental terms.
+ * The default is 50ms.
+ */
+PIDController::PIDController(double Kp, double Ki, double Kd, PIDSource* source,
+ PIDOutput* output, double period)
+ : PIDController(Kp, Ki, Kd, 0.0, source, output, period) {}
+
+/**
+ * Allocate a PID object with the given constants for P, I, D.
+ *
+ * @param Kp the proportional coefficient
+ * @param Ki the integral coefficient
+ * @param Kd the derivative coefficient
+ * @param source The PIDSource object that is used to get values
+ * @param output The PIDOutput object that is set to the output value
+ * @param period the loop time for doing calculations. This particularly
+ * effects calculations of the integral and differental terms.
+ * The default is 50ms.
+ */
+PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
+ PIDSource* source, PIDOutput* output,
+ double period) {
+ m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
+
+ m_P = Kp;
+ m_I = Ki;
+ m_D = Kd;
+ m_F = Kf;
+
+ m_pidInput = source;
+ m_pidOutput = output;
+ m_period = period;
+
+ m_controlLoop->StartPeriodic(m_period);
+ m_setpointTimer.Start();
+
+ static int instances = 0;
+ instances++;
+ HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
+}
+
+PIDController::~PIDController() {
+ // forcefully stopping the notifier so the callback can successfully run.
+ m_controlLoop->Stop();
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Read the input, calculate the output accordingly, and write to the output.
+ * This should only be called by the Notifier.
+ */
+void PIDController::Calculate() {
+ bool enabled;
+ PIDSource* pidInput;
+ PIDOutput* pidOutput;
+
+ {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ pidInput = m_pidInput;
+ pidOutput = m_pidOutput;
+ enabled = m_enabled;
+ }
+
+ if (pidInput == nullptr) return;
+ if (pidOutput == nullptr) return;
+
+ if (enabled) {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ double input = pidInput->PIDGet();
+ double result;
+ PIDOutput* pidOutput;
+
+ m_error = GetContinuousError(m_setpoint - input);
+
+ if (m_pidInput->GetPIDSourceType() == PIDSourceType::kRate) {
+ if (m_P != 0) {
+ double potentialPGain = (m_totalError + m_error) * m_P;
+ if (potentialPGain < m_maximumOutput) {
+ if (potentialPGain > m_minimumOutput)
+ m_totalError += m_error;
+ else
+ m_totalError = m_minimumOutput / m_P;
+ } else {
+ m_totalError = m_maximumOutput / m_P;
+ }
+ }
+
+ m_result = m_D * m_error + m_P * m_totalError + CalculateFeedForward();
+ } else {
+ if (m_I != 0) {
+ double potentialIGain = (m_totalError + m_error) * m_I;
+ if (potentialIGain < m_maximumOutput) {
+ if (potentialIGain > m_minimumOutput)
+ m_totalError += m_error;
+ else
+ m_totalError = m_minimumOutput / m_I;
+ } else {
+ m_totalError = m_maximumOutput / m_I;
+ }
+ }
+
+ m_result = m_P * m_error + m_I * m_totalError +
+ m_D * (m_error - m_prevError) + CalculateFeedForward();
+ }
+ m_prevError = m_error;
+
+ if (m_result > m_maximumOutput)
+ m_result = m_maximumOutput;
+ else if (m_result < m_minimumOutput)
+ m_result = m_minimumOutput;
+
+ pidOutput = m_pidOutput;
+ result = m_result;
+
+ pidOutput->PIDWrite(result);
+
+ // Update the buffer.
+ m_buf.push(m_error);
+ m_bufTotal += m_error;
+ // Remove old elements when buffer is full.
+ if (m_buf.size() > m_bufLength) {
+ m_bufTotal -= m_buf.front();
+ m_buf.pop();
+ }
+ }
+}
+
+/**
+ * Calculate the feed forward term.
+ *
+ * Both of the provided feed forward calculations are velocity feed forwards.
+ * If a different feed forward calculation is desired, the user can override
+ * this function and provide his or her own. This function does no
+ * synchronization because the PIDController class only calls it in synchronized
+ * code, so be careful if calling it oneself.
+ *
+ * If a velocity PID controller is being used, the F term should be set to 1
+ * over the maximum setpoint for the output. If a position PID controller is
+ * being used, the F term should be set to 1 over the maximum speed for the
+ * output measured in setpoint units per this controller's update period (see
+ * the default period in this class's constructor).
+ */
+double PIDController::CalculateFeedForward() {
+ if (m_pidInput->GetPIDSourceType() == PIDSourceType::kRate) {
+ return m_F * GetSetpoint();
+ } else {
+ double temp = m_F * GetDeltaSetpoint();
+ m_prevSetpoint = m_setpoint;
+ m_setpointTimer.Reset();
+ return temp;
+ }
+}
+
+/**
+ * Set the PID Controller gain parameters.
+ *
+ * Set the proportional, integral, and differential coefficients.
+ *
+ * @param p Proportional coefficient
+ * @param i Integral coefficient
+ * @param d Differential coefficient
+ */
+void PIDController::SetPID(double p, double i, double d) {
+ {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_P = p;
+ m_I = i;
+ m_D = d;
+ }
+
+ if (m_table != nullptr) {
+ m_table->PutNumber("p", m_P);
+ m_table->PutNumber("i", m_I);
+ m_table->PutNumber("d", m_D);
+ }
+}
+
+/**
+ * Set the PID Controller gain parameters.
+ *
+ * Set the proportional, integral, and differential coefficients.
+ *
+ * @param p Proportional coefficient
+ * @param i Integral coefficient
+ * @param d Differential coefficient
+ * @param f Feed forward coefficient
+ */
+void PIDController::SetPID(double p, double i, double d, double f) {
+ {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_P = p;
+ m_I = i;
+ m_D = d;
+ m_F = f;
+ }
+
+ if (m_table != nullptr) {
+ m_table->PutNumber("p", m_P);
+ m_table->PutNumber("i", m_I);
+ m_table->PutNumber("d", m_D);
+ m_table->PutNumber("f", m_F);
+ }
+}
+
+/**
+ * Get the Proportional coefficient.
+ *
+ * @return proportional coefficient
+ */
+double PIDController::GetP() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ return m_P;
+}
+
+/**
+ * Get the Integral coefficient.
+ *
+ * @return integral coefficient
+ */
+double PIDController::GetI() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ return m_I;
+}
+
+/**
+ * Get the Differential coefficient.
+ *
+ * @return differential coefficient
+ */
+double PIDController::GetD() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ return m_D;
+}
+
+/**
+ * Get the Feed forward coefficient.
+ *
+ * @return Feed forward coefficient
+ */
+double PIDController::GetF() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ return m_F;
+}
+
+/**
+ * Return the current PID result.
+ *
+ * This is always centered on zero and constrained the the max and min outs.
+ *
+ * @return the latest calculated output
+ */
+double PIDController::Get() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ return m_result;
+}
+
+/**
+ * Set the PID controller to consider the input to be continuous,
+ *
+ * Rather then using the max and min in as constraints, it considers them to
+ * be the same point and automatically calculates the shortest route to
+ * the setpoint.
+ *
+ * @param continuous true turns on continuous, false turns off continuous
+ */
+void PIDController::SetContinuous(bool continuous) {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_continuous = continuous;
+}
+
+/**
+ * Sets the maximum and minimum values expected from the input.
+ *
+ * @param minimumInput the minimum value expected from the input
+ * @param maximumInput the maximum value expected from the output
+ */
+void PIDController::SetInputRange(double minimumInput, double maximumInput) {
+ {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_minimumInput = minimumInput;
+ m_maximumInput = maximumInput;
+ }
+
+ SetSetpoint(m_setpoint);
+}
+
+/**
+ * Sets the minimum and maximum values to write.
+ *
+ * @param minimumOutput the minimum value to write to the output
+ * @param maximumOutput the maximum value to write to the output
+ */
+void PIDController::SetOutputRange(double minimumOutput, double maximumOutput) {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_minimumOutput = minimumOutput;
+ m_maximumOutput = maximumOutput;
+}
+
+/**
+ * Set the setpoint for the PIDController.
+ *
+ * Clears the queue for GetAvgError().
+ *
+ * @param setpoint the desired setpoint
+ */
+void PIDController::SetSetpoint(double setpoint) {
+ {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+
+ if (m_maximumInput > m_minimumInput) {
+ if (setpoint > m_maximumInput)
+ m_setpoint = m_maximumInput;
+ else if (setpoint < m_minimumInput)
+ m_setpoint = m_minimumInput;
+ else
+ m_setpoint = setpoint;
+ } else {
+ m_setpoint = setpoint;
+ }
+
+ // Clear m_buf.
+ m_buf = std::queue<double>();
+ m_bufTotal = 0;
+ }
+
+ if (m_table != nullptr) {
+ m_table->PutNumber("setpoint", m_setpoint);
+ }
+}
+
+/**
+ * Returns the current setpoint of the PIDController.
+ *
+ * @return the current setpoint
+ */
+double PIDController::GetSetpoint() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ return m_setpoint;
+}
+
+/**
+ * Returns the change in setpoint over time of the PIDController.
+ *
+ * @return the change in setpoint over time
+ */
+double PIDController::GetDeltaSetpoint() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ return (m_setpoint - m_prevSetpoint) / m_setpointTimer.Get();
+}
+
+/**
+ * Returns the current difference of the input from the setpoint.
+ *
+ * @return the current error
+ */
+double PIDController::GetError() const {
+ double setpoint = GetSetpoint();
+ {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ return GetContinuousError(setpoint - m_pidInput->PIDGet());
+ }
+}
+
+/**
+ * Sets what type of input the PID controller will use.
+ */
+void PIDController::SetPIDSourceType(PIDSourceType pidSource) {
+ m_pidInput->SetPIDSourceType(pidSource);
+}
+/**
+ * Returns the type of input the PID controller is using.
+ *
+ * @return the PID controller input type
+ */
+PIDSourceType PIDController::GetPIDSourceType() const {
+ return m_pidInput->GetPIDSourceType();
+}
+
+/**
+ * Returns the current average of the error over the past few iterations.
+ *
+ * You can specify the number of iterations to average with SetToleranceBuffer()
+ * (defaults to 1). This is the same value that is used for OnTarget().
+ *
+ * @return the average error
+ */
+double PIDController::GetAvgError() const {
+ double avgError = 0;
+ {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ // Don't divide by zero.
+ if (m_buf.size()) avgError = m_bufTotal / m_buf.size();
+ }
+ return avgError;
+}
+
+/*
+ * Set the percentage error which is considered tolerable for use with
+ * OnTarget.
+ *
+ * @param percentage error which is tolerable
+ */
+void PIDController::SetTolerance(double percent) {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_toleranceType = kPercentTolerance;
+ m_tolerance = percent;
+}
+
+/*
+ * Set the absolute error which is considered tolerable for use with
+ * OnTarget.
+ *
+ * @param percentage error which is tolerable
+ */
+void PIDController::SetAbsoluteTolerance(double absTolerance) {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_toleranceType = kAbsoluteTolerance;
+ m_tolerance = absTolerance;
+}
+
+/*
+ * Set the percentage error which is considered tolerable for use with
+ * OnTarget.
+ *
+ * @param percentage error which is tolerable
+ */
+void PIDController::SetPercentTolerance(double percent) {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_toleranceType = kPercentTolerance;
+ m_tolerance = percent;
+}
+
+/*
+ * Set the number of previous error samples to average for tolerancing. When
+ * determining whether a mechanism is on target, the user may want to use a
+ * rolling average of previous measurements instead of a precise position or
+ * velocity. This is useful for noisy sensors which return a few erroneous
+ * measurements when the mechanism is on target. However, the mechanism will
+ * not register as on target for at least the specified bufLength cycles.
+ *
+ * @param bufLength Number of previous cycles to average. Defaults to 1.
+ */
+void PIDController::SetToleranceBuffer(int bufLength) {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_bufLength = bufLength;
+
+ // Cut the buffer down to size if needed.
+ while (m_buf.size() > static_cast<uint32_t>(bufLength)) {
+ m_bufTotal -= m_buf.front();
+ m_buf.pop();
+ }
+}
+
+/*
+ * Return true if the error is within the percentage of the total input range,
+ * determined by SetTolerance. This asssumes that the maximum and minimum input
+ * were set using SetInput.
+ *
+ * Currently this just reports on target as the actual value passes through the
+ * setpoint. Ideally it should be based on being within the tolerance for some
+ * period of time.
+ *
+ * This will return false until at least one input value has been computed.
+ */
+bool PIDController::OnTarget() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ if (m_buf.size() == 0) return false;
+ double error = GetAvgError();
+ switch (m_toleranceType) {
+ case kPercentTolerance:
+ return std::fabs(error) <
+ m_tolerance / 100 * (m_maximumInput - m_minimumInput);
+ break;
+ case kAbsoluteTolerance:
+ return std::fabs(error) < m_tolerance;
+ break;
+ case kNoTolerance:
+ // TODO: this case needs an error
+ return false;
+ }
+ return false;
+}
+
+/**
+ * Begin running the PIDController.
+ */
+void PIDController::Enable() {
+ {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_enabled = true;
+ }
+
+ if (m_table != nullptr) {
+ m_table->PutBoolean("enabled", true);
+ }
+}
+
+/**
+ * Stop running the PIDController, this sets the output to zero before stopping.
+ */
+void PIDController::Disable() {
+ {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_pidOutput->PIDWrite(0);
+ m_enabled = false;
+ }
+
+ if (m_table != nullptr) {
+ m_table->PutBoolean("enabled", false);
+ }
+}
+
+/**
+ * Return true if PIDController is enabled.
+ */
+bool PIDController::IsEnabled() const {
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ return m_enabled;
+}
+
+/**
+ * Reset the previous error, the integral term, and disable the controller.
+ */
+void PIDController::Reset() {
+ Disable();
+
+ std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+ m_prevError = 0;
+ m_totalError = 0;
+ m_result = 0;
+}
+
+std::string PIDController::GetSmartDashboardType() const {
+ return "PIDController";
+}
+
+void PIDController::InitTable(std::shared_ptr<ITable> subtable) {
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+ m_table = subtable;
+ if (m_table != nullptr) {
+ m_table->PutNumber(kP, GetP());
+ m_table->PutNumber(kI, GetI());
+ m_table->PutNumber(kD, GetD());
+ m_table->PutNumber(kF, GetF());
+ m_table->PutNumber(kSetpoint, GetSetpoint());
+ m_table->PutBoolean(kEnabled, IsEnabled());
+ m_table->AddTableListener(this, false);
+ }
+}
+
+/**
+ * Wraps error around for continuous inputs. The original error is returned if
+ * continuous mode is disabled. This is an unsynchronized function.
+ *
+ * @param error The current error of the PID controller.
+ * @return Error for continuous inputs.
+ */
+double PIDController::GetContinuousError(double error) const {
+ if (m_continuous) {
+ if (std::fabs(error) > (m_maximumInput - m_minimumInput) / 2) {
+ if (error > 0) {
+ return error - (m_maximumInput - m_minimumInput);
+ } else {
+ return error + (m_maximumInput - m_minimumInput);
+ }
+ }
+ }
+
+ return error;
+}
+
+std::shared_ptr<ITable> PIDController::GetTable() const { return m_table; }
+
+void PIDController::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (key == kP || key == kI || key == kD || key == kF) {
+ if (m_P != m_table->GetNumber(kP, 0.0) ||
+ m_I != m_table->GetNumber(kI, 0.0) ||
+ m_D != m_table->GetNumber(kD, 0.0) ||
+ m_F != m_table->GetNumber(kF, 0.0)) {
+ SetPID(m_table->GetNumber(kP, 0.0), m_table->GetNumber(kI, 0.0),
+ m_table->GetNumber(kD, 0.0), m_table->GetNumber(kF, 0.0));
+ }
+ } else if (key == kSetpoint && value->IsDouble() &&
+ m_setpoint != value->GetDouble()) {
+ SetSetpoint(value->GetDouble());
+ } else if (key == kEnabled && value->IsBoolean() &&
+ m_enabled != value->GetBoolean()) {
+ if (value->GetBoolean()) {
+ Enable();
+ } else {
+ Disable();
+ }
+ }
+}
+
+void PIDController::UpdateTable() {}
+
+void PIDController::StartLiveWindowMode() { Disable(); }
+
+void PIDController::StopLiveWindowMode() {}
diff --git a/wpilibc/athena/src/PWM.cpp b/wpilibc/athena/src/PWM.cpp
new file mode 100644
index 0000000..4883e16
--- /dev/null
+++ b/wpilibc/athena/src/PWM.cpp
@@ -0,0 +1,348 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/PWM.h"
+#include "PWM.h"
+
+#include <sstream>
+
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Allocate a PWM given a channel number.
+ *
+ * Checks channel value range and allocates the appropriate channel.
+ * The allocation is only done to help users ensure that they don't double
+ * assign channels.
+ *
+ * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the
+ * MXP port
+ */
+PWM::PWM(int channel) {
+ std::stringstream buf;
+
+ if (!CheckPWMChannel(channel)) {
+ buf << "PWM Channel " << channel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+
+ int32_t status = 0;
+ m_handle = HAL_InitializePWMPort(HAL_GetPort(channel), &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMChannels(), channel,
+ HAL_GetErrorMessage(status));
+ m_channel = std::numeric_limits<int>::max();
+ m_handle = HAL_kInvalidHandle;
+ return;
+ }
+
+ m_channel = channel;
+
+ HAL_SetPWMDisabled(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ status = 0;
+ HAL_SetPWMEliminateDeadband(m_handle, false, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
+}
+
+/**
+ * Free the PWM channel.
+ *
+ * Free the resource associated with the PWM channel and set the value to 0.
+ */
+PWM::~PWM() {
+ int32_t status = 0;
+
+ HAL_SetPWMDisabled(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_FreePWMPort(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Optionally eliminate the deadband from a speed controller.
+ *
+ * @param eliminateDeadband If true, set the motor curve on the Jaguar to
+ * eliminate the deadband in the middle of the range.
+ * Otherwise, keep the full range without modifying
+ * any values.
+ */
+void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the bounds on the PWM pulse widths.
+ *
+ * This sets the bounds on the PWM values for a particular type of controller.
+ * The values determine the upper and lower speeds as well as the deadband
+ * bracket.
+ *
+ * @param max The max PWM pulse width in ms
+ * @param deadbandMax The high end of the deadband range pulse width in ms
+ * @param center The center (off) pulse width in ms
+ * @param deadbandMin The low end of the deadband pulse width in ms
+ * @param min The minimum pulse width in ms
+ */
+void PWM::SetBounds(double max, double deadbandMax, double center,
+ double deadbandMin, double min) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the bounds on the PWM values.
+ *
+ * This sets the bounds on the PWM values for a particular each type of
+ * controller. The values determine the upper and lower speeds as well as the
+ * deadband bracket.
+ *
+ * @param max The Minimum pwm value
+ * @param deadbandMax The high end of the deadband range
+ * @param center The center speed (off)
+ * @param deadbandMin The low end of the deadband range
+ * @param min The minimum pwm value
+ */
+void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
+ int min) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the bounds on the PWM values.
+ *
+ * This Gets the bounds on the PWM values for a particular each type of
+ * controller. The values determine the upper and lower speeds as well as the
+ * deadband bracket.
+ *
+ * @param max The Minimum pwm value
+ * @param deadbandMax The high end of the deadband range
+ * @param center The center speed (off)
+ * @param deadbandMin The low end of the deadband range
+ * @param min The minimum pwm value
+ */
+void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
+ int* deadbandMin, int* min) {
+ int32_t status = 0;
+ HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the PWM value based on a position.
+ *
+ * This is intended to be used by servos.
+ *
+ * @pre SetMaxPositivePwm() called.
+ * @pre SetMinNegativePwm() called.
+ *
+ * @param pos The position to set the servo between 0.0 and 1.0.
+ */
+void PWM::SetPosition(double pos) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetPWMPosition(m_handle, pos, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the PWM value in terms of a position.
+ *
+ * This is intended to be used by servos.
+ *
+ * @pre SetMaxPositivePwm() called.
+ * @pre SetMinNegativePwm() called.
+ *
+ * @return The position the servo is set to between 0.0 and 1.0.
+ */
+double PWM::GetPosition() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double position = HAL_GetPWMPosition(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return position;
+}
+
+/**
+ * Set the PWM value based on a speed.
+ *
+ * This is intended to be used by speed controllers.
+ *
+ * @pre SetMaxPositivePwm() called.
+ * @pre SetMinPositivePwm() called.
+ * @pre SetCenterPwm() called.
+ * @pre SetMaxNegativePwm() called.
+ * @pre SetMinNegativePwm() called.
+ *
+ * @param speed The speed to set the speed controller between -1.0 and 1.0.
+ */
+void PWM::SetSpeed(double speed) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetPWMSpeed(m_handle, speed, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the PWM value in terms of speed.
+ *
+ * This is intended to be used by speed controllers.
+ *
+ * @pre SetMaxPositivePwm() called.
+ * @pre SetMinPositivePwm() called.
+ * @pre SetMaxNegativePwm() called.
+ * @pre SetMinNegativePwm() called.
+ *
+ * @return The most recently set speed between -1.0 and 1.0.
+ */
+double PWM::GetSpeed() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double speed = HAL_GetPWMSpeed(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return speed;
+}
+
+/**
+ * Set the PWM value directly to the hardware.
+ *
+ * Write a raw value to a PWM channel.
+ *
+ * @param value Raw PWM value.
+ */
+void PWM::SetRaw(uint16_t value) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+ HAL_SetPWMRaw(m_handle, value, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the PWM value directly from the hardware.
+ *
+ * Read a raw value from a PWM channel.
+ *
+ * @return Raw PWM control value.
+ */
+uint16_t PWM::GetRaw() const {
+ if (StatusIsFatal()) return 0;
+
+ int32_t status = 0;
+ uint16_t value = HAL_GetPWMRaw(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ return value;
+}
+
+/**
+ * Slow down the PWM signal for old devices.
+ *
+ * @param mult The period multiplier to apply to this channel
+ */
+void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+
+ switch (mult) {
+ case kPeriodMultiplier_4X:
+ HAL_SetPWMPeriodScale(m_handle, 3,
+ &status); // Squelch 3 out of 4 outputs
+ break;
+ case kPeriodMultiplier_2X:
+ HAL_SetPWMPeriodScale(m_handle, 1,
+ &status); // Squelch 1 out of 2 outputs
+ break;
+ case kPeriodMultiplier_1X:
+ HAL_SetPWMPeriodScale(m_handle, 0, &status); // Don't squelch any outputs
+ break;
+ default:
+ wpi_assert(false);
+ }
+
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Temporarily disables the PWM output. The next set call will reenable
+ * the output.
+ */
+void PWM::SetDisabled() {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+
+ HAL_SetPWMDisabled(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void PWM::SetZeroLatch() {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+
+ HAL_LatchPWMZero(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void PWM::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (!value->IsDouble()) return;
+ SetSpeed(value->GetDouble());
+}
+
+void PWM::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", GetSpeed());
+ }
+}
+
+void PWM::StartLiveWindowMode() {
+ SetSpeed(0);
+ if (m_table != nullptr) {
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void PWM::StopLiveWindowMode() {
+ SetSpeed(0);
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string PWM::GetSmartDashboardType() const { return "Speed Controller"; }
+
+void PWM::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> PWM::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/PWMSpeedController.cpp b/wpilibc/athena/src/PWMSpeedController.cpp
new file mode 100644
index 0000000..6c5ed5a
--- /dev/null
+++ b/wpilibc/athena/src/PWMSpeedController.cpp
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "PWMSpeedController.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a PWM Speed Controller connected via PWM.
+ *
+ * @param channel The PWM channel that the controller is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+PWMSpeedController::PWMSpeedController(int channel) : SafePWM(channel) {}
+
+/**
+ * Set the PWM value.
+ *
+ * The PWM value is set using a range of -1.0 to 1.0, appropriately
+ * scaling the value for the FPGA.
+ *
+ * @param speed The speed value between -1.0 and 1.0 to set.
+ */
+void PWMSpeedController::Set(double speed) {
+ SetSpeed(m_isInverted ? -speed : speed);
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+double PWMSpeedController::Get() const { return GetSpeed(); }
+
+/**
+ * Common interface for disabling a motor.
+ */
+void PWMSpeedController::Disable() { SetDisabled(); }
+
+/**
+ * Common interface for inverting direction of a speed controller.
+ *
+ * @param isInverted The state of inversion, true is inverted.
+ */
+void PWMSpeedController::SetInverted(bool isInverted) {
+ m_isInverted = isInverted;
+}
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool PWMSpeedController::GetInverted() const { return m_isInverted; }
+
+/**
+ * Write out the PID value as seen in the PIDOutput base object.
+ *
+ * @param output Write out the PWM value as was found in the PIDController
+ */
+void PWMSpeedController::PIDWrite(double output) { Set(output); }
+
+/**
+ * Common interface to stop the motor until Set is called again.
+ */
+void PWMSpeedController::StopMotor() { this->SafePWM::StopMotor(); }
diff --git a/wpilibc/athena/src/PowerDistributionPanel.cpp b/wpilibc/athena/src/PowerDistributionPanel.cpp
new file mode 100644
index 0000000..870c92e
--- /dev/null
+++ b/wpilibc/athena/src/PowerDistributionPanel.cpp
@@ -0,0 +1,218 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "PowerDistributionPanel.h"
+
+#include <sstream>
+
+#include "HAL/HAL.h"
+#include "HAL/PDP.h"
+#include "HAL/Ports.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+PowerDistributionPanel::PowerDistributionPanel() : PowerDistributionPanel(0) {}
+
+/**
+ * Initialize the PDP.
+ */
+PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
+ int32_t status = 0;
+ HAL_InitializePDP(m_module, &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumPDPModules(), module,
+ HAL_GetErrorMessage(status));
+ m_module = -1;
+ return;
+ }
+}
+
+/**
+ * Query the input voltage of the PDP.
+ *
+ * @return The voltage of the PDP in volts
+ */
+double PowerDistributionPanel::GetVoltage() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+
+ double voltage = HAL_GetPDPVoltage(m_module, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return voltage;
+}
+
+/**
+ * Query the temperature of the PDP.
+ *
+ * @return The temperature of the PDP in degrees Celsius
+ */
+double PowerDistributionPanel::GetTemperature() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+
+ double temperature = HAL_GetPDPTemperature(m_module, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return temperature;
+}
+
+/**
+ * Query the current of a single channel of the PDP.
+ *
+ * @return The current of one of the PDP channels (channels 0-15) in Amperes
+ */
+double PowerDistributionPanel::GetCurrent(int channel) const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+
+ if (!CheckPDPChannel(channel)) {
+ std::stringstream buf;
+ buf << "PDP Channel " << channel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ }
+
+ double current = HAL_GetPDPChannelCurrent(m_module, channel, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return current;
+}
+
+/**
+ * Query the total current of all monitored PDP channels (0-15).
+ *
+ * @return The the total current drawn from the PDP channels in Amperes
+ */
+double PowerDistributionPanel::GetTotalCurrent() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+
+ double current = HAL_GetPDPTotalCurrent(m_module, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return current;
+}
+
+/**
+ * Query the total power drawn from the monitored PDP channels.
+ *
+ * @return The the total power drawn from the PDP channels in Watts
+ */
+double PowerDistributionPanel::GetTotalPower() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+
+ double power = HAL_GetPDPTotalPower(m_module, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return power;
+}
+
+/**
+ * Query the total energy drawn from the monitored PDP channels.
+ *
+ * @return The the total energy drawn from the PDP channels in Joules
+ */
+double PowerDistributionPanel::GetTotalEnergy() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+
+ double energy = HAL_GetPDPTotalEnergy(m_module, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return energy;
+}
+
+/**
+ * Reset the total energy drawn from the PDP.
+ *
+ * @see PowerDistributionPanel#GetTotalEnergy
+ */
+void PowerDistributionPanel::ResetTotalEnergy() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+
+ HAL_ResetPDPTotalEnergy(m_module, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+}
+
+/**
+ * Remove all of the fault flags on the PDP.
+ */
+void PowerDistributionPanel::ClearStickyFaults() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+
+ HAL_ClearPDPStickyFaults(m_module, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+}
+
+void PowerDistributionPanel::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Chan0", GetCurrent(0));
+ m_table->PutNumber("Chan1", GetCurrent(1));
+ m_table->PutNumber("Chan2", GetCurrent(2));
+ m_table->PutNumber("Chan3", GetCurrent(3));
+ m_table->PutNumber("Chan4", GetCurrent(4));
+ m_table->PutNumber("Chan5", GetCurrent(5));
+ m_table->PutNumber("Chan6", GetCurrent(6));
+ m_table->PutNumber("Chan7", GetCurrent(7));
+ m_table->PutNumber("Chan8", GetCurrent(8));
+ m_table->PutNumber("Chan9", GetCurrent(9));
+ m_table->PutNumber("Chan10", GetCurrent(10));
+ m_table->PutNumber("Chan11", GetCurrent(11));
+ m_table->PutNumber("Chan12", GetCurrent(12));
+ m_table->PutNumber("Chan13", GetCurrent(13));
+ m_table->PutNumber("Chan14", GetCurrent(14));
+ m_table->PutNumber("Chan15", GetCurrent(15));
+ m_table->PutNumber("Voltage", GetVoltage());
+ m_table->PutNumber("TotalCurrent", GetTotalCurrent());
+ }
+}
+
+void PowerDistributionPanel::StartLiveWindowMode() {}
+
+void PowerDistributionPanel::StopLiveWindowMode() {}
+
+std::string PowerDistributionPanel::GetSmartDashboardType() const {
+ return "PowerDistributionPanel";
+}
+
+void PowerDistributionPanel::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> PowerDistributionPanel::GetTable() const {
+ return m_table;
+}
diff --git a/wpilibc/athena/src/Preferences.cpp b/wpilibc/athena/src/Preferences.cpp
new file mode 100644
index 0000000..a913ba0
--- /dev/null
+++ b/wpilibc/athena/src/Preferences.cpp
@@ -0,0 +1,227 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Preferences.h"
+
+#include <algorithm>
+
+#include "HAL/HAL.h"
+#include "WPIErrors.h"
+#include "llvm/StringRef.h"
+
+using namespace frc;
+
+/** The Preferences table name */
+static llvm::StringRef kTableName{"Preferences"};
+
+void Preferences::Listener::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value,
+ bool isNew) {}
+void Preferences::Listener::ValueChangedEx(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value,
+ uint32_t flags) {
+ source->SetPersistent(key);
+}
+
+Preferences::Preferences() : m_table(NetworkTable::GetTable(kTableName)) {
+ m_table->AddTableListenerEx(&m_listener, NT_NOTIFY_NEW | NT_NOTIFY_IMMEDIATE);
+ HAL_Report(HALUsageReporting::kResourceType_Preferences, 0);
+}
+
+/**
+ * Get the one and only {@link Preferences} object.
+ *
+ * @return pointer to the {@link Preferences}
+ */
+Preferences* Preferences::GetInstance() {
+ static Preferences instance;
+ return &instance;
+}
+
+/**
+ * Returns a vector of all the keys.
+ *
+ * @return a vector of the keys
+ */
+std::vector<std::string> Preferences::GetKeys() { return m_table->GetKeys(); }
+
+/**
+ * Returns the string at the given key. If this table does not have a value
+ * for that position, then the given defaultValue will be returned.
+ *
+ * @param key the key
+ * @param defaultValue the value to return if none exists in the table
+ * @return either the value in the table, or the defaultValue
+ */
+std::string Preferences::GetString(llvm::StringRef key,
+ llvm::StringRef defaultValue) {
+ return m_table->GetString(key, defaultValue);
+}
+
+/**
+ * Returns the int at the given key. If this table does not have a value for
+ * that position, then the given defaultValue value will be returned.
+ *
+ * @param key the key
+ * @param defaultValue the value to return if none exists in the table
+ * @return either the value in the table, or the defaultValue
+ */
+int Preferences::GetInt(llvm::StringRef key, int defaultValue) {
+ return static_cast<int>(m_table->GetNumber(key, defaultValue));
+}
+
+/**
+ * Returns the double at the given key. If this table does not have a value
+ * for that position, then the given defaultValue value will be returned.
+ *
+ * @param key the key
+ * @param defaultValue the value to return if none exists in the table
+ * @return either the value in the table, or the defaultValue
+ */
+double Preferences::GetDouble(llvm::StringRef key, double defaultValue) {
+ return m_table->GetNumber(key, defaultValue);
+}
+
+/**
+ * Returns the float at the given key. If this table does not have a value
+ * for that position, then the given defaultValue value will be returned.
+ *
+ * @param key the key
+ * @param defaultValue the value to return if none exists in the table
+ * @return either the value in the table, or the defaultValue
+ */
+float Preferences::GetFloat(llvm::StringRef key, float defaultValue) {
+ return m_table->GetNumber(key, defaultValue);
+}
+
+/**
+ * Returns the boolean at the given key. If this table does not have a value
+ * for that position, then the given defaultValue value will be returned.
+ *
+ * @param key the key
+ * @param defaultValue the value to return if none exists in the table
+ * @return either the value in the table, or the defaultValue
+ */
+bool Preferences::GetBoolean(llvm::StringRef key, bool defaultValue) {
+ return m_table->GetBoolean(key, defaultValue);
+}
+
+/**
+ * Returns the long (int64_t) at the given key. If this table does not have a
+ * value for that position, then the given defaultValue value will be returned.
+ *
+ * @param key the key
+ * @param defaultValue the value to return if none exists in the table
+ * @return either the value in the table, or the defaultValue
+ */
+int64_t Preferences::GetLong(llvm::StringRef key, int64_t defaultValue) {
+ return static_cast<int64_t>(m_table->GetNumber(key, defaultValue));
+}
+
+/**
+ * Puts the given string into the preferences table.
+ *
+ * <p>The value may not have quotation marks, nor may the key
+ * have any whitespace nor an equals sign</p>
+ *
+ * @param key the key
+ * @param value the value
+ */
+void Preferences::PutString(llvm::StringRef key, llvm::StringRef value) {
+ m_table->PutString(key, value);
+ m_table->SetPersistent(key);
+}
+
+/**
+ * Puts the given int into the preferences table.
+ *
+ * <p>The key may not have any whitespace nor an equals sign</p>
+ *
+ * @param key the key
+ * @param value the value
+ */
+void Preferences::PutInt(llvm::StringRef key, int value) {
+ m_table->PutNumber(key, value);
+ m_table->SetPersistent(key);
+}
+
+/**
+ * Puts the given double into the preferences table.
+ *
+ * <p>The key may not have any whitespace nor an equals sign</p>
+ *
+ * @param key the key
+ * @param value the value
+ */
+void Preferences::PutDouble(llvm::StringRef key, double value) {
+ m_table->PutNumber(key, value);
+ m_table->SetPersistent(key);
+}
+
+/**
+ * Puts the given float into the preferences table.
+ *
+ * <p>The key may not have any whitespace nor an equals sign</p>
+ *
+ * @param key the key
+ * @param value the value
+ */
+void Preferences::PutFloat(llvm::StringRef key, float value) {
+ m_table->PutNumber(key, value);
+ m_table->SetPersistent(key);
+}
+
+/**
+ * Puts the given boolean into the preferences table.
+ *
+ * <p>The key may not have any whitespace nor an equals sign</p>
+ *
+ * @param key the key
+ * @param value the value
+ */
+void Preferences::PutBoolean(llvm::StringRef key, bool value) {
+ m_table->PutBoolean(key, value);
+ m_table->SetPersistent(key);
+}
+
+/**
+ * Puts the given long (int64_t) into the preferences table.
+ *
+ * <p>The key may not have any whitespace nor an equals sign</p>
+ *
+ * @param key the key
+ * @param value the value
+ */
+void Preferences::PutLong(llvm::StringRef key, int64_t value) {
+ m_table->PutNumber(key, value);
+ m_table->SetPersistent(key);
+}
+
+/**
+ * This function is no longer required, as NetworkTables automatically
+ * saves persistent values (which all Preferences values are) periodically
+ * when running as a server.
+ * @deprecated backwards compatibility shim
+ */
+void Preferences::Save() {}
+
+/**
+ * Returns whether or not there is a key with the given name.
+ *
+ * @param key the key
+ * @return if there is a value at the given key
+ */
+bool Preferences::ContainsKey(llvm::StringRef key) {
+ return m_table->ContainsKey(key);
+}
+
+/**
+ * Remove a preference.
+ *
+ * @param key the key
+ */
+void Preferences::Remove(llvm::StringRef key) { m_table->Delete(key); }
diff --git a/wpilibc/athena/src/Relay.cpp b/wpilibc/athena/src/Relay.cpp
new file mode 100644
index 0000000..33cc876
--- /dev/null
+++ b/wpilibc/athena/src/Relay.cpp
@@ -0,0 +1,315 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Relay.h"
+#include "Relay.h"
+
+#include <sstream>
+
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "LiveWindow/LiveWindow.h"
+#include "MotorSafetyHelper.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Relay constructor given a channel.
+ *
+ * This code initializes the relay and reserves all resources that need to be
+ * locked. Initially the relay is set to both lines at 0v.
+ *
+ * @param channel The channel number (0-3).
+ * @param direction The direction that the Relay object will control.
+ */
+Relay::Relay(int channel, Relay::Direction direction)
+ : m_channel(channel), m_direction(direction) {
+ std::stringstream buf;
+ if (!SensorBase::CheckRelayChannel(m_channel)) {
+ buf << "Relay Channel " << m_channel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+
+ HAL_PortHandle portHandle = HAL_GetPort(channel);
+
+ if (m_direction == kBothDirections || m_direction == kForwardOnly) {
+ int32_t status = 0;
+ m_forwardHandle = HAL_InitializeRelayPort(portHandle, true, &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(),
+ channel, HAL_GetErrorMessage(status));
+ m_forwardHandle = HAL_kInvalidHandle;
+ m_reverseHandle = HAL_kInvalidHandle;
+ return;
+ }
+ HAL_Report(HALUsageReporting::kResourceType_Relay, m_channel);
+ }
+ if (m_direction == kBothDirections || m_direction == kReverseOnly) {
+ int32_t status = 0;
+ m_reverseHandle = HAL_InitializeRelayPort(portHandle, false, &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(),
+ channel, HAL_GetErrorMessage(status));
+ m_forwardHandle = HAL_kInvalidHandle;
+ m_reverseHandle = HAL_kInvalidHandle;
+ return;
+ }
+
+ HAL_Report(HALUsageReporting::kResourceType_Relay, m_channel + 128);
+ }
+
+ int32_t status = 0;
+ if (m_forwardHandle != HAL_kInvalidHandle) {
+ HAL_SetRelay(m_forwardHandle, false, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_forwardHandle = HAL_kInvalidHandle;
+ m_reverseHandle = HAL_kInvalidHandle;
+ return;
+ }
+ }
+ if (m_reverseHandle != HAL_kInvalidHandle) {
+ HAL_SetRelay(m_reverseHandle, false, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_forwardHandle = HAL_kInvalidHandle;
+ m_reverseHandle = HAL_kInvalidHandle;
+ return;
+ }
+ }
+
+ m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
+ m_safetyHelper->SetSafetyEnabled(false);
+
+ LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
+}
+
+/**
+ * Free the resource associated with a relay.
+ *
+ * The relay channels are set to free and the relay output is turned off.
+ */
+Relay::~Relay() {
+ int32_t status = 0;
+ HAL_SetRelay(m_forwardHandle, false, &status);
+ HAL_SetRelay(m_reverseHandle, false, &status);
+ // ignore errors, as we want to make sure a free happens.
+ if (m_forwardHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_forwardHandle);
+ if (m_reverseHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_reverseHandle);
+
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the relay state.
+ *
+ * Valid values depend on which directions of the relay are controlled by the
+ * object.
+ *
+ * When set to kBothDirections, the relay can be any of the four states:
+ * 0v-0v, 0v-12v, 12v-0v, 12v-12v
+ *
+ * When set to kForwardOnly or kReverseOnly, you can specify the constant for
+ * the direction or you can simply specify kOff and kOn. Using only kOff and
+ * kOn is recommended.
+ *
+ * @param value The state to set the relay.
+ */
+void Relay::Set(Relay::Value value) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+
+ switch (value) {
+ case kOff:
+ if (m_direction == kBothDirections || m_direction == kForwardOnly) {
+ HAL_SetRelay(m_forwardHandle, false, &status);
+ }
+ if (m_direction == kBothDirections || m_direction == kReverseOnly) {
+ HAL_SetRelay(m_reverseHandle, false, &status);
+ }
+ break;
+ case kOn:
+ if (m_direction == kBothDirections || m_direction == kForwardOnly) {
+ HAL_SetRelay(m_forwardHandle, true, &status);
+ }
+ if (m_direction == kBothDirections || m_direction == kReverseOnly) {
+ HAL_SetRelay(m_reverseHandle, true, &status);
+ }
+ break;
+ case kForward:
+ if (m_direction == kReverseOnly) {
+ wpi_setWPIError(IncompatibleMode);
+ break;
+ }
+ if (m_direction == kBothDirections || m_direction == kForwardOnly) {
+ HAL_SetRelay(m_forwardHandle, true, &status);
+ }
+ if (m_direction == kBothDirections) {
+ HAL_SetRelay(m_reverseHandle, false, &status);
+ }
+ break;
+ case kReverse:
+ if (m_direction == kForwardOnly) {
+ wpi_setWPIError(IncompatibleMode);
+ break;
+ }
+ if (m_direction == kBothDirections) {
+ HAL_SetRelay(m_forwardHandle, false, &status);
+ }
+ if (m_direction == kBothDirections || m_direction == kReverseOnly) {
+ HAL_SetRelay(m_reverseHandle, true, &status);
+ }
+ break;
+ }
+
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the Relay State
+ *
+ * Gets the current state of the relay.
+ *
+ * When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
+ * kForward/kReverse (per the recommendation in Set)
+ *
+ * @return The current state of the relay as a Relay::Value
+ */
+Relay::Value Relay::Get() const {
+ int32_t status;
+
+ if (HAL_GetRelay(m_forwardHandle, &status)) {
+ if (HAL_GetRelay(m_reverseHandle, &status)) {
+ return kOn;
+ } else {
+ if (m_direction == kForwardOnly) {
+ return kOn;
+ } else {
+ return kForward;
+ }
+ }
+ } else {
+ if (HAL_GetRelay(m_reverseHandle, &status)) {
+ if (m_direction == kReverseOnly) {
+ return kOn;
+ } else {
+ return kReverse;
+ }
+ } else {
+ return kOff;
+ }
+ }
+
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+int Relay::GetChannel() const { return m_channel; }
+
+/**
+ * Set the expiration time for the Relay object
+ * @param timeout The timeout (in seconds) for this relay object
+ */
+void Relay::SetExpiration(double timeout) {
+ m_safetyHelper->SetExpiration(timeout);
+}
+
+/**
+ * Return the expiration time for the relay object.
+ * @return The expiration time value.
+ */
+double Relay::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
+
+/**
+ * Check if the relay object is currently alive or stopped due to a timeout.
+ *
+ * @return a bool value that is true if the motor has NOT timed out and should
+ * still be running.
+ */
+bool Relay::IsAlive() const { return m_safetyHelper->IsAlive(); }
+
+/**
+ * Stop the motor associated with this PWM object.
+ *
+ * This is called by the MotorSafetyHelper object when it has a timeout for this
+ * relay and needs to stop it from running.
+ */
+void Relay::StopMotor() { Set(kOff); }
+
+/**
+ * Enable/disable motor safety for this device.
+ *
+ * Turn on and off the motor safety option for this relay object.
+ *
+ * @param enabled True if motor safety is enforced for this object
+ */
+void Relay::SetSafetyEnabled(bool enabled) {
+ m_safetyHelper->SetSafetyEnabled(enabled);
+}
+
+/**
+ * Check if motor safety is enabled for this object.
+ *
+ * @returns True if motor safety is enforced for this object
+ */
+bool Relay::IsSafetyEnabled() const {
+ return m_safetyHelper->IsSafetyEnabled();
+}
+
+void Relay::GetDescription(std::ostringstream& desc) const {
+ desc << "Relay " << GetChannel();
+}
+
+void Relay::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (!value->IsString()) return;
+ if (value->GetString() == "Off")
+ Set(kOff);
+ else if (value->GetString() == "Forward")
+ Set(kForward);
+ else if (value->GetString() == "Reverse")
+ Set(kReverse);
+ else if (value->GetString() == "On")
+ Set(kOn);
+}
+
+void Relay::UpdateTable() {
+ if (m_table != nullptr) {
+ if (Get() == kOn) {
+ m_table->PutString("Value", "On");
+ } else if (Get() == kForward) {
+ m_table->PutString("Value", "Forward");
+ } else if (Get() == kReverse) {
+ m_table->PutString("Value", "Reverse");
+ } else {
+ m_table->PutString("Value", "Off");
+ }
+ }
+}
+
+void Relay::StartLiveWindowMode() {
+ if (m_table != nullptr) {
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void Relay::StopLiveWindowMode() {
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string Relay::GetSmartDashboardType() const { return "Relay"; }
+
+void Relay::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Relay::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/RobotBase.cpp b/wpilibc/athena/src/RobotBase.cpp
new file mode 100644
index 0000000..e242d03
--- /dev/null
+++ b/wpilibc/athena/src/RobotBase.cpp
@@ -0,0 +1,101 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotBase.h"
+
+#include <cstdio>
+
+#include "DriverStation.h"
+#include "HAL/HAL.h"
+#include "HLUsageReporting.h"
+#include "Internal/HardwareHLReporting.h"
+#include "RobotState.h"
+#include "SmartDashboard/SmartDashboard.h"
+#include "Utility.h"
+#include "WPILibVersion.h"
+#include "networktables/NetworkTable.h"
+
+using namespace frc;
+
+std::thread::id RobotBase::m_threadId;
+
+/**
+ * Constructor for a generic robot program.
+ *
+ * User code should be placed in the constructor that runs before the Autonomous
+ * or Operator Control period starts. The constructor will run to completion
+ * before Autonomous is entered.
+ *
+ * This must be used to ensure that the communications code starts. In the
+ * future it would be nice to put this code into it's own task that loads on
+ * boot so ensure that it runs.
+ */
+RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
+ m_threadId = std::this_thread::get_id();
+
+ RobotState::SetImplementation(DriverStation::GetInstance());
+ HLUsageReporting::SetImplementation(new HardwareHLReporting());
+
+ NetworkTable::SetNetworkIdentity("Robot");
+ NetworkTable::SetPersistentFilename("/home/lvuser/networktables.ini");
+
+ SmartDashboard::init();
+
+ std::FILE* file = nullptr;
+ file = std::fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
+
+ if (file != nullptr) {
+ std::fputs("C++ ", file);
+ std::fputs(WPILibVersion, file);
+ std::fclose(file);
+ }
+}
+
+/**
+ * Determine if the Robot is currently enabled.
+ * @return True if the Robot is currently enabled by the field controls.
+ */
+bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); }
+
+/**
+ * Determine if the Robot is currently disabled.
+ * @return True if the Robot is currently disabled by the field controls.
+ */
+bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
+
+/**
+ * Determine if the robot is currently in Autonomous mode.
+ * @return True if the robot is currently operating Autonomously as determined
+ * by the field controls.
+ */
+bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
+
+/**
+ * Determine if the robot is currently in Operator Control mode.
+ * @return True if the robot is currently operating in Tele-Op mode as
+ * determined by the field controls.
+ */
+bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
+
+/**
+ * Determine if the robot is currently in Test mode.
+ * @return True if the robot is currently running tests as determined by the
+ * field controls.
+ */
+bool RobotBase::IsTest() const { return m_ds.IsTest(); }
+
+/**
+ * Indicates if new data is available from the driver station.
+ * @return Has new data arrived over the network since the last time this
+ * function was called?
+ */
+bool RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); }
+
+/**
+ * Gets the ID of the main robot thread
+ */
+std::thread::id RobotBase::GetThreadId() { return m_threadId; }
diff --git a/wpilibc/athena/src/RobotDrive.cpp b/wpilibc/athena/src/RobotDrive.cpp
new file mode 100644
index 0000000..c8c1897
--- /dev/null
+++ b/wpilibc/athena/src/RobotDrive.cpp
@@ -0,0 +1,747 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotDrive.h"
+
+#include <algorithm>
+#include <cmath>
+
+#include "GenericHID.h"
+#include "HAL/HAL.h"
+#include "Joystick.h"
+#include "Talon.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+const int RobotDrive::kMaxNumberOfMotors;
+
+static auto make_shared_nodelete(SpeedController* ptr) {
+ return std::shared_ptr<SpeedController>(ptr, NullDeleter<SpeedController>());
+}
+
+/*
+ * Driving functions
+ * These functions provide an interface to multiple motors that is used for C
+ * programming.
+ * The Drive(speed, direction) function is the main part of the set that makes
+ * it easy to set speeds and direction independently in one call.
+ */
+
+/**
+ * Common function to initialize all the robot drive constructors.
+ *
+ * Create a motor safety object (the real reason for the common code) and
+ * initialize all the motor assignments. The default timeout is set for the
+ * robot drive.
+ */
+void RobotDrive::InitRobotDrive() {
+ m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
+ m_safetyHelper->SetSafetyEnabled(true);
+}
+
+/**
+ * Constructor for RobotDrive with 2 motors specified with channel numbers.
+ *
+ * Set up parameters for a two wheel drive system where the
+ * left and right motor pwm channels are specified in the call.
+ * This call assumes Talons for controlling the motors.
+ *
+ * @param leftMotorChannel The PWM channel number that drives the left motor.
+ * 0-9 are on-board, 10-19 are on the MXP port
+ * @param rightMotorChannel The PWM channel number that drives the right motor.
+ * 0-9 are on-board, 10-19 are on the MXP port
+ */
+RobotDrive::RobotDrive(int leftMotorChannel, int rightMotorChannel) {
+ InitRobotDrive();
+ m_rearLeftMotor = std::make_shared<Talon>(leftMotorChannel);
+ m_rearRightMotor = std::make_shared<Talon>(rightMotorChannel);
+ SetLeftRightMotorOutputs(0.0, 0.0);
+}
+
+/**
+ * Constructor for RobotDrive with 4 motors specified with channel numbers.
+ *
+ * Set up parameters for a four wheel drive system where all four motor
+ * pwm channels are specified in the call.
+ * This call assumes Talons for controlling the motors.
+ *
+ * @param frontLeftMotor Front left motor channel number. 0-9 are on-board,
+ * 10-19 are on the MXP port
+ * @param rearLeftMotor Rear Left motor channel number. 0-9 are on-board,
+ * 10-19 are on the MXP port
+ * @param frontRightMotor Front right motor channel number. 0-9 are on-board,
+ * 10-19 are on the MXP port
+ * @param rearRightMotor Rear Right motor channel number. 0-9 are on-board,
+ * 10-19 are on the MXP port
+ */
+RobotDrive::RobotDrive(int frontLeftMotor, int rearLeftMotor,
+ int frontRightMotor, int rearRightMotor) {
+ InitRobotDrive();
+ m_rearLeftMotor = std::make_shared<Talon>(rearLeftMotor);
+ m_rearRightMotor = std::make_shared<Talon>(rearRightMotor);
+ m_frontLeftMotor = std::make_shared<Talon>(frontLeftMotor);
+ m_frontRightMotor = std::make_shared<Talon>(frontRightMotor);
+ SetLeftRightMotorOutputs(0.0, 0.0);
+}
+
+/**
+ * Constructor for RobotDrive with 2 motors specified as SpeedController
+ * objects.
+ *
+ * The SpeedController version of the constructor enables programs to use the
+ * RobotDrive classes with subclasses of the SpeedController objects, for
+ * example, versions with ramping or reshaping of the curve to suit motor bias
+ * or deadband elimination.
+ *
+ * @param leftMotor The left SpeedController object used to drive the robot.
+ * @param rightMotor The right SpeedController object used to drive the robot.
+ */
+RobotDrive::RobotDrive(SpeedController* leftMotor,
+ SpeedController* rightMotor) {
+ InitRobotDrive();
+ if (leftMotor == nullptr || rightMotor == nullptr) {
+ wpi_setWPIError(NullParameter);
+ m_rearLeftMotor = m_rearRightMotor = nullptr;
+ return;
+ }
+ m_rearLeftMotor = make_shared_nodelete(leftMotor);
+ m_rearRightMotor = make_shared_nodelete(rightMotor);
+}
+
+// TODO: Change to rvalue references & move syntax.
+RobotDrive::RobotDrive(SpeedController& leftMotor,
+ SpeedController& rightMotor) {
+ InitRobotDrive();
+ m_rearLeftMotor = make_shared_nodelete(&leftMotor);
+ m_rearRightMotor = make_shared_nodelete(&rightMotor);
+}
+
+RobotDrive::RobotDrive(std::shared_ptr<SpeedController> leftMotor,
+ std::shared_ptr<SpeedController> rightMotor) {
+ InitRobotDrive();
+ if (leftMotor == nullptr || rightMotor == nullptr) {
+ wpi_setWPIError(NullParameter);
+ m_rearLeftMotor = m_rearRightMotor = nullptr;
+ return;
+ }
+ m_rearLeftMotor = leftMotor;
+ m_rearRightMotor = rightMotor;
+}
+
+/**
+ * Constructor for RobotDrive with 4 motors specified as SpeedController
+ * objects.
+ *
+ * Speed controller input version of RobotDrive (see previous comments).
+ *
+ * @param rearLeftMotor The back left SpeedController object used to drive
+ * the robot.
+ * @param frontLeftMotor The front left SpeedController object used to drive
+ * the robot.
+ * @param rearRightMotor The back right SpeedController object used to drive
+ * the robot.
+ * @param frontRightMotor The front right SpeedController object used to drive
+ * the robot.
+ */
+RobotDrive::RobotDrive(SpeedController* frontLeftMotor,
+ SpeedController* rearLeftMotor,
+ SpeedController* frontRightMotor,
+ SpeedController* rearRightMotor) {
+ InitRobotDrive();
+ if (frontLeftMotor == nullptr || rearLeftMotor == nullptr ||
+ frontRightMotor == nullptr || rearRightMotor == nullptr) {
+ wpi_setWPIError(NullParameter);
+ return;
+ }
+ m_frontLeftMotor = make_shared_nodelete(frontLeftMotor);
+ m_rearLeftMotor = make_shared_nodelete(rearLeftMotor);
+ m_frontRightMotor = make_shared_nodelete(frontRightMotor);
+ m_rearRightMotor = make_shared_nodelete(rearRightMotor);
+}
+
+RobotDrive::RobotDrive(SpeedController& frontLeftMotor,
+ SpeedController& rearLeftMotor,
+ SpeedController& frontRightMotor,
+ SpeedController& rearRightMotor) {
+ InitRobotDrive();
+ m_frontLeftMotor = make_shared_nodelete(&frontLeftMotor);
+ m_rearLeftMotor = make_shared_nodelete(&rearLeftMotor);
+ m_frontRightMotor = make_shared_nodelete(&frontRightMotor);
+ m_rearRightMotor = make_shared_nodelete(&rearRightMotor);
+}
+
+RobotDrive::RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
+ std::shared_ptr<SpeedController> rearLeftMotor,
+ std::shared_ptr<SpeedController> frontRightMotor,
+ std::shared_ptr<SpeedController> rearRightMotor) {
+ InitRobotDrive();
+ if (frontLeftMotor == nullptr || rearLeftMotor == nullptr ||
+ frontRightMotor == nullptr || rearRightMotor == nullptr) {
+ wpi_setWPIError(NullParameter);
+ return;
+ }
+ m_frontLeftMotor = frontLeftMotor;
+ m_rearLeftMotor = rearLeftMotor;
+ m_frontRightMotor = frontRightMotor;
+ m_rearRightMotor = rearRightMotor;
+}
+
+/**
+ * Drive the motors at "outputMagnitude" and "curve".
+ * Both outputMagnitude and curve are -1.0 to +1.0 values, where 0.0 represents
+ * stopped and not turning. curve < 0 will turn left and curve > 0 will turn
+ * right.
+ *
+ * The algorithm for steering provides a constant turn radius for any normal
+ * speed range, both forward and backward. Increasing m_sensitivity causes
+ * sharper turns for fixed values of curve.
+ *
+ * This function will most likely be used in an autonomous routine.
+ *
+ * @param outputMagnitude The speed setting for the outside wheel in a turn,
+ * forward or backwards, +1 to -1.
+ * @param curve The rate of turn, constant for different forward
+ * speeds. Set curve < 0 for left turn or curve > 0 for
+ * right turn.
+ *
+ * Set curve = e^(-r/w) to get a turn radius r for wheelbase w of your robot.
+ * Conversely, turn radius r = -ln(curve)*w for a given value of curve and
+ * wheelbase w.
+ */
+void RobotDrive::Drive(double outputMagnitude, double curve) {
+ double leftOutput, rightOutput;
+ static bool reported = false;
+ if (!reported) {
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
+ HALUsageReporting::kRobotDrive_ArcadeRatioCurve);
+ reported = true;
+ }
+
+ if (curve < 0) {
+ double value = std::log(-curve);
+ double ratio = (value - m_sensitivity) / (value + m_sensitivity);
+ if (ratio == 0) ratio = .0000000001;
+ leftOutput = outputMagnitude / ratio;
+ rightOutput = outputMagnitude;
+ } else if (curve > 0) {
+ double value = std::log(curve);
+ double ratio = (value - m_sensitivity) / (value + m_sensitivity);
+ if (ratio == 0) ratio = .0000000001;
+ leftOutput = outputMagnitude;
+ rightOutput = outputMagnitude / ratio;
+ } else {
+ leftOutput = outputMagnitude;
+ rightOutput = outputMagnitude;
+ }
+ SetLeftRightMotorOutputs(leftOutput, rightOutput);
+}
+
+/**
+ * Provide tank steering using the stored robot configuration.
+ *
+ * Drive the robot using two joystick inputs. The Y-axis will be selected from
+ * each Joystick object.
+ *
+ * @param leftStick The joystick to control the left side of the robot.
+ * @param rightStick The joystick to control the right side of the robot.
+ */
+void RobotDrive::TankDrive(GenericHID* leftStick, GenericHID* rightStick,
+ bool squaredInputs) {
+ if (leftStick == nullptr || rightStick == nullptr) {
+ wpi_setWPIError(NullParameter);
+ return;
+ }
+ TankDrive(leftStick->GetY(), rightStick->GetY(), squaredInputs);
+}
+
+void RobotDrive::TankDrive(GenericHID& leftStick, GenericHID& rightStick,
+ bool squaredInputs) {
+ TankDrive(leftStick.GetY(), rightStick.GetY(), squaredInputs);
+}
+
+/**
+ * Provide tank steering using the stored robot configuration.
+ *
+ * This function lets you pick the axis to be used on each Joystick object for
+ * the left and right sides of the robot.
+ *
+ * @param leftStick The Joystick object to use for the left side of the robot.
+ * @param leftAxis The axis to select on the left side Joystick object.
+ * @param rightStick The Joystick object to use for the right side of the
+ * robot.
+ * @param rightAxis The axis to select on the right side Joystick object.
+ */
+void RobotDrive::TankDrive(GenericHID* leftStick, int leftAxis,
+ GenericHID* rightStick, int rightAxis,
+ bool squaredInputs) {
+ if (leftStick == nullptr || rightStick == nullptr) {
+ wpi_setWPIError(NullParameter);
+ return;
+ }
+ TankDrive(leftStick->GetRawAxis(leftAxis), rightStick->GetRawAxis(rightAxis),
+ squaredInputs);
+}
+
+void RobotDrive::TankDrive(GenericHID& leftStick, int leftAxis,
+ GenericHID& rightStick, int rightAxis,
+ bool squaredInputs) {
+ TankDrive(leftStick.GetRawAxis(leftAxis), rightStick.GetRawAxis(rightAxis),
+ squaredInputs);
+}
+
+/**
+ * Provide tank steering using the stored robot configuration.
+ *
+ * This function lets you directly provide joystick values from any source.
+ *
+ * @param leftValue The value of the left stick.
+ * @param rightValue The value of the right stick.
+ */
+void RobotDrive::TankDrive(double leftValue, double rightValue,
+ bool squaredInputs) {
+ static bool reported = false;
+ if (!reported) {
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
+ HALUsageReporting::kRobotDrive_Tank);
+ reported = true;
+ }
+
+ // square the inputs (while preserving the sign) to increase fine control
+ // while permitting full power
+ leftValue = Limit(leftValue);
+ rightValue = Limit(rightValue);
+ if (squaredInputs) {
+ if (leftValue >= 0.0) {
+ leftValue = (leftValue * leftValue);
+ } else {
+ leftValue = -(leftValue * leftValue);
+ }
+ if (rightValue >= 0.0) {
+ rightValue = (rightValue * rightValue);
+ } else {
+ rightValue = -(rightValue * rightValue);
+ }
+ }
+
+ SetLeftRightMotorOutputs(leftValue, rightValue);
+}
+
+/**
+ * Arcade drive implements single stick driving.
+ *
+ * Given a single Joystick, the class assumes the Y axis for the move value and
+ * the X axis for the rotate value.
+ * (Should add more information here regarding the way that arcade drive works.)
+ *
+ * @param stick The joystick to use for Arcade single-stick driving.
+ * The Y-axis will be selected for forwards/backwards and
+ * the X-axis will be selected for rotation rate.
+ * @param squaredInputs If true, the sensitivity will be increased for small
+ * values
+ */
+void RobotDrive::ArcadeDrive(GenericHID* stick, bool squaredInputs) {
+ // simply call the full-featured ArcadeDrive with the appropriate values
+ ArcadeDrive(stick->GetY(), stick->GetX(), squaredInputs);
+}
+
+/**
+ * Arcade drive implements single stick driving.
+ *
+ * Given a single Joystick, the class assumes the Y axis for the move value and
+ * the X axis for the rotate value.
+ * (Should add more information here regarding the way that arcade drive works.)
+ *
+ * @param stick The joystick to use for Arcade single-stick driving.
+ * The Y-axis will be selected for forwards/backwards and
+ * the X-axis will be selected for rotation rate.
+ * @param squaredInputs If true, the sensitivity will be increased for small
+ * values
+ */
+void RobotDrive::ArcadeDrive(GenericHID& stick, bool squaredInputs) {
+ // simply call the full-featured ArcadeDrive with the appropriate values
+ ArcadeDrive(stick.GetY(), stick.GetX(), squaredInputs);
+}
+
+/**
+ * Arcade drive implements single stick driving.
+ *
+ * Given two joystick instances and two axis, compute the values to send to
+ * either two or four motors.
+ *
+ * @param moveStick The Joystick object that represents the
+ * forward/backward direction
+ * @param moveAxis The axis on the moveStick object to use for
+ * forwards/backwards (typically Y_AXIS)
+ * @param rotateStick The Joystick object that represents the rotation value
+ * @param rotateAxis The axis on the rotation object to use for the rotate
+ * right/left (typically X_AXIS)
+ * @param squaredInputs Setting this parameter to true increases the
+ * sensitivity at lower speeds
+ */
+void RobotDrive::ArcadeDrive(GenericHID* moveStick, int moveAxis,
+ GenericHID* rotateStick, int rotateAxis,
+ bool squaredInputs) {
+ double moveValue = moveStick->GetRawAxis(moveAxis);
+ double rotateValue = rotateStick->GetRawAxis(rotateAxis);
+
+ ArcadeDrive(moveValue, rotateValue, squaredInputs);
+}
+
+/**
+ * Arcade drive implements single stick driving.
+ *
+ * Given two joystick instances and two axis, compute the values to send to
+ * either two or four motors.
+ *
+ * @param moveStick The Joystick object that represents the
+ * forward/backward direction
+ * @param moveAxis The axis on the moveStick object to use for
+ * forwards/backwards (typically Y_AXIS)
+ * @param rotateStick The Joystick object that represents the rotation value
+ * @param rotateAxis The axis on the rotation object to use for the rotate
+ * right/left (typically X_AXIS)
+ * @param squaredInputs Setting this parameter to true increases the
+ * sensitivity at lower speeds
+ */
+void RobotDrive::ArcadeDrive(GenericHID& moveStick, int moveAxis,
+ GenericHID& rotateStick, int rotateAxis,
+ bool squaredInputs) {
+ double moveValue = moveStick.GetRawAxis(moveAxis);
+ double rotateValue = rotateStick.GetRawAxis(rotateAxis);
+
+ ArcadeDrive(moveValue, rotateValue, squaredInputs);
+}
+
+/**
+ * Arcade drive implements single stick driving.
+ *
+ * This function lets you directly provide joystick values from any source.
+ *
+ * @param moveValue The value to use for fowards/backwards
+ * @param rotateValue The value to use for the rotate right/left
+ * @param squaredInputs If set, increases the sensitivity at low speeds
+ */
+void RobotDrive::ArcadeDrive(double moveValue, double rotateValue,
+ bool squaredInputs) {
+ static bool reported = false;
+ if (!reported) {
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
+ HALUsageReporting::kRobotDrive_ArcadeStandard);
+ reported = true;
+ }
+
+ // local variables to hold the computed PWM values for the motors
+ double leftMotorOutput;
+ double rightMotorOutput;
+
+ moveValue = Limit(moveValue);
+ rotateValue = Limit(rotateValue);
+
+ if (squaredInputs) {
+ // square the inputs (while preserving the sign) to increase fine control
+ // while permitting full power
+ if (moveValue >= 0.0) {
+ moveValue = (moveValue * moveValue);
+ } else {
+ moveValue = -(moveValue * moveValue);
+ }
+ if (rotateValue >= 0.0) {
+ rotateValue = (rotateValue * rotateValue);
+ } else {
+ rotateValue = -(rotateValue * rotateValue);
+ }
+ }
+
+ if (moveValue > 0.0) {
+ if (rotateValue > 0.0) {
+ leftMotorOutput = moveValue - rotateValue;
+ rightMotorOutput = std::max(moveValue, rotateValue);
+ } else {
+ leftMotorOutput = std::max(moveValue, -rotateValue);
+ rightMotorOutput = moveValue + rotateValue;
+ }
+ } else {
+ if (rotateValue > 0.0) {
+ leftMotorOutput = -std::max(-moveValue, rotateValue);
+ rightMotorOutput = moveValue + rotateValue;
+ } else {
+ leftMotorOutput = moveValue - rotateValue;
+ rightMotorOutput = -std::max(-moveValue, -rotateValue);
+ }
+ }
+ SetLeftRightMotorOutputs(leftMotorOutput, rightMotorOutput);
+}
+
+/**
+ * Drive method for Mecanum wheeled robots.
+ *
+ * A method for driving with Mecanum wheeled robots. There are 4 wheels
+ * on the robot, arranged so that the front and back wheels are toed in 45
+ * degrees.
+ * When looking at the wheels from the top, the roller axles should form an X
+ * across the robot.
+ *
+ * This is designed to be directly driven by joystick axes.
+ *
+ * @param x The speed that the robot should drive in the X direction.
+ * [-1.0..1.0]
+ * @param y The speed that the robot should drive in the Y direction.
+ * This input is inverted to match the forward == -1.0 that
+ * joysticks produce. [-1.0..1.0]
+ * @param rotation The rate of rotation for the robot that is completely
+ * independent of the translation. [-1.0..1.0]
+ * @param gyroAngle The current angle reading from the gyro. Use this to
+ * implement field-oriented controls.
+ */
+void RobotDrive::MecanumDrive_Cartesian(double x, double y, double rotation,
+ double gyroAngle) {
+ static bool reported = false;
+ if (!reported) {
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
+ HALUsageReporting::kRobotDrive_MecanumCartesian);
+ reported = true;
+ }
+
+ double xIn = x;
+ double yIn = y;
+ // Negate y for the joystick.
+ yIn = -yIn;
+ // Compenstate for gyro angle.
+ RotateVector(xIn, yIn, gyroAngle);
+
+ double wheelSpeeds[kMaxNumberOfMotors];
+ wheelSpeeds[kFrontLeftMotor] = xIn + yIn + rotation;
+ wheelSpeeds[kFrontRightMotor] = -xIn + yIn - rotation;
+ wheelSpeeds[kRearLeftMotor] = -xIn + yIn + rotation;
+ wheelSpeeds[kRearRightMotor] = xIn + yIn - rotation;
+
+ Normalize(wheelSpeeds);
+
+ m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_maxOutput);
+ m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_maxOutput);
+ m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput);
+ m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput);
+
+ m_safetyHelper->Feed();
+}
+
+/**
+ * Drive method for Mecanum wheeled robots.
+ *
+ * A method for driving with Mecanum wheeled robots. There are 4 wheels
+ * on the robot, arranged so that the front and back wheels are toed in 45
+ * degrees.
+ * When looking at the wheels from the top, the roller axles should form an X
+ * across the robot.
+ *
+ * @param magnitude The speed that the robot should drive in a given direction.
+ * [-1.0..1.0]
+ * @param direction The direction the robot should drive in degrees. The
+ * direction and maginitute are independent of the rotation
+ * rate.
+ * @param rotation The rate of rotation for the robot that is completely
+ * independent of the magnitute or direction. [-1.0..1.0]
+ */
+void RobotDrive::MecanumDrive_Polar(double magnitude, double direction,
+ double rotation) {
+ static bool reported = false;
+ if (!reported) {
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
+ HALUsageReporting::kRobotDrive_MecanumPolar);
+ reported = true;
+ }
+
+ // Normalized for full power along the Cartesian axes.
+ magnitude = Limit(magnitude) * std::sqrt(2.0);
+ // The rollers are at 45 degree angles.
+ double dirInRad = (direction + 45.0) * 3.14159 / 180.0;
+ double cosD = std::cos(dirInRad);
+ double sinD = std::sin(dirInRad);
+
+ double wheelSpeeds[kMaxNumberOfMotors];
+ wheelSpeeds[kFrontLeftMotor] = sinD * magnitude + rotation;
+ wheelSpeeds[kFrontRightMotor] = cosD * magnitude - rotation;
+ wheelSpeeds[kRearLeftMotor] = cosD * magnitude + rotation;
+ wheelSpeeds[kRearRightMotor] = sinD * magnitude - rotation;
+
+ Normalize(wheelSpeeds);
+
+ m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_maxOutput);
+ m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_maxOutput);
+ m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput);
+ m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput);
+
+ m_safetyHelper->Feed();
+}
+
+/**
+ * Holonomic Drive method for Mecanum wheeled robots.
+ *
+ * This is an alias to MecanumDrive_Polar() for backward compatability
+ *
+ * @param magnitude The speed that the robot should drive in a given direction.
+ * [-1.0..1.0]
+ * @param direction The direction the robot should drive. The direction and
+ * magnitude are independent of the rotation rate.
+ * @param rotation The rate of rotation for the robot that is completely
+ * independent of the magnitude or direction. [-1.0..1.0]
+ */
+void RobotDrive::HolonomicDrive(double magnitude, double direction,
+ double rotation) {
+ MecanumDrive_Polar(magnitude, direction, rotation);
+}
+
+/**
+ * Set the speed of the right and left motors.
+ *
+ * This is used once an appropriate drive setup function is called such as
+ * TwoWheelDrive(). The motors are set to "leftOutput" and "rightOutput"
+ * and includes flipping the direction of one side for opposing motors.
+ *
+ * @param leftOutput The speed to send to the left side of the robot.
+ * @param rightOutput The speed to send to the right side of the robot.
+ */
+void RobotDrive::SetLeftRightMotorOutputs(double leftOutput,
+ double rightOutput) {
+ wpi_assert(m_rearLeftMotor != nullptr && m_rearRightMotor != nullptr);
+
+ if (m_frontLeftMotor != nullptr)
+ m_frontLeftMotor->Set(Limit(leftOutput) * m_maxOutput);
+ m_rearLeftMotor->Set(Limit(leftOutput) * m_maxOutput);
+
+ if (m_frontRightMotor != nullptr)
+ m_frontRightMotor->Set(-Limit(rightOutput) * m_maxOutput);
+ m_rearRightMotor->Set(-Limit(rightOutput) * m_maxOutput);
+
+ m_safetyHelper->Feed();
+}
+
+/**
+ * Limit motor values to the -1.0 to +1.0 range.
+ */
+double RobotDrive::Limit(double num) {
+ if (num > 1.0) {
+ return 1.0;
+ }
+ if (num < -1.0) {
+ return -1.0;
+ }
+ return num;
+}
+
+/**
+ * Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
+ */
+void RobotDrive::Normalize(double* wheelSpeeds) {
+ double maxMagnitude = std::fabs(wheelSpeeds[0]);
+ int i;
+ for (i = 1; i < kMaxNumberOfMotors; i++) {
+ double temp = std::fabs(wheelSpeeds[i]);
+ if (maxMagnitude < temp) maxMagnitude = temp;
+ }
+ if (maxMagnitude > 1.0) {
+ for (i = 0; i < kMaxNumberOfMotors; i++) {
+ wheelSpeeds[i] = wheelSpeeds[i] / maxMagnitude;
+ }
+ }
+}
+
+/**
+ * Rotate a vector in Cartesian space.
+ */
+void RobotDrive::RotateVector(double& x, double& y, double angle) {
+ double cosA = std::cos(angle * (3.14159 / 180.0));
+ double sinA = std::sin(angle * (3.14159 / 180.0));
+ double xOut = x * cosA - y * sinA;
+ double yOut = x * sinA + y * cosA;
+ x = xOut;
+ y = yOut;
+}
+
+/*
+ * Invert a motor direction.
+ *
+ * This is used when a motor should run in the opposite direction as the drive
+ * code would normally run it. Motors that are direct drive would be inverted,
+ * the Drive code assumes that the motors are geared with one reversal.
+ *
+ * @param motor The motor index to invert.
+ * @param isInverted True if the motor should be inverted when operated.
+ */
+void RobotDrive::SetInvertedMotor(MotorType motor, bool isInverted) {
+ if (motor < 0 || motor > 3) {
+ wpi_setWPIError(InvalidMotorIndex);
+ return;
+ }
+ switch (motor) {
+ case kFrontLeftMotor:
+ m_frontLeftMotor->SetInverted(isInverted);
+ break;
+ case kFrontRightMotor:
+ m_frontRightMotor->SetInverted(isInverted);
+ break;
+ case kRearLeftMotor:
+ m_rearLeftMotor->SetInverted(isInverted);
+ break;
+ case kRearRightMotor:
+ m_rearRightMotor->SetInverted(isInverted);
+ break;
+ }
+}
+
+/**
+ * Set the turning sensitivity.
+ *
+ * This only impacts the Drive() entry-point.
+ *
+ * @param sensitivity Effectively sets the turning sensitivity (or turn radius
+ * for a given value)
+ */
+void RobotDrive::SetSensitivity(double sensitivity) {
+ m_sensitivity = sensitivity;
+}
+
+/**
+ * Configure the scaling factor for using RobotDrive with motor controllers in a
+ * mode other than PercentVbus.
+ *
+ * @param maxOutput Multiplied with the output percentage computed by the drive
+ * functions.
+ */
+void RobotDrive::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
+
+void RobotDrive::SetExpiration(double timeout) {
+ m_safetyHelper->SetExpiration(timeout);
+}
+
+double RobotDrive::GetExpiration() const {
+ return m_safetyHelper->GetExpiration();
+}
+
+bool RobotDrive::IsAlive() const { return m_safetyHelper->IsAlive(); }
+
+bool RobotDrive::IsSafetyEnabled() const {
+ return m_safetyHelper->IsSafetyEnabled();
+}
+
+void RobotDrive::SetSafetyEnabled(bool enabled) {
+ m_safetyHelper->SetSafetyEnabled(enabled);
+}
+
+void RobotDrive::GetDescription(std::ostringstream& desc) const {
+ desc << "RobotDrive";
+}
+
+void RobotDrive::StopMotor() {
+ if (m_frontLeftMotor != nullptr) m_frontLeftMotor->StopMotor();
+ if (m_frontRightMotor != nullptr) m_frontRightMotor->StopMotor();
+ if (m_rearLeftMotor != nullptr) m_rearLeftMotor->StopMotor();
+ if (m_rearRightMotor != nullptr) m_rearRightMotor->StopMotor();
+ m_safetyHelper->Feed();
+}
diff --git a/wpilibc/athena/src/SD540.cpp b/wpilibc/athena/src/SD540.cpp
new file mode 100644
index 0000000..02430ff
--- /dev/null
+++ b/wpilibc/athena/src/SD540.cpp
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "SD540.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Note that the SD540 uses the following bounds for PWM values. These values
+ * should work reasonably well for most controllers, but if users experience
+ * issues such as asymmetric behavior around the deadband or inability to
+ * saturate the controller in either direction, calibration is recommended.
+ * The calibration procedure can be found in the SD540 User Manual available
+ * from Mindsensors.
+ *
+ * 2.05ms = full "forward"
+ * 1.55ms = the "high end" of the deadband range
+ * 1.50ms = center of the deadband range (off)
+ * 1.44ms = the "low end" of the deadband range
+ * 0.94ms = full "reverse"
+ */
+
+/**
+ * Constructor for a SD540.
+ *
+ * @param channel The PWM channel that the SD540 is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+SD540::SD540(int channel) : PWMSpeedController(channel) {
+ SetBounds(2.05, 1.55, 1.50, 1.44, .94);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
+ LiveWindow::GetInstance()->AddActuator("SD540", GetChannel(), this);
+}
diff --git a/wpilibc/athena/src/SPI.cpp b/wpilibc/athena/src/SPI.cpp
new file mode 100644
index 0000000..5fe18ca
--- /dev/null
+++ b/wpilibc/athena/src/SPI.cpp
@@ -0,0 +1,300 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/SPI.h"
+#include "SPI.h"
+
+#include <cstring>
+
+#include "HAL/HAL.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Constructor
+ *
+ * @param SPIport the physical SPI port
+ */
+SPI::SPI(Port SPIport) {
+ m_port = SPIport;
+ int32_t status = 0;
+ HAL_InitializeSPI(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ static int instances = 0;
+ instances++;
+ HAL_Report(HALUsageReporting::kResourceType_SPI, instances);
+}
+
+/**
+ * Destructor.
+ */
+SPI::~SPI() { HAL_CloseSPI(m_port); }
+
+/**
+ * Configure the rate of the generated clock signal.
+ *
+ * The default value is 500,000Hz.
+ * The maximum value is 4,000,000Hz.
+ *
+ * @param hz The clock rate in Hertz.
+ */
+void SPI::SetClockRate(double hz) { HAL_SetSPISpeed(m_port, hz); }
+
+/**
+ * Configure the order that bits are sent and received on the wire
+ * to be most significant bit first.
+ */
+void SPI::SetMSBFirst() {
+ m_msbFirst = true;
+ HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clk_idle_high);
+}
+
+/**
+ * Configure the order that bits are sent and received on the wire
+ * to be least significant bit first.
+ */
+void SPI::SetLSBFirst() {
+ m_msbFirst = false;
+ HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clk_idle_high);
+}
+
+/**
+ * Configure that the data is stable on the falling edge and the data
+ * changes on the rising edge.
+ */
+void SPI::SetSampleDataOnFalling() {
+ m_sampleOnTrailing = true;
+ HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clk_idle_high);
+}
+
+/**
+ * Configure that the data is stable on the rising edge and the data
+ * changes on the falling edge.
+ */
+void SPI::SetSampleDataOnRising() {
+ m_sampleOnTrailing = false;
+ HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clk_idle_high);
+}
+
+/**
+ * Configure the clock output line to be active low.
+ * This is sometimes called clock polarity high or clock idle high.
+ */
+void SPI::SetClockActiveLow() {
+ m_clk_idle_high = true;
+ HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clk_idle_high);
+}
+
+/**
+ * Configure the clock output line to be active high.
+ * This is sometimes called clock polarity low or clock idle low.
+ */
+void SPI::SetClockActiveHigh() {
+ m_clk_idle_high = false;
+ HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clk_idle_high);
+}
+
+/**
+ * Configure the chip select line to be active high.
+ */
+void SPI::SetChipSelectActiveHigh() {
+ int32_t status = 0;
+ HAL_SetSPIChipSelectActiveHigh(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Configure the chip select line to be active low.
+ */
+void SPI::SetChipSelectActiveLow() {
+ int32_t status = 0;
+ HAL_SetSPIChipSelectActiveLow(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Write data to the slave device. Blocks until there is space in the
+ * output FIFO.
+ *
+ * If not running in output only mode, also saves the data received
+ * on the MISO input during the transfer into the receive FIFO.
+ */
+int SPI::Write(uint8_t* data, int size) {
+ int retVal = 0;
+ retVal = HAL_WriteSPI(m_port, data, size);
+ return retVal;
+}
+
+/**
+ * Read a word from the receive FIFO.
+ *
+ * Waits for the current transfer to complete if the receive FIFO is empty.
+ *
+ * If the receive FIFO is empty, there is no active transfer, and initiate
+ * is false, errors.
+ *
+ * @param initiate If true, this function pushes "0" into the transmit buffer
+ * and initiates a transfer. If false, this function assumes
+ * that data is already in the receive FIFO from a previous
+ * write.
+ */
+int SPI::Read(bool initiate, uint8_t* dataReceived, int size) {
+ int retVal = 0;
+ if (initiate) {
+ auto dataToSend = new uint8_t[size];
+ std::memset(dataToSend, 0, size);
+ retVal = HAL_TransactionSPI(m_port, dataToSend, dataReceived, size);
+ } else {
+ retVal = HAL_ReadSPI(m_port, dataReceived, size);
+ }
+ return retVal;
+}
+
+/**
+ * Perform a simultaneous read/write transaction with the device
+ *
+ * @param dataToSend The data to be written out to the device
+ * @param dataReceived Buffer to receive data from the device
+ * @param size The length of the transaction, in bytes
+ */
+int SPI::Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size) {
+ int retVal = 0;
+ retVal = HAL_TransactionSPI(m_port, dataToSend, dataReceived, size);
+ return retVal;
+}
+
+/**
+ * Initialize the accumulator.
+ *
+ * @param period Time between reads
+ * @param cmd SPI command to send to request data
+ * @param xfer_size SPI transfer size, in bytes
+ * @param valid_mask Mask to apply to received data for validity checking
+ * @param valid_data After valid_mask is applied, required matching value for
+ * validity checking
+ * @param data_shift Bit shift to apply to received data to get actual data
+ * value
+ * @param data_size Size (in bits) of data field
+ * @param is_signed Is data field signed?
+ * @param big_endian Is device big endian?
+ */
+void SPI::InitAccumulator(double period, int cmd, int xfer_size, int valid_mask,
+ int valid_value, int data_shift, int data_size,
+ bool is_signed, bool big_endian) {
+ int32_t status = 0;
+ HAL_InitSPIAccumulator(m_port, static_cast<int32_t>(period * 1e6), cmd,
+ xfer_size, valid_mask, valid_value, data_shift,
+ data_size, is_signed, big_endian, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Frees the accumulator.
+ */
+void SPI::FreeAccumulator() {
+ int32_t status = 0;
+ HAL_FreeSPIAccumulator(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Resets the accumulator to zero.
+ */
+void SPI::ResetAccumulator() {
+ int32_t status = 0;
+ HAL_ResetSPIAccumulator(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the center value of the accumulator.
+ *
+ * The center value is subtracted from each value before it is added to the
+ * accumulator. This is used for the center value of devices like gyros and
+ * accelerometers to make integration work and to take the device offset into
+ * account when integrating.
+ */
+void SPI::SetAccumulatorCenter(int center) {
+ int32_t status = 0;
+ HAL_SetSPIAccumulatorCenter(m_port, center, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the accumulator's deadband.
+ */
+void SPI::SetAccumulatorDeadband(int deadband) {
+ int32_t status = 0;
+ HAL_SetSPIAccumulatorDeadband(m_port, deadband, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Read the last value read by the accumulator engine.
+ */
+int SPI::GetAccumulatorLastValue() const {
+ int32_t status = 0;
+ int retVal = HAL_GetSPIAccumulatorLastValue(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Read the accumulated value.
+ *
+ * @return The 64-bit value accumulated since the last Reset().
+ */
+int64_t SPI::GetAccumulatorValue() const {
+ int32_t status = 0;
+ int64_t retVal = HAL_GetSPIAccumulatorValue(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Read the number of accumulated values.
+ *
+ * Read the count of the accumulated values since the accumulator was last
+ * Reset().
+ *
+ * @return The number of times samples from the channel were accumulated.
+ */
+int64_t SPI::GetAccumulatorCount() const {
+ int32_t status = 0;
+ int64_t retVal = HAL_GetSPIAccumulatorCount(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Read the average of the accumulated value.
+ *
+ * @return The accumulated average value (value / count).
+ */
+double SPI::GetAccumulatorAverage() const {
+ int32_t status = 0;
+ double retVal = HAL_GetSPIAccumulatorAverage(m_port, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Read the accumulated value and the number of accumulated values atomically.
+ *
+ * This function reads the value and count atomically.
+ * This can be used for averaging.
+ *
+ * @param value Pointer to the 64-bit accumulated output.
+ * @param count Pointer to the number of accumulation cycles.
+ */
+void SPI::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
+ int32_t status = 0;
+ HAL_GetSPIAccumulatorOutput(m_port, &value, &count, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
diff --git a/wpilibc/athena/src/SafePWM.cpp b/wpilibc/athena/src/SafePWM.cpp
new file mode 100644
index 0000000..cd62192
--- /dev/null
+++ b/wpilibc/athena/src/SafePWM.cpp
@@ -0,0 +1,92 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "SafePWM.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a SafePWM object taking a channel number.
+ *
+ * @param channel The PWM channel number 0-9 are on-board, 10-19 are on the MXP
+ * port
+ */
+SafePWM::SafePWM(int channel) : PWM(channel) {
+ m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
+ m_safetyHelper->SetSafetyEnabled(false);
+}
+
+/**
+ * Set the expiration time for the PWM object.
+ *
+ * @param timeout The timeout (in seconds) for this motor object
+ */
+void SafePWM::SetExpiration(double timeout) {
+ m_safetyHelper->SetExpiration(timeout);
+}
+
+/**
+ * Return the expiration time for the PWM object.
+ *
+ * @returns The expiration time value.
+ */
+double SafePWM::GetExpiration() const {
+ return m_safetyHelper->GetExpiration();
+}
+
+/**
+ * Check if the PWM object is currently alive or stopped due to a timeout.
+ *
+ * @return a bool value that is true if the motor has NOT timed out and should
+ * still be running.
+ */
+bool SafePWM::IsAlive() const { return m_safetyHelper->IsAlive(); }
+
+/**
+ * Stop the motor associated with this PWM object.
+ *
+ * This is called by the MotorSafetyHelper object when it has a timeout for this
+ * PWM and needs to stop it from running.
+ */
+void SafePWM::StopMotor() { SetDisabled(); }
+
+/**
+ * Enable/disable motor safety for this device.
+ *
+ * Turn on and off the motor safety option for this PWM object.
+ *
+ * @param enabled True if motor safety is enforced for this object
+ */
+void SafePWM::SetSafetyEnabled(bool enabled) {
+ m_safetyHelper->SetSafetyEnabled(enabled);
+}
+
+/**
+ * Check if motor safety is enabled for this object.
+ *
+ * @returns True if motor safety is enforced for this object
+ */
+bool SafePWM::IsSafetyEnabled() const {
+ return m_safetyHelper->IsSafetyEnabled();
+}
+
+void SafePWM::GetDescription(std::ostringstream& desc) const {
+ desc << "PWM " << GetChannel();
+}
+
+/**
+ * Feed the MotorSafety timer when setting the speed.
+ *
+ * This method is called by the subclass motor whenever it updates its speed,
+ * thereby reseting the timeout value.
+ *
+ * @param speed Value to pass to the PWM class
+ */
+void SafePWM::SetSpeed(double speed) {
+ PWM::SetSpeed(speed);
+ m_safetyHelper->Feed();
+}
diff --git a/wpilibc/athena/src/SampleRobot.cpp b/wpilibc/athena/src/SampleRobot.cpp
new file mode 100644
index 0000000..014730e
--- /dev/null
+++ b/wpilibc/athena/src/SampleRobot.cpp
@@ -0,0 +1,149 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "SampleRobot.h"
+
+#include "DriverStation.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Timer.h"
+#include "networktables/NetworkTable.h"
+
+using namespace frc;
+
+SampleRobot::SampleRobot() : m_robotMainOverridden(true) {}
+
+/**
+ * Robot-wide initialization code should go here.
+ *
+ * Users should override this method for default Robot-wide initialization which
+ * will be called when the robot is first powered on. It will be called exactly
+ * one time.
+ *
+ * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
+ * indicators will be off until RobotInit() exits. Code in RobotInit() that
+ * waits for enable will cause the robot to never indicate that the code is
+ * ready, causing the robot to be bypassed in a match.
+ */
+void SampleRobot::RobotInit() {
+ std::printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Disabled should go here.
+ *
+ * Programmers should override this method to run code that should run while the
+ * field is disabled.
+ */
+void SampleRobot::Disabled() {
+ std::printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Autonomous should go here.
+ *
+ * Programmers should override this method to run code that should run while the
+ * field is in the autonomous period. This will be called once each time the
+ * robot enters the autonomous state.
+ */
+void SampleRobot::Autonomous() {
+ std::printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Operator control (tele-operated) code should go here.
+ *
+ * Programmers should override this method to run code that should run while the
+ * field is in the Operator Control (tele-operated) period. This is called once
+ * each time the robot enters the teleop state.
+ */
+void SampleRobot::OperatorControl() {
+ std::printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Test program should go here.
+ *
+ * Programmers should override this method to run code that executes while the
+ * robot is in test mode. This will be called once whenever the robot enters
+ * test mode
+ */
+void SampleRobot::Test() {
+ std::printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Robot main program for free-form programs.
+ *
+ * This should be overridden by user subclasses if the intent is to not use the
+ * Autonomous() and OperatorControl() methods. In that case, the program is
+ * responsible for sensing when to run the autonomous and operator control
+ * functions in their program.
+ *
+ * This method will be called immediately after the constructor is called. If it
+ * has not been overridden by a user subclass (i.e. the default version runs),
+ * then the Autonomous() and OperatorControl() methods will be called.
+ */
+void SampleRobot::RobotMain() { m_robotMainOverridden = false; }
+
+/**
+ * Start a competition.
+ *
+ * This code needs to track the order of the field starting to ensure that
+ * everything happens in the right order. Repeatedly run the correct method,
+ * either Autonomous or OperatorControl or Test when the robot is enabled.
+ * After running the correct method, wait for some state to change, either the
+ * other mode starts or the robot is disabled. Then go back and wait for the
+ * robot to be enabled again.
+ */
+void SampleRobot::StartCompetition() {
+ LiveWindow* lw = LiveWindow::GetInstance();
+
+ HAL_Report(HALUsageReporting::kResourceType_Framework,
+ HALUsageReporting::kFramework_Simple);
+
+ NetworkTable::GetTable("LiveWindow")
+ ->GetSubTable("~STATUS~")
+ ->PutBoolean("LW Enabled", false);
+
+ RobotInit();
+
+ // Tell the DS that the robot is ready to be enabled
+ HAL_ObserveUserProgramStarting();
+
+ RobotMain();
+
+ if (!m_robotMainOverridden) {
+ // first and one-time initialization
+ lw->SetEnabled(false);
+
+ while (true) {
+ if (IsDisabled()) {
+ m_ds.InDisabled(true);
+ Disabled();
+ m_ds.InDisabled(false);
+ while (IsDisabled()) m_ds.WaitForData();
+ } else if (IsAutonomous()) {
+ m_ds.InAutonomous(true);
+ Autonomous();
+ m_ds.InAutonomous(false);
+ while (IsAutonomous() && IsEnabled()) m_ds.WaitForData();
+ } else if (IsTest()) {
+ lw->SetEnabled(true);
+ m_ds.InTest(true);
+ Test();
+ m_ds.InTest(false);
+ while (IsTest() && IsEnabled()) m_ds.WaitForData();
+ lw->SetEnabled(false);
+ } else {
+ m_ds.InOperatorControl(true);
+ OperatorControl();
+ m_ds.InOperatorControl(false);
+ while (IsOperatorControl() && IsEnabled()) m_ds.WaitForData();
+ }
+ }
+ }
+}
diff --git a/wpilibc/athena/src/SensorBase.cpp b/wpilibc/athena/src/SensorBase.cpp
new file mode 100644
index 0000000..1a4987c
--- /dev/null
+++ b/wpilibc/athena/src/SensorBase.cpp
@@ -0,0 +1,117 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "SensorBase.h"
+
+#include "FRC_NetworkCommunication/LoadOut.h"
+#include "HAL/AnalogInput.h"
+#include "HAL/AnalogOutput.h"
+#include "HAL/DIO.h"
+#include "HAL/HAL.h"
+#include "HAL/PDP.h"
+#include "HAL/PWM.h"
+#include "HAL/Ports.h"
+#include "HAL/Relay.h"
+#include "HAL/Solenoid.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+const int SensorBase::kDigitalChannels = HAL_GetNumDigitalChannels();
+const int SensorBase::kAnalogInputs = HAL_GetNumAnalogInputs();
+const int SensorBase::kSolenoidChannels = HAL_GetNumSolenoidChannels();
+const int SensorBase::kSolenoidModules = HAL_GetNumPCMModules();
+const int SensorBase::kPwmChannels = HAL_GetNumPWMChannels();
+const int SensorBase::kRelayChannels = HAL_GetNumRelayHeaders();
+const int SensorBase::kPDPChannels = HAL_GetNumPDPChannels();
+
+/**
+ * Check that the solenoid module number is valid.
+ *
+ * @return Solenoid module is valid and present
+ */
+bool SensorBase::CheckSolenoidModule(int moduleNumber) {
+ return HAL_CheckSolenoidModule(moduleNumber);
+}
+
+/**
+ * Check that the digital channel number is valid.
+ *
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are 1-based.
+ *
+ * @return Digital channel is valid
+ */
+bool SensorBase::CheckDigitalChannel(int channel) {
+ return HAL_CheckDIOChannel(channel);
+}
+
+/**
+ * Check that the relay channel number is valid.
+ *
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are 0-based.
+ *
+ * @return Relay channel is valid
+ */
+bool SensorBase::CheckRelayChannel(int channel) {
+ return HAL_CheckRelayChannel(channel);
+}
+
+/**
+ * Check that the digital channel number is valid.
+ *
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are 1-based.
+ *
+ * @return PWM channel is valid
+ */
+bool SensorBase::CheckPWMChannel(int channel) {
+ return HAL_CheckPWMChannel(channel);
+}
+
+/**
+ * Check that the analog input number is value.
+ *
+ * Verify that the analog input number is one of the legal channel numbers.
+ * Channel numbers are 0-based.
+ *
+ * @return Analog channel is valid
+ */
+bool SensorBase::CheckAnalogInputChannel(int channel) {
+ return HAL_CheckAnalogInputChannel(channel);
+}
+
+/**
+ * Check that the analog output number is valid.
+ *
+ * Verify that the analog output number is one of the legal channel numbers.
+ * Channel numbers are 0-based.
+ *
+ * @return Analog channel is valid
+ */
+bool SensorBase::CheckAnalogOutputChannel(int channel) {
+ return HAL_CheckAnalogOutputChannel(channel);
+}
+
+/**
+ * Verify that the solenoid channel number is within limits.
+ *
+ * @return Solenoid channel is valid
+ */
+bool SensorBase::CheckSolenoidChannel(int channel) {
+ return HAL_CheckSolenoidChannel(channel);
+}
+
+/**
+ * Verify that the power distribution channel number is within limits.
+ *
+ * @return PDP channel is valid
+ */
+bool SensorBase::CheckPDPChannel(int channel) {
+ return HAL_CheckPDPModule(channel);
+}
diff --git a/wpilibc/athena/src/SerialPort.cpp b/wpilibc/athena/src/SerialPort.cpp
new file mode 100644
index 0000000..56435a9
--- /dev/null
+++ b/wpilibc/athena/src/SerialPort.cpp
@@ -0,0 +1,264 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/SerialPort.h"
+#include "SerialPort.h"
+
+#include "HAL/HAL.h"
+
+// static ViStatus _VI_FUNCH ioCompleteHandler (ViSession vi, ViEventType
+// eventType, ViEvent event, ViAddr userHandle);
+
+using namespace frc;
+
+/**
+ * Create an instance of a Serial Port class.
+ *
+ * @param baudRate The baud rate to configure the serial port.
+ * @param port The physical port to use
+ * @param dataBits The number of data bits per transfer. Valid values are
+ * between 5 and 8 bits.
+ * @param parity Select the type of parity checking to use.
+ * @param stopBits The number of stop bits to use as defined by the enum
+ * StopBits.
+ */
+SerialPort::SerialPort(int baudRate, Port port, int dataBits,
+ SerialPort::Parity parity,
+ SerialPort::StopBits stopBits) {
+ int32_t status = 0;
+
+ m_port = port;
+
+ HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ // Don't continue if initialization failed
+ if (status < 0) return;
+ HAL_SetSerialBaudRate(static_cast<HAL_SerialPort>(port), baudRate, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_SetSerialDataBits(static_cast<HAL_SerialPort>(port), dataBits, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_SetSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_SetSerialStopBits(static_cast<HAL_SerialPort>(port), stopBits, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ // Set the default timeout to 5 seconds.
+ SetTimeout(5.0);
+
+ // Don't wait until the buffer is full to transmit.
+ SetWriteBufferMode(kFlushOnAccess);
+
+ EnableTermination();
+
+ // viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler,
+ // this);
+ // viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
+
+ HAL_Report(HALUsageReporting::kResourceType_SerialPort, 0);
+}
+
+/**
+ * Destructor.
+ */
+SerialPort::~SerialPort() {
+ int32_t status = 0;
+ HAL_CloseSerial(static_cast<HAL_SerialPort>(m_port), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the type of flow control to enable on this port.
+ *
+ * By default, flow control is disabled.
+ */
+void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
+ int32_t status = 0;
+ HAL_SetSerialFlowControl(static_cast<HAL_SerialPort>(m_port), flowControl,
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Enable termination and specify the termination character.
+ *
+ * Termination is currently only implemented for receive.
+ * When the the terminator is recieved, the Read() or Scanf() will return
+ * fewer bytes than requested, stopping after the terminator.
+ *
+ * @param terminator The character to use for termination.
+ */
+void SerialPort::EnableTermination(char terminator) {
+ int32_t status = 0;
+ HAL_EnableSerialTermination(static_cast<HAL_SerialPort>(m_port), terminator,
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Disable termination behavior.
+ */
+void SerialPort::DisableTermination() {
+ int32_t status = 0;
+ HAL_DisableSerialTermination(static_cast<HAL_SerialPort>(m_port), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the number of bytes currently available to read from the serial port.
+ *
+ * @return The number of bytes available to read
+ */
+int SerialPort::GetBytesReceived() {
+ int32_t status = 0;
+ int retVal =
+ HAL_GetSerialBytesReceived(static_cast<HAL_SerialPort>(m_port), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Read raw bytes out of the buffer.
+ *
+ * @param buffer Pointer to the buffer to store the bytes in.
+ * @param count The maximum number of bytes to read.
+ * @return The number of bytes actually read into the buffer.
+ */
+int SerialPort::Read(char* buffer, int count) {
+ int32_t status = 0;
+ int retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(m_port), buffer,
+ count, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Write raw bytes to the buffer. Deprecated, please use StringRef overload. Use
+ * Write({data, len}) to get a buffer that is shorter then the length of the
+ * std::string.
+ *
+ * @param buffer Pointer to the buffer to read the bytes from. If string.size()
+ * is less then count, only the length of string.size() will be sent.
+ * @param count The maximum number of bytes to write.
+ * @return The number of bytes actually written into the port.
+ */
+int SerialPort::Write(const std::string& buffer, int count) {
+ return Write(llvm::StringRef(
+ buffer.data(), std::min(static_cast<int>(buffer.size()), count)));
+}
+
+/**
+ * Write raw bytes to the buffer.
+ *
+ * @param buffer Pointer to the buffer to read the bytes from.
+ * @param count The maximum number of bytes to write.
+ * @return The number of bytes actually written into the port.
+ */
+int SerialPort::Write(const char* buffer, int count) {
+ return Write(llvm::StringRef(buffer, static_cast<size_t>(count)));
+}
+
+/**
+ * Write raw bytes to the buffer.
+ *
+ * @param buffer StringRef to the buffer to read the bytes from.
+ * @return The number of bytes actually written into the port.
+ */
+int SerialPort::Write(llvm::StringRef buffer) {
+ int32_t status = 0;
+ int retVal = HAL_WriteSerial(static_cast<HAL_SerialPort>(m_port),
+ buffer.data(), buffer.size(), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Configure the timeout of the serial port.
+ *
+ * This defines the timeout for transactions with the hardware.
+ * It will affect reads and very large writes.
+ *
+ * @param timeout The number of seconds to to wait for I/O.
+ */
+void SerialPort::SetTimeout(double timeout) {
+ int32_t status = 0;
+ HAL_SetSerialTimeout(static_cast<HAL_SerialPort>(m_port), timeout, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Specify the size of the input buffer.
+ *
+ * Specify the amount of data that can be stored before data
+ * from the device is returned to Read or Scanf. If you want
+ * data that is recieved to be returned immediately, set this to 1.
+ *
+ * It the buffer is not filled before the read timeout expires, all
+ * data that has been received so far will be returned.
+ *
+ * @param size The read buffer size.
+ */
+void SerialPort::SetReadBufferSize(int size) {
+ int32_t status = 0;
+ HAL_SetSerialReadBufferSize(static_cast<HAL_SerialPort>(m_port), size,
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Specify the size of the output buffer.
+ *
+ * Specify the amount of data that can be stored before being
+ * transmitted to the device.
+ *
+ * @param size The write buffer size.
+ */
+void SerialPort::SetWriteBufferSize(int size) {
+ int32_t status = 0;
+ HAL_SetSerialWriteBufferSize(static_cast<HAL_SerialPort>(m_port), size,
+ &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Specify the flushing behavior of the output buffer.
+ *
+ * When set to kFlushOnAccess, data is synchronously written to the serial port
+ * after each call to either Printf() or Write().
+ *
+ * When set to kFlushWhenFull, data will only be written to the serial port when
+ * the buffer is full or when Flush() is called.
+ *
+ * @param mode The write buffer mode.
+ */
+void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) {
+ int32_t status = 0;
+ HAL_SetSerialWriteMode(static_cast<HAL_SerialPort>(m_port), mode, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Force the output buffer to be written to the port.
+ *
+ * This is used when SetWriteBufferMode() is set to kFlushWhenFull to force a
+ * flush before the buffer is full.
+ */
+void SerialPort::Flush() {
+ int32_t status = 0;
+ HAL_FlushSerial(static_cast<HAL_SerialPort>(m_port), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Reset the serial port driver to a known state.
+ *
+ * Empty the transmit and receive buffers in the device and formatted I/O.
+ */
+void SerialPort::Reset() {
+ int32_t status = 0;
+ HAL_ClearSerial(static_cast<HAL_SerialPort>(m_port), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
diff --git a/wpilibc/athena/src/Servo.cpp b/wpilibc/athena/src/Servo.cpp
new file mode 100644
index 0000000..0a425ba
--- /dev/null
+++ b/wpilibc/athena/src/Servo.cpp
@@ -0,0 +1,134 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Servo.h"
+
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+constexpr double Servo::kMaxServoAngle;
+constexpr double Servo::kMinServoAngle;
+
+constexpr double Servo::kDefaultMaxServoPWM;
+constexpr double Servo::kDefaultMinServoPWM;
+
+/**
+ * @param channel The PWM channel to which the servo is attached. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+Servo::Servo(int channel) : SafePWM(channel) {
+ // Set minimum and maximum PWM values supported by the servo
+ SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
+
+ // Assign defaults for period multiplier for the servo PWM control signal
+ SetPeriodMultiplier(kPeriodMultiplier_4X);
+
+ // std::printf("Done initializing servo %d\n", channel);
+}
+
+Servo::~Servo() {
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+/**
+ * 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(double 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.
+ */
+double Servo::Get() const { 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(double degrees) {
+ if (degrees < kMinServoAngle) {
+ degrees = kMinServoAngle;
+ } else if (degrees > kMaxServoAngle) {
+ degrees = kMaxServoAngle;
+ }
+
+ SetPosition((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.
+ */
+double Servo::GetAngle() const {
+ return GetPosition() * GetServoAngleRange() + kMinServoAngle;
+}
+
+void Servo::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (!value->IsDouble()) return;
+ Set(value->GetDouble());
+}
+
+void Servo::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", Get());
+ }
+}
+
+void Servo::StartLiveWindowMode() {
+ if (m_table != nullptr) {
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void Servo::StopLiveWindowMode() {
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string Servo::GetSmartDashboardType() const { return "Servo"; }
+
+void Servo::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Servo::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/Solenoid.cpp b/wpilibc/athena/src/Solenoid.cpp
new file mode 100644
index 0000000..d70c3c3
--- /dev/null
+++ b/wpilibc/athena/src/Solenoid.cpp
@@ -0,0 +1,145 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Solenoid.h"
+#include "Solenoid.h"
+
+#include <sstream>
+
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Constructor using the default PCM ID (0).
+ *
+ * @param channel The channel on the PCM to control (0..7).
+ */
+Solenoid::Solenoid(int channel)
+ : Solenoid(GetDefaultSolenoidModule(), channel) {}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The CAN ID of the PCM the solenoid is attached to
+ * @param channel The channel on the PCM to control (0..7).
+ */
+Solenoid::Solenoid(int moduleNumber, int channel)
+ : SolenoidBase(moduleNumber), m_channel(channel) {
+ std::stringstream buf;
+ if (!CheckSolenoidModule(m_moduleNumber)) {
+ buf << "Solenoid Module " << m_moduleNumber;
+ wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
+ return;
+ }
+ if (!CheckSolenoidChannel(m_channel)) {
+ buf << "Solenoid Module " << m_channel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+
+ int32_t status = 0;
+ m_solenoidHandle = HAL_InitializeSolenoidPort(
+ HAL_GetPortWithModule(moduleNumber, channel), &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
+ channel, HAL_GetErrorMessage(status));
+ m_solenoidHandle = HAL_kInvalidHandle;
+ return;
+ }
+
+ LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel,
+ this);
+ HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel,
+ m_moduleNumber);
+}
+
+/**
+ * Destructor.
+ */
+Solenoid::~Solenoid() {
+ HAL_FreeSolenoidPort(m_solenoidHandle);
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the value of a solenoid.
+ *
+ * @param on Turn the solenoid output off or on.
+ */
+void Solenoid::Set(bool on) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetSolenoid(m_solenoidHandle, on, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Read the current value of the solenoid.
+ *
+ * @return The current value of the solenoid.
+ */
+bool Solenoid::Get() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value = HAL_GetSolenoid(m_solenoidHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Check if solenoid is blacklisted.
+ *
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ *
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool Solenoid::IsBlackListed() const {
+ int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
+ return (value != 0);
+}
+
+void Solenoid::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (!value->IsBoolean()) return;
+ Set(value->GetBoolean());
+}
+
+void Solenoid::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutBoolean("Value", Get());
+ }
+}
+
+void Solenoid::StartLiveWindowMode() {
+ Set(false);
+ if (m_table != nullptr) {
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void Solenoid::StopLiveWindowMode() {
+ Set(false);
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string Solenoid::GetSmartDashboardType() const { return "Solenoid"; }
+
+void Solenoid::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Solenoid::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/SolenoidBase.cpp b/wpilibc/athena/src/SolenoidBase.cpp
new file mode 100644
index 0000000..4b53744
--- /dev/null
+++ b/wpilibc/athena/src/SolenoidBase.cpp
@@ -0,0 +1,81 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "SolenoidBase.h"
+
+#include "HAL/HAL.h"
+#include "HAL/Solenoid.h"
+
+using namespace frc;
+
+/**
+ * Constructor
+ *
+ * @param moduleNumber The CAN PCM ID.
+ */
+SolenoidBase::SolenoidBase(int moduleNumber) : m_moduleNumber(moduleNumber) {}
+
+/**
+ * Read all 8 solenoids as a single byte
+ *
+ * @return The current value of all 8 solenoids on the module.
+ */
+int SolenoidBase::GetAll(int module) const {
+ int value = 0;
+ int32_t status = 0;
+ value = HAL_GetAllSolenoids(static_cast<int>(module), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Reads complete solenoid blacklist for all 8 solenoids as a single byte.
+ *
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return The solenoid blacklist of all 8 solenoids on the module.
+ */
+int SolenoidBase::GetPCMSolenoidBlackList(int module) const {
+ int32_t status = 0;
+ return HAL_GetPCMSolenoidBlackList(static_cast<int>(module), &status);
+}
+
+/**
+ * @return true if PCM sticky fault is set : The common highside solenoid
+ * voltage rail is too low, most likely a solenoid channel is shorted.
+ */
+bool SolenoidBase::GetPCMSolenoidVoltageStickyFault(int module) const {
+ int32_t status = 0;
+ return HAL_GetPCMSolenoidVoltageStickyFault(static_cast<int>(module),
+ &status);
+}
+
+/**
+ * @return true if PCM is in fault state : The common highside solenoid voltage
+ * rail is too low, most likely a solenoid channel is shorted.
+ */
+bool SolenoidBase::GetPCMSolenoidVoltageFault(int module) const {
+ int32_t status = 0;
+ return HAL_GetPCMSolenoidVoltageFault(static_cast<int>(module), &status);
+}
+
+/**
+ * Clear ALL sticky faults inside PCM that Compressor is wired to.
+ *
+ * If a sticky fault is set, then it will be persistently cleared. Compressor
+ * drive maybe momentarily disable while flags are being cleared. Care should
+ * be taken to not call this too frequently, otherwise normal compressor
+ * functionality may be prevented.
+ *
+ * If no sticky faults are set then this call will have no effect.
+ */
+void SolenoidBase::ClearAllPCMStickyFaults(int module) {
+ int32_t status = 0;
+ return HAL_ClearAllPCMStickyFaults(static_cast<int>(module), &status);
+}
diff --git a/wpilibc/athena/src/Spark.cpp b/wpilibc/athena/src/Spark.cpp
new file mode 100644
index 0000000..1790806
--- /dev/null
+++ b/wpilibc/athena/src/Spark.cpp
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Spark.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Note that the Spark uses the following bounds for PWM values. These values
+ * should work reasonably well for most controllers, but if users experience
+ * issues such as asymmetric behavior around the deadband or inability to
+ * saturate the controller in either direction, calibration is recommended.
+ * The calibration procedure can be found in the Spark User Manual available
+ * from REV Robotics.
+ *
+ * 2.003ms = full "forward"
+ * 1.55ms = the "high end" of the deadband range
+ * 1.50ms = center of the deadband range (off)
+ * 1.46ms = the "low end" of the deadband range
+ * 0.999ms = full "reverse"
+ */
+
+/**
+ * Constructor for a Spark.
+ *
+ * @param channel The PWM channel that the Spark is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+Spark::Spark(int channel) : PWMSpeedController(channel) {
+ SetBounds(2.003, 1.55, 1.50, 1.46, .999);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
+ LiveWindow::GetInstance()->AddActuator("Spark", GetChannel(), this);
+}
diff --git a/wpilibc/athena/src/Talon.cpp b/wpilibc/athena/src/Talon.cpp
new file mode 100644
index 0000000..58bc109
--- /dev/null
+++ b/wpilibc/athena/src/Talon.cpp
@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Talon.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a Talon (original or Talon SR).
+ *
+ * @param channel The PWM channel number that the Talon is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+Talon::Talon(int channel) : PWMSpeedController(channel) {
+ /* Note that the Talon uses the following bounds for PWM values. These values
+ * should work reasonably well for most controllers, but if users experience
+ * issues such as asymmetric behavior around the deadband or inability to
+ * saturate the controller in either direction, calibration is recommended.
+ * The calibration procedure can be found in the Talon User Manual available
+ * from CTRE.
+ *
+ * 2.037ms = full "forward"
+ * 1.539ms = the "high end" of the deadband range
+ * 1.513ms = center of the deadband range (off)
+ * 1.487ms = the "low end" of the deadband range
+ * 0.989ms = full "reverse"
+ */
+ SetBounds(2.037, 1.539, 1.513, 1.487, .989);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel());
+ LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
+}
diff --git a/wpilibc/athena/src/TalonSRX.cpp b/wpilibc/athena/src/TalonSRX.cpp
new file mode 100644
index 0000000..71b1b02
--- /dev/null
+++ b/wpilibc/athena/src/TalonSRX.cpp
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "TalonSRX.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Construct a TalonSRX connected via PWM.
+ *
+ * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+TalonSRX::TalonSRX(int channel) : PWMSpeedController(channel) {
+ /* Note that the TalonSRX uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the TalonSRX User
+ * Manual available from Cross The Road Electronics.
+ * 2.004ms = full "forward"
+ * 1.52ms = the "high end" of the deadband range
+ * 1.50ms = center of the deadband range (off)
+ * 1.48ms = the "low end" of the deadband range
+ * 0.997ms = full "reverse"
+ */
+ SetBounds(2.004, 1.52, 1.50, 1.48, .997);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_TalonSRX, GetChannel());
+ LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
+}
diff --git a/wpilibc/athena/src/Task.cpp b/wpilibc/athena/src/Task.cpp
new file mode 100644
index 0000000..e7dbc9a
--- /dev/null
+++ b/wpilibc/athena/src/Task.cpp
@@ -0,0 +1,140 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Task.h"
+
+#include <signal.h>
+
+#include <cerrno>
+
+#include "WPIErrors.h"
+
+namespace frc {
+
+const int Task::kDefaultPriority;
+
+Task& Task::operator=(Task&& task) {
+ m_thread.swap(task.m_thread);
+ m_taskName = std::move(task.m_taskName);
+
+ return *this;
+}
+
+Task::~Task() {
+ if (m_thread.joinable()) {
+ std::cout << "[HAL] Exited task " << m_taskName << std::endl;
+ }
+}
+
+bool Task::joinable() const noexcept { return m_thread.joinable(); }
+
+void Task::join() { m_thread.join(); }
+
+void Task::detach() { m_thread.detach(); }
+
+std::thread::id Task::get_id() const noexcept { return m_thread.get_id(); }
+
+std::thread::native_handle_type Task::native_handle() {
+ return m_thread.native_handle();
+}
+
+/**
+ * Verifies a task still exists.
+ *
+ * @return true on success.
+ */
+bool Task::Verify() { return VerifyTaskId() == TASK_OK; }
+
+/**
+ * Gets the priority of a task.
+ *
+ * @return task priority or 0 if an error occured
+ */
+int Task::GetPriority() {
+ int priority;
+ if (HandleError(GetTaskPriority(&priority)))
+ return priority;
+ else
+ return 0;
+}
+
+/**
+ * This routine changes a task's priority to a specified priority.
+ * Priorities range from 1, the lowest priority, to 99, the highest priority.
+ * Default task priority is 60.
+ *
+ * @param priority The priority at which the internal thread should run.
+ * @return true on success.
+ */
+bool Task::SetPriority(int priority) {
+ return HandleError(SetTaskPriority(priority));
+}
+
+/**
+ * Returns the name of the task.
+ *
+ * @return The name of the task.
+ */
+std::string Task::GetName() const { return m_taskName; }
+
+Task::TASK_STATUS Task::VerifyTaskId() {
+ auto task = m_thread.native_handle();
+ if (pthread_kill(task, 0) == 0) {
+ return TASK_OK;
+ } else {
+ return TASK_ERROR;
+ }
+}
+
+Task::TASK_STATUS Task::GetTaskPriority(int32_t* priority) {
+ auto task = m_thread.native_handle();
+ int32_t policy = 0;
+ struct sched_param param;
+
+ if (VerifyTaskId() == TASK_OK &&
+ pthread_getschedparam(task, &policy, ¶m) == 0) {
+ *priority = param.sched_priority;
+ return TASK_OK;
+ } else {
+ return TASK_ERROR;
+ }
+}
+
+Task::TASK_STATUS Task::SetTaskPriority(int32_t priority) {
+ auto task = m_thread.native_handle();
+ int32_t policy = 0;
+ struct sched_param param;
+
+ if (VerifyTaskId() == TASK_OK &&
+ pthread_getschedparam(task, &policy, ¶m) == 0) {
+ param.sched_priority = priority;
+ if (pthread_setschedparam(task, SCHED_FIFO, ¶m) == 0) {
+ return TASK_OK;
+ } else {
+ return TASK_ERROR;
+ }
+ } else {
+ return TASK_ERROR;
+ }
+}
+
+/**
+ * Handles errors generated by task related code.
+ */
+bool Task::HandleError(TASK_STATUS results) {
+ if (results != TASK_ERROR) return true;
+ int errsv = errno;
+ if (errsv == TaskLib_ILLEGAL_PRIORITY) {
+ wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName.c_str());
+ } else {
+ std::printf("ERROR: errno=%i", errsv);
+ wpi_setWPIErrorWithContext(TaskError, m_taskName.c_str());
+ }
+ return false;
+}
+
+} // namespace frc
diff --git a/wpilibc/athena/src/Threads.cpp b/wpilibc/athena/src/Threads.cpp
new file mode 100644
index 0000000..2ac0f65
--- /dev/null
+++ b/wpilibc/athena/src/Threads.cpp
@@ -0,0 +1,82 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Threads.h"
+#include "Threads.h"
+
+#include "ErrorBase.h"
+#include "HAL/HAL.h"
+
+namespace frc {
+/**
+ * Get the thread priority for the specified thread.
+ *
+ * @param thread Reference to the thread to get the priority for
+ * @param isRealTime Set to true if thread is realtime, otherwise false
+ * @return The current thread priority. Scaled 1-99, with 1 being highest.
+ */
+int GetThreadPriority(std::thread& thread, bool* isRealTime) {
+ int32_t status = 0;
+ HAL_Bool rt = false;
+ auto native = thread.native_handle();
+ auto ret = HAL_GetThreadPriority(&native, &rt, &status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ *isRealTime = rt;
+ return ret;
+}
+
+/**
+ * Get the thread priority for the current thread
+ *
+ * @param isRealTime Set to true if thread is realtime, otherwise false
+ * @return The current thread priority. Scaled 1-99.
+ */
+int GetCurrentThreadPriority(bool* isRealTime) {
+ int32_t status = 0;
+ HAL_Bool rt = false;
+ auto ret = HAL_GetCurrentThreadPriority(&rt, &status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ *isRealTime = rt;
+ return ret;
+}
+
+/**
+ * Sets the thread priority for the specified thread
+ *
+ * @param thread Reference to the thread to set the priority of
+ * @param realTime Set to true to set a realtime priority, false for standard
+ * priority
+ * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
+ * highest. On RoboRIO, priority is ignored for non realtime setting
+ *
+ * @return The success state of setting the priority
+ */
+bool SetThreadPriority(std::thread& thread, bool realTime, int priority) {
+ int32_t status = 0;
+ auto native = thread.native_handle();
+ auto ret = HAL_SetThreadPriority(&native, realTime, priority, &status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return ret;
+}
+
+/**
+ * Sets the thread priority for the current thread
+ *
+ * @param realTime Set to true to set a realtime priority, false for standard
+ * priority
+ * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
+ * highest. On RoboRIO, priority is ignored for non realtime setting
+ *
+ * @return The success state of setting the priority
+ */
+bool SetCurrentThreadPriority(bool realTime, int priority) {
+ int32_t status = 0;
+ auto ret = HAL_SetCurrentThreadPriority(realTime, priority, &status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return ret;
+}
+} // namespace frc
diff --git a/wpilibc/athena/src/Timer.cpp b/wpilibc/athena/src/Timer.cpp
new file mode 100644
index 0000000..04e7428
--- /dev/null
+++ b/wpilibc/athena/src/Timer.cpp
@@ -0,0 +1,191 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Timer.h"
+
+#include <chrono>
+#include <iostream>
+#include <thread>
+
+#include "DriverStation.h"
+#include "HAL/HAL.h"
+#include "Utility.h"
+
+namespace frc {
+
+/**
+ * Pause the task for a specified time.
+ *
+ * Pause the execution of the program for a specified period of time given in
+ * seconds. Motors will continue to run at their last assigned values, and
+ * sensors will continue to update. Only the task containing the wait will
+ * pause until the wait time is expired.
+ *
+ * @param seconds Length of time to pause, in seconds.
+ */
+void Wait(double seconds) {
+ if (seconds < 0.0) return;
+ std::this_thread::sleep_for(std::chrono::duration<double>(seconds));
+}
+
+/**
+ * Return the FPGA system clock time in seconds.
+ * This is deprecated and just forwards to Timer::GetFPGATimestamp().
+ * @return Robot running time in seconds.
+ */
+double GetClock() { return Timer::GetFPGATimestamp(); }
+
+/**
+ * @brief Gives real-time clock system time with nanosecond resolution
+ * @return The time, just in case you want the robot to start autonomous at 8pm
+ * on Saturday.
+ */
+double GetTime() {
+ using namespace std::chrono;
+ return duration_cast<duration<double>>(system_clock::now().time_since_epoch())
+ .count();
+}
+
+} // namespace frc
+
+using namespace frc;
+
+// for compatibility with msvc12--see C2864
+const double Timer::kRolloverTime = (1ll << 32) / 1e6;
+/**
+ * Create a new timer object.
+ *
+ * Create a new timer object and reset the time to zero. The timer is initially
+ * not running and
+ * must be started.
+ */
+Timer::Timer() {
+ // Creates a semaphore to control access to critical regions.
+ // Initially 'open'
+ Reset();
+}
+
+/**
+ * Get the current time from the timer. If the clock is running it is derived
+ * from the current system clock the start time stored in the timer class. If
+ * the clock is not running, then return the time when it was last stopped.
+ *
+ * @return Current time value for this timer in seconds
+ */
+double Timer::Get() const {
+ double result;
+ double currentTime = GetFPGATimestamp();
+
+ std::lock_guard<priority_mutex> sync(m_mutex);
+ if (m_running) {
+ // If the current time is before the start time, then the FPGA clock
+ // rolled over. Compensate by adding the ~71 minutes that it takes
+ // to roll over to the current time.
+ if (currentTime < m_startTime) {
+ currentTime += kRolloverTime;
+ }
+
+ result = (currentTime - m_startTime) + m_accumulatedTime;
+ } else {
+ result = m_accumulatedTime;
+ }
+
+ return result;
+}
+
+/**
+ * Reset the timer by setting the time to 0.
+ *
+ * Make the timer startTime the current time so new requests will be relative to
+ * now.
+ */
+void Timer::Reset() {
+ std::lock_guard<priority_mutex> sync(m_mutex);
+ m_accumulatedTime = 0;
+ m_startTime = GetFPGATimestamp();
+}
+
+/**
+ * Start the timer running.
+ *
+ * Just set the running flag to true indicating that all time requests should be
+ * relative to the system clock.
+ */
+void Timer::Start() {
+ std::lock_guard<priority_mutex> sync(m_mutex);
+ if (!m_running) {
+ m_startTime = GetFPGATimestamp();
+ m_running = true;
+ }
+}
+
+/**
+ * Stop the timer.
+ *
+ * This computes the time as of now and clears the running flag, causing all
+ * subsequent time requests to be read from the accumulated time rather than
+ * looking at the system clock.
+ */
+void Timer::Stop() {
+ double temp = Get();
+
+ std::lock_guard<priority_mutex> sync(m_mutex);
+ if (m_running) {
+ m_accumulatedTime = temp;
+ m_running = false;
+ }
+}
+
+/**
+ * Check if the period specified has passed and if it has, advance the start
+ * time by that period. This is useful to decide if it's time to do periodic
+ * work without drifting later by the time it took to get around to checking.
+ *
+ * @param period The period to check for (in seconds).
+ * @return True if the period has passed.
+ */
+bool Timer::HasPeriodPassed(double period) {
+ if (Get() > period) {
+ std::lock_guard<priority_mutex> sync(m_mutex);
+ // Advance the start time by the period.
+ m_startTime += period;
+ // Don't set it to the current time... we want to avoid drift.
+ return true;
+ }
+ return false;
+}
+
+/**
+ * Return the FPGA system clock time in seconds.
+ *
+ * Return the time from the FPGA hardware clock in seconds since the FPGA
+ * started. Rolls over after 71 minutes.
+ *
+ * @returns Robot running time in seconds.
+ */
+double Timer::GetFPGATimestamp() {
+ // FPGA returns the timestamp in microseconds
+ // Call the helper GetFPGATime() in Utility.cpp
+ return GetFPGATime() * 1.0e-6;
+}
+
+/**
+ * Return the approximate match time The FMS does not currently send the
+ * official match time to
+ * the robots This returns the time since the enable signal sent from the Driver
+ * Station At the
+ * beginning of autonomous, the time is reset to 0.0 seconds At the beginning of
+ * teleop, the time
+ * is reset to +15.0 seconds If the robot is disabled, this returns 0.0 seconds
+ * Warning: This is
+ * not an official time (so it cannot be used to argue with referees).
+ *
+ * @return Match time in seconds since the beginning of autonomous
+ */
+double Timer::GetMatchTime() {
+ return DriverStation::GetInstance().GetMatchTime();
+}
diff --git a/wpilibc/athena/src/Ultrasonic.cpp b/wpilibc/athena/src/Ultrasonic.cpp
new file mode 100644
index 0000000..4b3549e
--- /dev/null
+++ b/wpilibc/athena/src/Ultrasonic.cpp
@@ -0,0 +1,337 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Ultrasonic.h"
+
+#include "Counter.h"
+#include "DigitalInput.h"
+#include "DigitalOutput.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Timer.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+// Time (sec) for the ping trigger pulse.
+constexpr double Ultrasonic::kPingTime;
+// Priority that the ultrasonic round robin task runs.
+const int Ultrasonic::kPriority;
+// Max time (ms) between readings.
+constexpr double Ultrasonic::kMaxUltrasonicTime;
+constexpr double Ultrasonic::kSpeedOfSoundInchesPerSec;
+// automatic round robin mode
+std::atomic<bool> Ultrasonic::m_automaticEnabled{false};
+std::set<Ultrasonic*> Ultrasonic::m_sensors;
+std::thread Ultrasonic::m_thread;
+
+/**
+ * Background task that goes through the list of ultrasonic sensors and pings
+ * each one in turn. The counter is configured to read the timing of the
+ * returned echo pulse.
+ *
+ * DANGER WILL ROBINSON, DANGER WILL ROBINSON:
+ * This code runs as a task and assumes that none of the ultrasonic sensors
+ * will change while it's running. Make sure to disable automatic mode before
+ * touching the list.
+ */
+void Ultrasonic::UltrasonicChecker() {
+ while (m_automaticEnabled) {
+ for (auto& sensor : m_sensors) {
+ if (!m_automaticEnabled) break;
+
+ if (sensor->IsEnabled()) {
+ sensor->m_pingChannel->Pulse(kPingTime); // do the ping
+ }
+
+ Wait(0.1); // wait for ping to return
+ }
+ }
+}
+
+/**
+ * Initialize the Ultrasonic Sensor.
+ *
+ * This is the common code that initializes the ultrasonic sensor given that
+ * there are two digital I/O channels allocated. If the system was running in
+ * automatic mode (round robin) when the new sensor is added, it is stopped,
+ * the sensor is added, then automatic mode is restored.
+ */
+void Ultrasonic::Initialize() {
+ bool originalMode = m_automaticEnabled;
+ SetAutomaticMode(false); // kill task when adding a new sensor
+ // link this instance on the list
+ m_sensors.insert(this);
+
+ m_counter.SetMaxPeriod(1.0);
+ m_counter.SetSemiPeriodMode(true);
+ m_counter.Reset();
+ m_enabled = true; // make it available for round robin scheduling
+ SetAutomaticMode(originalMode);
+
+ static int instances = 0;
+ instances++;
+ HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
+ LiveWindow::GetInstance()->AddSensor("Ultrasonic",
+ m_echoChannel->GetChannel(), this);
+}
+
+/**
+ * Create an instance of the Ultrasonic Sensor.
+ *
+ * This is designed to support the Daventech SRF04 and Vex ultrasonic
+ * sensors.
+ *
+ * @param pingChannel The digital output channel that sends the pulse to
+ * initiate the sensor sending the ping.
+ * @param echoChannel The digital input channel that receives the echo. The
+ * length of time that the echo is high represents the
+ * round trip time of the ping, and the distance.
+ * @param units The units returned in either kInches or kMilliMeters
+ */
+Ultrasonic::Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units)
+ : m_pingChannel(std::make_shared<DigitalOutput>(pingChannel)),
+ m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
+ m_counter(m_echoChannel) {
+ m_units = units;
+ Initialize();
+}
+
+/**
+ * Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
+ * channel and a DigitalOutput for the ping channel.
+ *
+ * @param pingChannel The digital output object that starts the sensor doing a
+ * ping. Requires a 10uS pulse to start.
+ * @param echoChannel The digital input object that times the return pulse to
+ * determine the range.
+ * @param units The units returned in either kInches or kMilliMeters
+ */
+Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
+ DistanceUnit units)
+ : m_pingChannel(pingChannel, NullDeleter<DigitalOutput>()),
+ m_echoChannel(echoChannel, NullDeleter<DigitalInput>()),
+ m_counter(m_echoChannel) {
+ if (pingChannel == nullptr || echoChannel == nullptr) {
+ wpi_setWPIError(NullParameter);
+ m_units = units;
+ return;
+ }
+ m_units = units;
+ Initialize();
+}
+
+/**
+ * Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
+ * channel and a DigitalOutput for the ping channel.
+ *
+ * @param pingChannel The digital output object that starts the sensor doing a
+ * ping. Requires a 10uS pulse to start.
+ * @param echoChannel The digital input object that times the return pulse to
+ * determine the range.
+ * @param units The units returned in either kInches or kMilliMeters
+ */
+Ultrasonic::Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
+ DistanceUnit units)
+ : m_pingChannel(&pingChannel, NullDeleter<DigitalOutput>()),
+ m_echoChannel(&echoChannel, NullDeleter<DigitalInput>()),
+ m_counter(m_echoChannel) {
+ m_units = units;
+ Initialize();
+}
+
+/**
+ * Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
+ * channel and a DigitalOutput for the ping channel.
+ *
+ * @param pingChannel The digital output object that starts the sensor doing a
+ * ping. Requires a 10uS pulse to start.
+ * @param echoChannel The digital input object that times the return pulse to
+ * determine the range.
+ * @param units The units returned in either kInches or kMilliMeters
+ */
+Ultrasonic::Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
+ std::shared_ptr<DigitalInput> echoChannel,
+ DistanceUnit units)
+ : m_pingChannel(pingChannel),
+ m_echoChannel(echoChannel),
+ m_counter(m_echoChannel) {
+ m_units = units;
+ Initialize();
+}
+
+/**
+ * Destructor for the ultrasonic sensor.
+ *
+ * Delete the instance of the ultrasonic sensor by freeing the allocated digital
+ * channels. If the system was in automatic mode (round robin), then it is
+ * stopped, then started again after this sensor is removed (provided this
+ * wasn't the last sensor).
+ */
+Ultrasonic::~Ultrasonic() {
+ bool wasAutomaticMode = m_automaticEnabled;
+ SetAutomaticMode(false);
+
+ // No synchronization needed because the background task is stopped.
+ m_sensors.erase(this);
+
+ if (!m_sensors.empty() && wasAutomaticMode) {
+ SetAutomaticMode(true);
+ }
+}
+
+/**
+ * Turn Automatic mode on/off.
+ *
+ * When in Automatic mode, all sensors will fire in round robin, waiting a set
+ * time between each sensor.
+ *
+ * @param enabling Set to true if round robin scheduling should start for all
+ * the ultrasonic sensors. This scheduling method assures that
+ * the sensors are non-interfering because no two sensors fire
+ * at the same time. If another scheduling algorithm is
+ * prefered, it can be implemented by pinging the sensors
+ * manually and waiting for the results to come back.
+ */
+void Ultrasonic::SetAutomaticMode(bool enabling) {
+ if (enabling == m_automaticEnabled) return; // ignore the case of no change
+
+ m_automaticEnabled = enabling;
+
+ if (enabling) {
+ /* Clear all the counters so no data is valid. No synchronization is needed
+ * because the background task is stopped.
+ */
+ for (auto& sensor : m_sensors) {
+ sensor->m_counter.Reset();
+ }
+
+ m_thread = std::thread(&Ultrasonic::UltrasonicChecker);
+
+ // TODO: Currently, lvuser does not have permissions to set task priorities.
+ // Until that is the case, uncommenting this will break user code that calls
+ // Ultrasonic::SetAutomicMode().
+ // m_task.SetPriority(kPriority);
+ } else {
+ // Wait for background task to stop running
+ m_thread.join();
+
+ /* Clear all the counters (data now invalid) since automatic mode is
+ * disabled. No synchronization is needed because the background task is
+ * stopped.
+ */
+ for (auto& sensor : m_sensors) {
+ sensor->m_counter.Reset();
+ }
+ }
+}
+
+/**
+ * Single ping to ultrasonic sensor.
+ *
+ * Send out a single ping to the ultrasonic sensor. This only works if automatic
+ * (round robin) mode is disabled. A single ping is sent out, and the counter
+ * should count the semi-period when it comes in. The counter is reset to make
+ * the current value invalid.
+ */
+void Ultrasonic::Ping() {
+ wpi_assert(!m_automaticEnabled);
+ m_counter.Reset(); // reset the counter to zero (invalid data now)
+ m_pingChannel->Pulse(
+ kPingTime); // do the ping to start getting a single range
+}
+
+/**
+ * Check if there is a valid range measurement.
+ *
+ * The ranges are accumulated in a counter that will increment on each edge of
+ * the echo (return) signal. If the count is not at least 2, then the range has
+ * not yet been measured, and is invalid.
+ */
+bool Ultrasonic::IsRangeValid() const { return m_counter.Get() > 1; }
+
+/**
+ * Get the range in inches from the ultrasonic sensor.
+ *
+ * @return double Range in inches of the target returned from the ultrasonic
+ * sensor. If there is no valid value yet, i.e. at least one
+ * measurement hasn't completed, then return 0.
+ */
+double Ultrasonic::GetRangeInches() const {
+ if (IsRangeValid())
+ return m_counter.GetPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
+ else
+ return 0;
+}
+
+/**
+ * Get the range in millimeters from the ultrasonic sensor.
+ *
+ * @return double Range in millimeters of the target returned by the ultrasonic
+ * sensor. If there is no valid value yet, i.e. at least one
+ * measurement hasn't completed, then return 0.
+ */
+double Ultrasonic::GetRangeMM() const { return GetRangeInches() * 25.4; }
+
+/**
+ * Get the range in the current DistanceUnit for the PIDSource base object.
+ *
+ * @return The range in DistanceUnit
+ */
+double Ultrasonic::PIDGet() {
+ switch (m_units) {
+ case Ultrasonic::kInches:
+ return GetRangeInches();
+ case Ultrasonic::kMilliMeters:
+ return GetRangeMM();
+ default:
+ return 0.0;
+ }
+}
+
+void Ultrasonic::SetPIDSourceType(PIDSourceType pidSource) {
+ if (wpi_assert(pidSource == PIDSourceType::kDisplacement)) {
+ m_pidSource = pidSource;
+ }
+}
+
+/**
+ * Set the current DistanceUnit that should be used for the PIDSource base
+ * object.
+ *
+ * @param units The DistanceUnit that should be used.
+ */
+void Ultrasonic::SetDistanceUnits(DistanceUnit units) { m_units = units; }
+
+/**
+ * Get the current DistanceUnit that is used for the PIDSource base object.
+ *
+ * @return The type of DistanceUnit that is being used.
+ */
+Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits() const {
+ return m_units;
+}
+
+void Ultrasonic::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", GetRangeInches());
+ }
+}
+
+void Ultrasonic::StartLiveWindowMode() {}
+
+void Ultrasonic::StopLiveWindowMode() {}
+
+std::string Ultrasonic::GetSmartDashboardType() const { return "Ultrasonic"; }
+
+void Ultrasonic::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Ultrasonic::GetTable() const { return m_table; }
diff --git a/wpilibc/athena/src/Utility.cpp b/wpilibc/athena/src/Utility.cpp
new file mode 100644
index 0000000..741691a
--- /dev/null
+++ b/wpilibc/athena/src/Utility.cpp
@@ -0,0 +1,234 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Utility.h"
+
+#include <cxxabi.h>
+#include <execinfo.h>
+
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <sstream>
+
+#include "ErrorBase.h"
+#include "HAL/DriverStation.h"
+#include "HAL/HAL.h"
+#include "llvm/SmallString.h"
+
+using namespace frc;
+
+/**
+ * Assert implementation.
+ * This allows breakpoints to be set on an assert.
+ * The users don't call this, but instead use the wpi_assert macros in
+ * Utility.h.
+ */
+bool wpi_assert_impl(bool conditionValue, llvm::StringRef conditionText,
+ llvm::StringRef message, llvm::StringRef fileName,
+ int lineNumber, llvm::StringRef funcName) {
+ if (!conditionValue) {
+ std::stringstream locStream;
+ locStream << funcName << " [";
+ llvm::SmallString<128> fileTemp;
+ locStream << basename(fileName.c_str(fileTemp)) << ":" << lineNumber << "]";
+
+ std::stringstream errorStream;
+
+ errorStream << "Assertion \"" << conditionText << "\" ";
+
+ if (message[0] != '\0') {
+ errorStream << "failed: " << message << std::endl;
+ } else {
+ errorStream << "failed." << std::endl;
+ }
+
+ std::string stack = GetStackTrace(2);
+ std::string location = locStream.str();
+ std::string error = errorStream.str();
+
+ // Print the error and send it to the DriverStation
+ HAL_SendError(1, 1, 0, error.c_str(), location.c_str(), stack.c_str(), 1);
+ }
+
+ return conditionValue;
+}
+
+/**
+ * Common error routines for wpi_assertEqual_impl and wpi_assertNotEqual_impl
+ * This should not be called directly; it should only be used by
+ * wpi_assertEqual_impl and wpi_assertNotEqual_impl.
+ */
+void wpi_assertEqual_common_impl(llvm::StringRef valueA, llvm::StringRef valueB,
+ llvm::StringRef equalityType,
+ llvm::StringRef message,
+ llvm::StringRef fileName, int lineNumber,
+ llvm::StringRef funcName) {
+ std::stringstream locStream;
+ locStream << funcName << " [";
+ llvm::SmallString<128> fileTemp;
+ locStream << basename(fileName.c_str(fileTemp)) << ":" << lineNumber << "]";
+
+ std::stringstream errorStream;
+
+ errorStream << "Assertion \"" << valueA << " " << equalityType << " "
+ << valueB << "\" ";
+
+ if (message[0] != '\0') {
+ errorStream << "failed: " << message << std::endl;
+ } else {
+ errorStream << "failed." << std::endl;
+ }
+
+ std::string trace = GetStackTrace(3);
+ std::string location = locStream.str();
+ std::string error = errorStream.str();
+
+ // Print the error and send it to the DriverStation
+ HAL_SendError(1, 1, 0, error.c_str(), location.c_str(), trace.c_str(), 1);
+}
+
+/**
+ * Assert equal implementation.
+ * This determines whether the two given integers are equal. If not,
+ * the value of each is printed along with an optional message string.
+ * The users don't call this, but instead use the wpi_assertEqual macros in
+ * Utility.h.
+ */
+bool wpi_assertEqual_impl(int valueA, int valueB, llvm::StringRef valueAString,
+ llvm::StringRef valueBString, llvm::StringRef message,
+ llvm::StringRef fileName, int lineNumber,
+ llvm::StringRef funcName) {
+ if (!(valueA == valueB)) {
+ wpi_assertEqual_common_impl(valueAString, valueBString, "==", message,
+ fileName, lineNumber, funcName);
+ }
+ return valueA == valueB;
+}
+
+/**
+ * Assert not equal implementation.
+ * This determines whether the two given integers are equal. If so,
+ * the value of each is printed along with an optional message string.
+ * The users don't call this, but instead use the wpi_assertNotEqual macros in
+ * Utility.h.
+ */
+bool wpi_assertNotEqual_impl(int valueA, int valueB,
+ llvm::StringRef valueAString,
+ llvm::StringRef valueBString,
+ llvm::StringRef message, llvm::StringRef fileName,
+ int lineNumber, llvm::StringRef funcName) {
+ if (!(valueA != valueB)) {
+ wpi_assertEqual_common_impl(valueAString, valueBString, "!=", message,
+ fileName, lineNumber, funcName);
+ }
+ return valueA != valueB;
+}
+
+namespace frc {
+
+/**
+ * Return the FPGA Version number.
+ *
+ * For now, expect this to be competition year.
+ * @return FPGA Version number.
+ */
+int GetFPGAVersion() {
+ int32_t status = 0;
+ int version = HAL_GetFPGAVersion(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return version;
+}
+
+/**
+ * Return the FPGA Revision number.
+ * The format of the revision is 3 numbers.
+ * The 12 most significant bits are the Major Revision.
+ * the next 8 bits are the Minor Revision.
+ * The 12 least significant bits are the Build Number.
+ * @return FPGA Revision number.
+ */
+int64_t GetFPGARevision() {
+ int32_t status = 0;
+ int64_t revision = HAL_GetFPGARevision(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return revision;
+}
+
+/**
+ * Read the microsecond-resolution timer on the FPGA.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA
+ * reset).
+ */
+uint64_t GetFPGATime() {
+ int32_t status = 0;
+ uint64_t time = HAL_GetFPGATime(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return time;
+}
+
+/**
+ * Get the state of the "USER" button on the roboRIO.
+ *
+ * @return True if the button is currently pressed down
+ */
+bool GetUserButton() {
+ int32_t status = 0;
+
+ bool value = HAL_GetFPGAButton(&status);
+ wpi_setGlobalError(status);
+
+ return value;
+}
+
+/**
+ * Demangle a C++ symbol, used for printing stack traces.
+ */
+static std::string demangle(char const* mangledSymbol) {
+ char buffer[256];
+ size_t length;
+ int32_t status;
+
+ if (std::sscanf(mangledSymbol, "%*[^(]%*[(]%255[^)+]", buffer)) {
+ char* symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
+ if (status == 0) {
+ return symbol;
+ } else {
+ // If the symbol couldn't be demangled, it's probably a C function,
+ // so just return it as-is.
+ return buffer;
+ }
+ }
+
+ // If everything else failed, just return the mangled symbol
+ return mangledSymbol;
+}
+
+/**
+ * Get a stack trace, ignoring the first "offset" symbols.
+ * @param offset The number of symbols at the top of the stack to ignore
+ */
+std::string GetStackTrace(int offset) {
+ void* stackTrace[128];
+ int stackSize = backtrace(stackTrace, 128);
+ char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
+ std::stringstream trace;
+
+ for (int i = offset; i < stackSize; i++) {
+ // Only print recursive functions once in a row.
+ if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
+ trace << "\tat " << demangle(mangledSymbols[i]) << std::endl;
+ }
+ }
+
+ std::free(mangledSymbols);
+
+ return trace.str();
+}
+
+} // namespace frc
diff --git a/wpilibc/athena/src/Victor.cpp b/wpilibc/athena/src/Victor.cpp
new file mode 100644
index 0000000..d06f091
--- /dev/null
+++ b/wpilibc/athena/src/Victor.cpp
@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Victor.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a Victor.
+ *
+ * @param channel The PWM channel number that the Victor is attached to. 0-9
+ * are on-board, 10-19 are on the MXP port
+ */
+Victor::Victor(int channel) : PWMSpeedController(channel) {
+ /* Note that the Victor uses the following bounds for PWM values. These
+ * values were determined empirically and optimized for the Victor 888. These
+ * values should work reasonably well for Victor 884 controllers as well but
+ * if users experience issues such as asymmetric behaviour around the deadband
+ * or inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the Victor 884 User
+ * Manual available from IFI.
+ *
+ * 2.027ms = full "forward"
+ * 1.525ms = the "high end" of the deadband range
+ * 1.507ms = center of the deadband range (off)
+ * 1.49ms = the "low end" of the deadband range
+ * 1.026ms = full "reverse"
+ */
+ SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
+ SetPeriodMultiplier(kPeriodMultiplier_2X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
+ HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel());
+}
diff --git a/wpilibc/athena/src/VictorSP.cpp b/wpilibc/athena/src/VictorSP.cpp
new file mode 100644
index 0000000..a1335d6
--- /dev/null
+++ b/wpilibc/athena/src/VictorSP.cpp
@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "VictorSP.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a VictorSP.
+ *
+ * @param channel The PWM channel that the VictorSP is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+VictorSP::VictorSP(int channel) : PWMSpeedController(channel) {
+ /**
+ * Note that the VictorSP uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the VictorSP User
+ * Manual available from Vex.
+ *
+ * 2.004ms = full "forward"
+ * 1.52ms = the "high end" of the deadband range
+ * 1.50ms = center of the deadband range (off)
+ * 1.48ms = the "low end" of the deadband range
+ * 0.997ms = full "reverse"
+ */
+ SetBounds(2.004, 1.52, 1.50, 1.48, .997);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
+ LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
+}
diff --git a/wpilibc/athena/src/XboxController.cpp b/wpilibc/athena/src/XboxController.cpp
new file mode 100644
index 0000000..aa494dd
--- /dev/null
+++ b/wpilibc/athena/src/XboxController.cpp
@@ -0,0 +1,141 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "XboxController.h"
+
+#include "DriverStation.h"
+#include "HAL/HAL.h"
+
+using namespace frc;
+
+/**
+ * Construct an instance of an Xbox controller.
+ *
+ * The joystick index is the USB port on the Driver Station.
+ *
+ * @param port The port on the Driver Station that the joystick is plugged into
+ * (0-5).
+ */
+XboxController::XboxController(int port)
+ : GamepadBase(port), m_ds(DriverStation::GetInstance()) {
+ // HAL_Report(HALUsageReporting::kResourceType_XboxController, port);
+ HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
+}
+
+/**
+ * Get the X axis value of the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ */
+double XboxController::GetX(JoystickHand hand) const {
+ if (hand == kLeftHand) {
+ return GetRawAxis(0);
+ } else {
+ return GetRawAxis(4);
+ }
+}
+
+/**
+ * Get the Y axis value of the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ */
+double XboxController::GetY(JoystickHand hand) const {
+ if (hand == kLeftHand) {
+ return GetRawAxis(1);
+ } else {
+ return GetRawAxis(5);
+ }
+}
+
+/**
+ * Read the value of the bumper button on the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ */
+bool XboxController::GetBumper(JoystickHand hand) const {
+ if (hand == kLeftHand) {
+ return GetRawButton(5);
+ } else {
+ return GetRawButton(6);
+ }
+}
+
+/**
+ * Read the value of the stick button on the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ * @return The state of the button.
+ */
+bool XboxController::GetStickButton(JoystickHand hand) const {
+ if (hand == kLeftHand) {
+ return GetRawButton(9);
+ } else {
+ return GetRawButton(10);
+ }
+}
+
+/**
+ * Get the trigger axis value of the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ */
+double XboxController::GetTriggerAxis(JoystickHand hand) const {
+ if (hand == kLeftHand) {
+ return GetRawAxis(2);
+ } else {
+ return GetRawAxis(3);
+ }
+}
+
+/**
+ * Read the value of the A button on the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ * @return The state of the button.
+ */
+bool XboxController::GetAButton() const { return GetRawButton(1); }
+
+/**
+ * Read the value of the B button on the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ * @return The state of the button.
+ */
+bool XboxController::GetBButton() const { return GetRawButton(2); }
+
+/**
+ * Read the value of the X button on the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ * @return The state of the button.
+ */
+bool XboxController::GetXButton() const { return GetRawButton(3); }
+
+/**
+ * Read the value of the Y button on the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ * @return The state of the button.
+ */
+bool XboxController::GetYButton() const { return GetRawButton(4); }
+
+/**
+ * Read the value of the back button on the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ * @return The state of the button.
+ */
+bool XboxController::GetBackButton() const { return GetRawButton(7); }
+
+/**
+ * Read the value of the start button on the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ * @return The state of the button.
+ */
+bool XboxController::GetStartButton() const { return GetRawButton(8); }
diff --git a/wpilibc/athena/src/vision/VisionRunner.cpp b/wpilibc/athena/src/vision/VisionRunner.cpp
new file mode 100644
index 0000000..493c29e
--- /dev/null
+++ b/wpilibc/athena/src/vision/VisionRunner.cpp
@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "vision/VisionRunner.h"
+
+#include "DriverStation.h"
+#include "RobotBase.h"
+#include "opencv2/core/mat.hpp"
+
+using namespace frc;
+
+/**
+ * Creates a new vision runner. It will take images from the {@code
+ * videoSource}, and call the virtual DoProcess() method.
+ *
+ * @param videoSource the video source to use to supply images for the pipeline
+ */
+VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
+ : m_image(std::make_unique<cv::Mat>()), m_cvSink("VisionRunner CvSink") {
+ m_cvSink.SetSource(videoSource);
+}
+
+// Located here and not in header due to cv::Mat forward declaration.
+VisionRunnerBase::~VisionRunnerBase() {}
+
+/**
+ * Runs the pipeline one time, giving it the next image from the video source
+ * specified in the constructor. This will block until the source either has an
+ * image or throws an error. If the source successfully supplied a frame, the
+ * pipeline's image input will be set, the pipeline will run, and the listener
+ * specified in the constructor will be called to notify it that the pipeline
+ * ran. This must be run in a dedicated thread, and cannot be used in the main
+ * robot thread because it will freeze the robot program.
+ *
+ * <p>This method is exposed to allow teams to add additional functionality or
+ * have their own ways to run the pipeline. Most teams, however, should just
+ * use {@link #runForever} in its own thread using a std::thread.</p>
+ */
+void VisionRunnerBase::RunOnce() {
+ if (std::this_thread::get_id() == RobotBase::GetThreadId()) {
+ wpi_setErrnoErrorWithContext(
+ "VisionRunner::RunOnce() cannot be called from the main robot thread");
+ return;
+ }
+ auto frameTime = m_cvSink.GrabFrame(*m_image);
+ if (frameTime == 0) {
+ auto error = m_cvSink.GetError();
+ DriverStation::ReportError(error);
+ } else {
+ DoProcess(*m_image);
+ }
+}
+
+/**
+ * A convenience method that calls {@link #runOnce()} in an infinite loop. This
+ * must be run in a dedicated thread, and cannot be used in the main robot
+ * thread because it will freeze the robot program.
+ *
+ * <p><strong>Do not call this method directly from the main
+ * thread.</strong></p>
+ */
+void VisionRunnerBase::RunForever() {
+ if (std::this_thread::get_id() == RobotBase::GetThreadId()) {
+ wpi_setErrnoErrorWithContext(
+ "VisionRunner::RunForever() cannot be called from the main robot "
+ "thread");
+ return;
+ }
+ while (true) {
+ RunOnce();
+ }
+}