Merge in master

Author: Noah Gleason

RoboRIO/build.gradle

@@ -3,9 +3,12 @@ plugins {
 	id 'java'
 	id 'eclipse'
 	id 'idea'
-	id "jaci.openrio.gradle.GradleRIO" version "2017.10.30"
+	id 'jaci.openrio.gradle.GradleRIO' version "2017.1.5"
 }
 
+group 'org.usfirst.frc.team449.robot2017'
+version '1.0'
+
 repositories {
 	mavenCentral()
 	maven {
@@ -16,39 +19,13 @@ repositories {
 	maven { url "https://plugins.gradle.org/m2/" }
 }
 
-group 'org.usfirst.frc.team449.robot2017'
-version '1.0'
-
-def TEAM = 449
-def ROBOT_CLASS = "org.usfirst.frc.team449.robot.Robot"
-
-// Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project EmbeddedTools.
-deploy {
-	targets {
-		target("roborio", jaci.openrio.gradle.frc.RoboRIO) {
-			team = TEAM
-		}
-	}
-	artifacts {
-		artifact('frcJava', jaci.openrio.gradle.frc.FRCJavaArtifact) {
-			targets << "roborio"
-		}
-	}
-}
-
 wpi {
 	wpilibVersion = "2017.3.1"      // The WPILib version to use. For this version of GradleRIO, must be a 2017 version.
 	ntcoreVersion = "3.1.7"         // The NetworkTables Core version to use.
 	opencvVersion = "3.1.0"         // The OpenCV version to use.
 	cscoreVersion = "1.0.2"         // The CSCore version to use.
-	ctreVersion = "4.4.1.14"    // The CTRE Toolsuite (Talon SRX) version to use.
+	talonSrxVersion = "4.4.1.14"    // The CTRE Toolsuite (Talon SRX) version to use.
 	navxVersion = "3.0.331"         // The NavX-MXP library version to use.
-
-	smartDashboardVersion = '...'
-	javaInstallerVersion = '...'
-
-	toolchainVersion = '...'
 }
 
 dependencies {
@@ -63,11 +40,11 @@ dependencies {
 	compile group: 'com.fasterxml.jackson.module', name: 'jackson-module-parameter-names', version: '2.9.0.pr3'
 	compile 'org.jetbrains:annotations:13.0'
 	compile wpilib()
-	compile ctre()
+	compile talonSrx()
 	compile navx()
 }
 
-/* CopyResources stuff */
+/* GradleRIO stuff */
 remotes {
 	rio {
 		host = 'roboRIO-449-frc.local'
@@ -76,6 +53,16 @@ remotes {
 	}
 }
 
+frc {
+	team = '449'
+	robotClass = "org.usfirst.frc.team449.robot.Robot"
+}
+
+def robotManifest = {
+	attributes 'Main-Class': 'edu.wpi.first.wpilibj.RobotBase'
+	attributes 'Robot-Class': frc.robotClass
+}
+
 task('copyResources') {
 	doLast {
 		ssh.run {
@@ -90,12 +77,9 @@ task('copyResources') {
 }
 
 /* Generic artifact gen stuff */
-// Java only. Setup your Jar File.
 jar {
-	// Compile a 'fat jar' (libraries included)
 	from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
-	// Include your Manifest. Arguments are your Robot Main Class.
-	manifest jaci.openrio.gradle.GradleRIOPlugin.javaManifest(ROBOT_CLASS)
+	manifest robotManifest
 }
 
 task genJavadoc(type: Jar, dependsOn: javadoc) {

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.java

@@ -5,14 +5,19 @@
 import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.annotation.ObjectIdGenerators;
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
 import org.jetbrains.annotations.NotNull;
 import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick;
+import org.usfirst.frc.team449.robot.other.Clock;
+
+import java.util.Random;
 
 /**
  * A class representing a single axis on a joystick.
  */
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
-public class ThrottleBasic implements Throttle {
+public class ThrottleBasic implements Throttle, PIDSource{
 
 	/**
 	 * The stick we're using
@@ -77,4 +82,34 @@ public double getValueCached() {
 	public void update() {
 		cachedOutput = getValue();
 	}
+
+	/**
+	 * Set which parameter of the device you are using as a process control variable.
+	 *
+	 * @param pidSource An enum to select the parameter.
+	 */
+	@Override
+	public void setPIDSourceType(PIDSourceType pidSource) {
+		//Do nothing
+	}
+
+	/**
+	 * Get which parameter of the device you are using as a process control variable.
+	 *
+	 * @return the currently selected PID source parameter
+	 */
+	@Override
+	public PIDSourceType getPIDSourceType() {
+		return null;
+	}
+
+	/**
+	 * Get the result to use in PIDController.
+	 *
+	 * @return the result to use in PIDController
+	 */
+	@Override
+	public double pidGet() {
+		return (inverted ? -1 : 1) * stick.getRawAxis(axis);
+	}
 }

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.java

@@ -1,11 +1,13 @@
 package org.usfirst.frc.team449.robot.oi.throttles;
 
 import com.fasterxml.jackson.annotation.*;
+import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
 import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick;
 
 /**
- * A throttle with a deadband.
+ * A throttle with a deadband and smoothing.
  */
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
@@ -26,35 +28,40 @@ public class ThrottleDeadbanded extends ThrottleBasic {
 	 */
 	private double sign;
 
+	/**
+	 * The smoothing filter for this joystick.
+	 */
+	private final LinearDigitalFilter filter;
+
 	/**
 	 * A basic constructor.
 	 *
 	 * @param stick    The Joystick object being used
 	 * @param axis     The axis being used. 0 is X, 1 is Y, 2 is Z.
 	 * @param deadband The deadband below which the input will be read as 0, on [0, 1]. Defaults to 0.
+	 * @param smoothingTimeSecs How many seconds of input to take into account when smoothing. Defaults to 0.02.
 	 * @param inverted Whether or not to invert the joystick input. Defaults to false.
 	 */
 	@JsonCreator
 	public ThrottleDeadbanded(@NotNull @JsonProperty(required = true) MappedJoystick stick,
 	                          @JsonProperty(required = true) int axis,
 	                          double deadband,
+	                          @Nullable Double smoothingTimeSecs,
 	                          boolean inverted) {
 		super(stick, axis, inverted);
 		this.deadband = deadband;
+		this.filter = LinearDigitalFilter.singlePoleIIR(this, smoothingTimeSecs != null ? smoothingTimeSecs : 0.02,0.02);
 	}
 
 	/**
-	 * Gets the value from the joystick and deadbands it. The non-deadband values are scaled to avoid a discontinuity,
-	 * so the graph of joystick input to deadbanded output looks like this:
-	 * <p>
-	 * _/ /
+	 * Gets the value from the joystick and deadbands it. The non-deadband values are scaled to avoid a discontinuity.
 	 *
 	 * @return The joystick's value, after being deadbanded.
 	 */
 	@Override
 	public double getValue() {
 		//Get the smoothed value
-		input = super.getValue();
+		input = filter.pidGet();
 
 		sign = Math.signum(input);
 		input = Math.abs(input);

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.java

@@ -5,6 +5,7 @@
 import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.annotation.ObjectIdGenerators;
 import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick;
 
 /**
@@ -34,16 +35,18 @@ public class ThrottleExponential extends ThrottleDeadbanded {
 	 * @param stick    The Joystick object being used
 	 * @param axis     The axis being used.
 	 * @param deadband The deadband below which the input will be read as 0, on [0, 1]. Defaults to 0.
+	 * @param smoothingTimeSecs How many seconds of input to take into account when smoothing. Defaults to 0.02.
 	 * @param inverted Whether or not to invert the joystick input. Defaults to false.
 	 * @param base     The base that is raised to the power of the joystick input.
 	 */
 	@JsonCreator
 	public ThrottleExponential(@NotNull @JsonProperty(required = true) MappedJoystick stick,
 	                           @JsonProperty(required = true) int axis,
 	                           double deadband,
+	                           @Nullable Double smoothingTimeSecs,
 	                           boolean inverted,
 	                           @JsonProperty(required = true) double base) {
-		super(stick, axis, deadband, inverted);
+		super(stick, axis, deadband, smoothingTimeSecs, inverted);
 		this.base = base;
 	}
 

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.java

@@ -5,6 +5,7 @@
 import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.annotation.ObjectIdGenerators;
 import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick;
 import org.usfirst.frc.team449.robot.other.Polynomial;
 
@@ -26,16 +27,18 @@ public class ThrottlePolynomial extends ThrottleDeadbanded {
 	 * @param stick      The Joystick object being used
 	 * @param axis       The axis being used. 0 is X, 1 is Y, 2 is Z.
 	 * @param deadband   The deadband below which the input will be read as 0, on [0, 1]. Defaults to 0.
+	 * @param smoothingTimeSecs How many seconds of input to take into account when smoothing. Defaults to 0.02.
 	 * @param inverted   Whether or not to invert the joystick input. Defaults to false.
 	 * @param polynomial The polynomially that scales the throttle. Must not have any negative exponents.
 	 */
 	@JsonCreator
 	public ThrottlePolynomial(@NotNull @JsonProperty(required = true) MappedJoystick stick,
 	                          @JsonProperty(required = true) int axis,
 	                          double deadband,
+	                          @Nullable Double smoothingTimeSecs,
 	                          boolean inverted,
 	                          @NotNull @JsonProperty(required = true) Polynomial polynomial) {
-		super(stick, axis, deadband, inverted);
+		super(stick, axis, deadband, smoothingTimeSecs, inverted);
 
 		//Check for negative exponents
 		for (Double power : polynomial.getPowerToCoefficientMap().keySet()) {

RoboRIO/src/main/resources/ballbasaur_map.yml

@@ -87,6 +87,7 @@ oi:
                 '@id': rotThrottle
                 stick: driverGamepad
                 axis: 0
+                smoothingTimeSecs: 0.04
                 deadband: 0.05
                 inverted: false
         fwdThrottle: