Tester.java

/*
 * Copyright 2014-2015 Cel Skeggs
 *
 * This file is part of the CCRE, the Common Chicken Runtime Engine.
 *
 * The CCRE is free software: you can redistribute it and/or modify it under the
 * terms of the GNU Lesser General Public License as published by the Free
 * Software Foundation, either version 3 of the License, or (at your option) any
 * later version.
 *
 * The CCRE is distributed in the hope that it will be useful, but WITHOUT ANY
 * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
 * A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
 * details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with the CCRE.  If not, see <http://www.gnu.org/licenses/>.
 */
package org.team1540.tester;

import ccre.channel.FloatOutput;
import ccre.cluck.Cluck;
import ccre.frc.FRC;
import ccre.frc.FRCApplication;

/**
 * An example program that simply shares all the motors over the network.
 *
 * Surprisingly useful for an example! Make sure to change which types the
 * motors are.
 *
 * @author skeggsc
 */
public class Tester implements FRCApplication {

    /**
     * Set up the robot. For the testing robot, this means publishing all the
     * motors.
     */
    @Override
    public void setupRobot() {
        final FloatOutput[] outs = new FloatOutput[20];
        for (int i = 0; i < 20; i++) {
            Cluck.publish("talon-" + i, outs[i] = FRC.talon(i, false, 0.1f));
        }
        // TODO: make this work better. should be standard library!
        Cluck.publish("talon-all", (FloatOutput) value -> {
            for (FloatOutput out : outs) {
                out.set(value);
            }
        });
        for (int i = 0; i < 4; i++) {
            Cluck.publish("relay-" + i + "-fwd", FRC.relayForward(i));
            Cluck.publish("relay-" + i + "-rev", FRC.relayReverse(i));
        }
        for (int i = 0; i < 8; i++) {
            Cluck.publish("solenoid-" + i, FRC.solenoid(i));
        }
        for (int i = 0; i < 4; i++) {
            Cluck.publish("analog-" + i, FRC.analogInput(i, 8));
        }
        Cluck.publish("input-voltage", FRC.voltageChannel(FRC.POWER_CHANNEL_BATTERY));
        Cluck.publish("input-current", FRC.currentChannel(FRC.POWER_CHANNEL_BATTERY));
        Cluck.publish("6v-voltage", FRC.voltageChannel(FRC.POWER_CHANNEL_6V));
        Cluck.publish("6v-current", FRC.currentChannel(FRC.POWER_CHANNEL_6V));
        Cluck.publish("5v-voltage", FRC.voltageChannel(FRC.POWER_CHANNEL_5V));
        Cluck.publish("5v-current", FRC.currentChannel(FRC.POWER_CHANNEL_5V));
        Cluck.publish("3.3v-voltage", FRC.voltageChannel(FRC.POWER_CHANNEL_3V3));
        Cluck.publish("3.3v-current", FRC.currentChannel(FRC.POWER_CHANNEL_3V3));
        for (int i = 0; i < 16; i++) {
            Cluck.publish("current-" + i, FRC.channelCurrentPDP(i));
        }
        Cluck.publish("compressor", FRC.compressorPCM());
        Cluck.publish("pdp-voltage", FRC.voltagePDP());
    }
}