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ITunable #1

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1 change: 0 additions & 1 deletion bin/.gitignore
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@@ -1,2 +1 @@
/com/
/org/
6 changes: 6 additions & 0 deletions src/org/team3309/lib/Tunable/ITunable.java
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package org.team3309.lib.Tunable;

public interface ITunable {
public String getTableName();
public String getObjectName();
}
20 changes: 20 additions & 0 deletions src/org/team3309/lib/Tunable/TestTunable.java
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package org.team3309.lib.Tunable;

public class TestTunable implements ITunable {

@Override
public String getTableName() { return "SmartDashboard"; }

@Override
public String getObjectName() { return "TestTunable"; }

@Tunable
public int foo = 10;

@Tunable(ReadOnly=true)
public int bar = 5;

@Tunable
public String baz = "bazybaz";

}
11 changes: 11 additions & 0 deletions src/org/team3309/lib/Tunable/Tunable.java
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package org.team3309.lib.Tunable;

import java.lang.annotation.*;

@Retention(RetentionPolicy.RUNTIME)
@Target(ElementType.FIELD)
public @interface Tunable {
public String Category() default "Uncategorized";
public String DisplayName() default "";
public boolean ReadOnly() default false;
}
83 changes: 83 additions & 0 deletions src/org/team3309/lib/Tunable/TunableHelper.java
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package org.team3309.lib.Tunable;

import java.lang.reflect.Field;
import edu.wpi.first.wpilibj.networktables.*;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class TunableHelper
{
public static void UpdateTunable(ITunable tunable)
{
Class<?> c = tunable.getClass();
Field[] fields = c.getFields();

// -- Network Table
String tableName = tunable.getTableName();
boolean useSmartDashboard = false;
NetworkTable table = null;
if (tableName == "SmartDashboard")
useSmartDashboard = true;
else
table = NetworkTable.getTable(tableName);

// -- Prefix
String prefix = "";
String objName = tunable.getObjectName();
if (objName != null)
prefix = objName + "_";

try
{
for (Field f : fields)
{
Tunable annon = f.getAnnotation(Tunable.class);
if (annon != null)
{
String dispName = annon.DisplayName();
boolean readOnly = annon.ReadOnly();
String name = prefix + (dispName != "" ? dispName : f.getName());

// ---------------------------------------------------------------
// -- Set the data

Class<?> ft = f.getType();
// -- Boolean
if (ft.isAssignableFrom(boolean.class))
{
boolean value = f.getBoolean(tunable);
if (useSmartDashboard)
value = SmartDashboard.getBoolean(name, value);
else
value = table.getBoolean(name, value);
if (!readOnly)
f.set(tunable, value);
}
// -- Number
else if (ft.isAssignableFrom(double.class))
{
double value = f.getDouble(tunable);
if (useSmartDashboard)
value = SmartDashboard.getNumber(name, value);
else
value = table.getNumber(name, value);
if (!readOnly)
f.set(tunable, value);
}
// -- String
else if(ft.isAssignableFrom(String.class))
{
String value = (String)f.get(tunable);
if (useSmartDashboard)
value = SmartDashboard.getString(name, value);
else
value = table.getString(name, value);
if (!readOnly)
f.set(tunable, value);
}
}
}
}
catch(IllegalAccessException ex){}

}
}
2 changes: 1 addition & 1 deletion src/org/team3309/lib/controllers/turret/TurretLeftRightController.java
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Expand Up @@ -17,7 +17,7 @@ public class TurretLeftRightController extends Controller {

private boolean isGoingLeft = false;
private final double DEGREES_TO_SLOW_DOWN = 25;
private static final double TURRET_MAX_DEGREES = Turret.getInstance().getMaxDegrees();
private static final double TURRET_MAX_DEGREES = 0;
private static final double SLOW_SPEED = .2;
private static final double FAST_SPEED = .35;

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2 changes: 1 addition & 1 deletion src/org/team3309/lib/controllers/turret/TurretLeftRightVelocityCompensatedController.java
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Expand Up @@ -10,7 +10,7 @@ public class TurretLeftRightVelocityCompensatedController extends FeedForwardWit

private boolean isGoingLeft = false;
private final double DEGREES_TO_SLOW_DOWN = 25;
private static final double TURRET_MAX_DEGREES = Turret.getInstance().getMaxDegrees();
private static final double TURRET_MAX_DEGREES = 0;
private static final double SLOW_VEL = .2;
private static final double FAST_VEL = .35;

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