[WIP | Needs testing] New interface for Talon angle sensors

strongback-testing/src/org/strongback/mock/Mock.java

@@ -17,7 +17,6 @@
 package org.strongback.mock;
 
 import java.util.concurrent.atomic.AtomicLong;
-
 import org.strongback.components.Fuse;
 import org.strongback.components.TalonSRX;
 import org.strongback.control.Controller;
@@ -96,6 +95,15 @@ public static MockAngleSensor angleSensor() {
         return new MockAngleSensor();
     }
 
+    /**
+     * Create a mock revolution sensor.
+     *
+     * @return the mock rev sensor, never null
+     */
+    public static MockRevSensor revSensor() {
+        return new MockRevSensor();
+    }
+
     /**
      * Create a mock compass.
      *

strongback-testing/src/org/strongback/mock/MockRevSensor.java

@@ -0,0 +1,35 @@
+package org.strongback.mock;
+
+import org.strongback.components.RevSensor;
+
+public class MockRevSensor implements RevSensor {
+    private double revolutions;
+    private double revolutionsPerMinute;
+
+    protected MockRevSensor() {
+        this(0.0, 0.0);
+    }
+
+    protected MockRevSensor(double revolutions, double revolutionsPerMinute) {
+        this.revolutions = revolutions;
+        this.revolutionsPerMinute = revolutionsPerMinute;
+    }
+
+    public void setRevolutions(double revolutions) {
+        this.revolutions = revolutions;
+    }
+
+    public void setRevolutionsPerMinute(double revolutionsPerMinute) {
+        this.revolutionsPerMinute = revolutionsPerMinute;
+    }
+
+    @Override
+    public double getRevolutions() {
+        return revolutions;
+    }
+
+    @Override
+    public double getRevolutionsPerMinute() {
+        return revolutionsPerMinute;
+    }
+}

strongback-testing/src/org/strongback/mock/MockTalonSRX.java

@@ -17,20 +17,21 @@
 package org.strongback.mock;
 
 import org.strongback.components.Fuse;
-import org.strongback.components.Gyroscope;
+import org.strongback.components.RevSensor;
 import org.strongback.components.Switch;
 import org.strongback.components.TalonSRX;
 import org.strongback.components.TemperatureSensor;
 import org.strongback.components.VoltageSensor;
 
 public class MockTalonSRX extends MockMotor implements TalonSRX {
 
-    private static final Gyroscope NO_OP_GYRO = new MockGyroscope();
+    private static final RevSensor NO_OP_REV = new MockRevSensor();
 
     private final int deviceId;
-    private final MockGyroscope encoderInput = new MockGyroscope();
-    private final MockGyroscope analogInput = new MockGyroscope();
-    private Gyroscope selectedInput = NO_OP_GYRO;
+    private final MockRevSensor encoderInput = new MockRevSensor();
+    private final MockRevSensor analogInput = new MockRevSensor();
+    private final MockRevSensor pwmInput = new MockRevSensor();
+    private RevSensor selectedInput = NO_OP_REV;
     private final MockCurrentSensor current = new MockCurrentSensor();
     private final MockVoltageSensor voltage = new MockVoltageSensor();
     private final MockVoltageSensor busVoltage = new MockVoltageSensor();
@@ -60,17 +61,22 @@ public MockTalonSRX setSpeed(double speed) {
     }
 
     @Override
-    public MockGyroscope getAnalogInput() {
+    public MockRevSensor getAnalogInput() {
         return analogInput;
     }
 
     @Override
-    public MockGyroscope getEncoderInput() {
+    public RevSensor getPwmInput() {
+        return pwmInput;
+    }
+
+    @Override
+    public MockRevSensor getEncoderInput() {
         return encoderInput;
     }
 
     @Override
-    public Gyroscope getSelectedSensor() {
+    public RevSensor getSelectedSensor() {
         return selectedInput;
     }
 
@@ -89,9 +95,11 @@ public MockTalonSRX setFeedbackDevice(FeedbackDevice device) {
             case QUADRATURE_ENCODER:
                 this.selectedInput = encoderInput;
                 break;
+            case PULSE_WIDTH:
+                this.selectedInput = pwmInput;
             case ENCODER_FALLING:
             case ENCODER_RISING:
-                selectedInput = NO_OP_GYRO;
+                selectedInput = NO_OP_REV;
                 break;
         }
         return this;
@@ -127,6 +135,16 @@ public TemperatureSensor getTemperatureSensor() {
         return temperature;
     }
 
+    @Override
+    public void setEncoderCodesPerRevolution(int codesPerRev) {
+
+    }
+
+    @Override
+    public void setPotentiometerTurns(int turns) {
+
+    }
+
     @Override
     public MockSwitch getForwardLimitSwitch() {
         return forwardLimitSwitch;