Servo controller

src/com/nutrons/framework/StreamManager.java

@@ -1,5 +1,9 @@
 package com.nutrons.framework;
 
+import static com.nutrons.framework.util.CompMode.AUTO;
+import static com.nutrons.framework.util.CompMode.TELE;
+import static io.reactivex.Flowable.combineLatest;
+
 import com.nutrons.framework.commands.Command;
 import com.nutrons.framework.util.CompMode;
 import io.reactivex.Flowable;
@@ -10,9 +14,7 @@
 import java.util.List;
 import java.util.function.Supplier;
 
-import static com.nutrons.framework.util.CompMode.AUTO;
-import static com.nutrons.framework.util.CompMode.TELE;
-import static io.reactivex.Flowable.combineLatest;
+
 
 /**
  * This class sets up the I/O factories and initializes subsystems.
@@ -38,7 +40,7 @@ public StreamManager(Robot robot) {
    * Subclasses should register subsystems in their constructor.
    *
    * @param enabled a Flowable of booleans, representing changes in the enabled state of the robot
-   * @param mode    a Flowable of CompModes, representing changes in the competition game mode
+   * @param mode a Flowable of CompModes, representing changes in the competition game mode
    */
   public StreamManager(Flowable<Boolean> enabled, Flowable<CompMode> mode) {
     this.subsystems = new ArrayList<>();
@@ -50,7 +52,8 @@ public StreamManager(Flowable<Boolean> enabled, Flowable<CompMode> mode) {
    * Called to by the bootstrapper to subscribe subsystem streams,
    * and start the competition loop.
    */
-  public final void startCompetition(Supplier<Command> autoSupplier, Supplier<Command> teleopSupplier) {
+  public final void startCompetition(Supplier<Command> autoSupplier,
+      Supplier<Command> teleopSupplier) {
     Observable.fromIterable(this.subsystems).blockingSubscribe(x -> {
       System.out.println("registering " + x.getClass().getName());
       x.registerSubscriptions();

src/com/nutrons/framework/commands/Command.java

@@ -1,16 +1,15 @@
 package com.nutrons.framework.commands;
 
+import static com.nutrons.framework.util.FlowOperators.toFlow;
+
 import io.reactivex.Flowable;
 import io.reactivex.Observable;
 import io.reactivex.disposables.Disposable;
 import io.reactivex.flowables.ConnectableFlowable;
 import io.reactivex.schedulers.Schedulers;
-import org.reactivestreams.Publisher;
-
 import java.util.concurrent.TimeUnit;
 import java.util.function.Supplier;
-
-import static com.nutrons.framework.util.FlowOperators.toFlow;
+import org.reactivestreams.Publisher;
 
 public class Command implements CommandWorkUnit {
 
@@ -81,13 +80,20 @@ public static Command fromSwitch(Publisher<? extends CommandWorkUnit> commandStr
     return new Command(x -> Flowable.defer(() ->
         Flowable.switchOnNext(Flowable.fromPublisher(commandStream).map(y -> y.execute(x))
             .subscribeOn(Schedulers.io()))).scan((a, b) -> {
-      a.run();
-      return b;
-    }));
+              a.run();
+              return b;
+            }));
   }
 
+  /**
+   * Adds a command that will terminate the current command.
+   * @param terminator Terminator command ou wish to add.
+   * @return teriminatable command.
+   */
   public Command addFinalTerminator(Terminator terminator) {
-    return Command.just(x -> this.source.execute(x).flatMap(y -> Flowable.<Terminator>just(y, terminator)).subscribeOn(Schedulers.io()));
+    return Command.just(
+        x -> this.source.execute(x).flatMap(y -> Flowable.<Terminator>just(y, terminator))
+            .subscribeOn(Schedulers.io()));
   }
 
   /**
@@ -120,8 +126,8 @@ public Command terminable(Publisher<?> terminator) {
   /**
    * Copies this command into one which will end when terminator emits an item.
    *
-   * @param terminatesAtEnd if true, the command will terminate only when the end is reached,
-   *                        if false, the command may terminate before the end is reached.
+   * @param terminatesAtEnd if true, the command will terminate only when the end is reached, if
+   *        false, the command may terminate before the end is reached.
    */
   public Command endsWhen(Publisher<?> terminator, boolean terminatesAtEnd) {
     return Command.just(x -> {
@@ -137,7 +143,8 @@ public Command endsWhen(Publisher<?> terminator, boolean terminatesAtEnd) {
    * will only complete once endCondition returns true.
    */
   public Command until(Supplier<Boolean> endCondition) {
-    ConnectableFlowable<?> terminator = emptyPulse.map(x -> endCondition.get()).filter(x -> x).onBackpressureDrop().publish();
+    ConnectableFlowable<?> terminator = emptyPulse.map(x -> endCondition.get()).filter(x -> x)
+        .onBackpressureDrop().publish();
     terminator.connect();
     return this.terminable(terminator);
   }
@@ -163,6 +170,12 @@ public Command delayFinish(long delay, TimeUnit unit) {
     return this.terminable(Flowable.timer(delay, unit));
   }
 
+  /**
+   * Kills a command after a given time and unit
+   * @param delay a number in relation to a unit 1000 = 1 ms if unit is ms.
+   * @param unit unit you wish to count in.
+   * @return a command that will terminate after a given time.
+   */
   public Command killAfter(long delay, TimeUnit unit) {
     return Command.just(x -> {
       Flowable<Terminator> terms = this.terminable(Flowable.timer(delay, unit)).execute(x);

src/com/nutrons/framework/commands/CommandWorkUnit.java

@@ -3,5 +3,6 @@
 import io.reactivex.Flowable;
 
 public interface CommandWorkUnit {
+
   Flowable<Terminator> execute(boolean selfTerminating);
 }

src/com/nutrons/framework/commands/ParallelCommand.java

@@ -4,6 +4,7 @@
 import io.reactivex.schedulers.Schedulers;
 
 public class ParallelCommand implements CommandWorkUnit {
+
   private final Flowable<Command> commands;
 
   ParallelCommand(CommandWorkUnit... commands) {

src/com/nutrons/framework/commands/SerialCommand.java

@@ -4,6 +4,7 @@
 import io.reactivex.schedulers.Schedulers;
 
 public class SerialCommand implements CommandWorkUnit {
+
   private final Flowable<Command> commands;
 
   SerialCommand(CommandWorkUnit... commands) {

src/com/nutrons/framework/controllers/ControllerEvent.java

@@ -11,4 +11,5 @@ default void actOn(VirtualSpeedController controller) {
     throw new EventUnimplementedException(
         controller.getClass().toString(), this.getClass().toString());
   }
+
 }

src/com/nutrons/framework/controllers/Events.java

@@ -35,6 +35,7 @@ public static ControllerEvent pid(double pval, double ival, double dval, double
 
   /**
    * Combines actions that are preformed on the talon.
+   *
    * @return combined event
    */
   public static ControllerEvent combine(ControllerEvent... events) {
@@ -94,4 +95,5 @@ public static ControllerEvent setOutputVoltage(double min, double max) {
   public static ControllerEvent resetPosition(double position) {
     return new ResetPositionEvent(position);
   }
+
 }

src/com/nutrons/framework/controllers/FollowEvent.java

@@ -6,6 +6,7 @@ public class FollowEvent implements ControllerEvent {
 
   /**
    * Sets a LoopSpeedController to follow another LoopSpeedController
+   *
    * @param targetToFollow is a LoopSpeedController which will be followed.
    */
   public FollowEvent(LoopSpeedController targetToFollow) {

src/com/nutrons/framework/controllers/RevServo.java

@@ -0,0 +1,44 @@
+package com.nutrons.framework.controllers;
+
+import edu.wpi.first.wpilibj.Servo;
+
+/**
+ * The RevServo controlle used for the programming and running of Rev Smart Servos.
+ */
+public class RevServo extends ServoController {
+
+  private final Servo servo;
+
+  /**
+   * Makes a RevServo object at the given port.
+   *
+   * @param port Port of RevServo
+   */
+  public RevServo(int port) {
+    servo = new Servo(port);
+  }
+
+  @Override
+  public void accept(ServoCommand servoCommand) {
+    servoCommand.actOn(this);
+  }
+
+  /**
+   * Sets the Servo to a given angle ranging from -90 to 90 left and right reflectively.
+   *
+   * @param angle given angle to turn to.
+   */
+  public void setAngle(double angle) {
+    this.servo.setAngle(angle);
+  }
+
+  /**
+   * Set the motor to a position given a value 0.0 is full left 1.0 is full right.
+   *
+   * @param value The value to turn the servo to.
+   */
+  public void set(double value) {
+    this.servo.set(value);
+  }
+
+}

src/com/nutrons/framework/controllers/ServoCommand.java

@@ -0,0 +1,10 @@
+package com.nutrons.framework.controllers;
+
+public interface ServoCommand {
+
+  default void actOn(RevServo servo) {
+    throw new EventUnimplementedException(
+        servo.getClass().toString(), this.getClass().toString());
+  }
+
+}

src/com/nutrons/framework/controllers/ServoController.java

@@ -0,0 +1,17 @@
+package com.nutrons.framework.controllers;
+
+import io.reactivex.functions.Consumer;
+
+public abstract class ServoController implements Consumer<ServoCommand> {
+
+  @Override
+  public abstract void accept(ServoCommand servoCommand);
+
+  public void setAngle(double angle) {
+    this.accept(ServoInstr.setAngle(angle));
+  }
+
+  public void set(double value) {
+    this.accept(ServoInstr.set(value));
+  }
+}

src/com/nutrons/framework/controllers/ServoInstr.java

@@ -0,0 +1,13 @@
+package com.nutrons.framework.controllers;
+
+public class ServoInstr {
+
+  public static ServoCommand setAngle(double angle) {
+    return new SetAngleCommand(angle);
+  }
+
+  public static ServoCommand set(double value) {
+    return new SetCommand(value);
+  }
+
+}

src/com/nutrons/framework/controllers/SetAngleCommand.java

@@ -0,0 +1,31 @@
+package com.nutrons.framework.controllers;
+
+public class SetAngleCommand implements ServoCommand {
+
+  private final double angle;
+
+  /**
+   * An event which sets the servo to turn to a certain angle.
+   *
+   * @param angle the angle to turn the servo to -90 (left) to 90 (right).
+   */
+  public SetAngleCommand(double angle) {
+    this.angle = angle;
+  }
+
+  public double angle() {
+    return this.angle;
+
+  }
+
+  @Override
+  public void actOn(RevServo servo) {
+    if (Math.abs(angle) > 90.0) {
+      throw new IllegalArgumentException(
+          "Angle greater than 90 degrees is not supported for Servos");
+    }
+    servo.setAngle(angle);
+
+  }
+
+}

src/com/nutrons/framework/controllers/SetCommand.java

@@ -0,0 +1,33 @@
+package com.nutrons.framework.controllers;
+
+public class SetCommand implements ServoCommand {
+
+  private final double value;
+
+  /**
+   * An event which sets the servo to turn to a certain angle.
+   *
+   * @param value the input value to give the servo -1 is full left 1 is full right.
+   */
+  public SetCommand(double value) {
+    this.value = value;
+
+  }
+
+  public double value() {
+    return this.value;
+
+  }
+
+  @Override
+  public void actOn(RevServo servo) {
+    if (Math.abs(value) > 1.0) {
+      throw new IllegalArgumentException(
+          "Value input greater than 1.0 is not supported for this servo");
+
+    }
+    servo.set(value);
+
+  }
+
+}

src/com/nutrons/framework/controllers/Talon.java

@@ -1,11 +1,11 @@
 package com.nutrons.framework.controllers;
 
+import static com.nutrons.framework.util.FlowOperators.toFlow;
+
 import com.ctre.CANTalon;
 import io.reactivex.Flowable;
-
 import java.security.InvalidParameterException;
 
-import static com.nutrons.framework.util.FlowOperators.toFlow;
 
 public class Talon extends LoopSpeedController {
 
@@ -133,7 +133,7 @@ void resetPositionTo(double position) {
 
 
   @Override
-  public boolean fwdLimitSwitchClosed(){
+  public boolean fwdLimitSwitchClosed() {
     return this.talon.isFwdLimitSwitchClosed();
   }
 

src/com/nutrons/framework/inputs/Serial.java

@@ -41,7 +41,7 @@ public Serial(int bufferSize, int packetLength) {
    * @param bufferSize represents how many bytes to cache unread before clearing buffer
    * @param packetLength represents the length of each read from the buffer
    * @param terminationCharacter allows users to set a custom termination character - default is the
-   *     newline character '\n'
+   *        newline character '\n'
    */
   public Serial(SerialPort.Port port,
       int bufferSize,
@@ -56,7 +56,7 @@ public Serial(SerialPort.Port port,
    * @param bufferSize represents how many bytes to cache unread before clearing buffer
    * @param packetLength represents the length of each read from the buffer
    * @param terminationCharacter allows users to set a custom termination character - default is the
-   *     newline character '\n'
+   *        newline character '\n'
    * @param baudrate See <a href="https://en.wikipedia.org/wiki/Symbol_rate">Symbol Rate</a>
    */
   public Serial(int baudrate,

src/com/nutrons/framework/subsystems/WpiSmartDashboard.java

@@ -24,6 +24,7 @@ public WpiSmartDashboard() {
 
   /**
    * Takes a double and passes it to the Smart Dashboard.
+   *
    * @param key decimal passed to the Smartdash.
    */
   public Consumer<Double> getTextFieldDouble(String key) {
@@ -39,7 +40,8 @@ public Consumer<Double> getTextFieldDouble(String key) {
 
   /**
    * Prints string to the Smart Dashborad.
-   * @param key  A specific String.
+   *
+   * @param key A specific String.
    */
   public Consumer<String> getTextFieldString(String key) {
     if (!stringFields.containsKey(key)) {
@@ -54,6 +56,7 @@ public Consumer<String> getTextFieldString(String key) {
 
   /**
    * Prints Output of a Boolean to the Smart Dashboard.
+   *
    * @param key boolean statement.
    */
   public Consumer<Boolean> getTextFieldBoolean(String key) {