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Improve accuracy of simulated Victor SPs #39

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Improve accuracy of simulated Victor SPs #39

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41 changes: 40 additions & 1 deletion ...es/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,13 +10,20 @@
import java.nio.IntBuffer;
import java.nio.ShortBuffer;

/**
* JNI Wrapper for library <b>FRC_NetworkCommunications</b><br>
*/
public class FRCNetworkCommunicationsLibrary extends JNIWrapper {

/** Module type from LoadOut.h */
public static interface tModuleType {
public static final int kModuleType_Unknown = 0x00;
public static final int kModuleType_Analog = 0x01;
public static final int kModuleType_Digital = 0x02;
public static final int kModuleType_Solenoid = 0x03;
};

/** Target class from LoadOut.h */
public static interface tTargetClass {
public static final int kTargetClass_Unknown = 0x00;
public static final int kTargetClass_FRC1 = 0x10;
Expand All @@ -27,6 +34,8 @@ public static interface tTargetClass {
public static final int kTargetClass_FamilyMask = 0xF0;
public static final int kTargetClass_ModuleMask = 0x0F;
};

/** Resource types from UsageReporting.h */
public static interface tResourceType {
public static final int kResourceType_Controller = 0;
public static final int kResourceType_Module = 1;
Expand Down Expand Up @@ -77,7 +86,18 @@ public static interface tResourceType {
public static final int kResourceType_HiTechnicAccel = 46;
public static final int kResourceType_HiTechnicCompass = 47;
public static final int kResourceType_SRF08 = 48;
public static final int kResourceType_AnalogOutput = 49;
public static final int kResourceType_VictorSP = 50;
public static final int kResourceType_TalonSRX = 51;
public static final int kResourceType_CANTalonSRX = 52;
public static final int kResourceType_ADXL362 = 53;
public static final int kResourceType_ADXRS450 = 54;
public static final int kResourceType_RevSPARK = 55;
public static final int kResourceType_MindsensorsSD540 = 56;
public static final int kResourceType_DigitalFilter = 57;
};

/** Instances from UsageReporting.h */
public static interface tInstances {
public static final int kLanguage_LabVIEW = 1;
public static final int kLanguage_CPlusPlus = 2;
Expand Down Expand Up @@ -112,6 +132,7 @@ public static interface tInstances {
public static final int kCommand_Scheduler = 1;
public static final int kSmartDashboard_Instance = 1;
};

public static final int kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input = 17;
public static final int kFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 = 21;
public static final int SYS_STATUS_DATA_SIZE = 44;
Expand All @@ -134,8 +155,26 @@ public static int report(int resource, byte instanceNumber, byte context, String

public static void setNewDataSem(long mutexId) {}

/**
* Report the usage of a resource of interest. <br>
*
* <br>
*$
* @param resource one of the values in the tResourceType above (max value
* 51). <br>
* @param instanceNumber an index that identifies the resource instance. <br>
* @param context an optional additional context number for some cases (such
* as module number). Set to 0 to omit. <br>
* @param feature a string to be included describing features in use on a
* specific resource. Setting the same resource more than once allows
* you to change the feature string.<br>
* Original signature :
* <code>uint32_t report(tResourceType, uint8_t, uint8_t, const char*)</code>
*/
public static int FRCNetworkCommunicationUsageReportingReport(byte resource, byte instanceNumber, byte context, String feature) {
//TODO: Report
// keep track of what motor controllers are initialized where
if (resource == tResourceType.kResourceType_VictorSP)
SimulationData.motorControllers[instanceNumber] = resource;
return 0;
}

Expand Down
14 changes: 13 additions & 1 deletion patches/src/main/java/edu/wpi/first/wpilibj/hal/PWMJNI.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package edu.wpi.first.wpilibj.hal;

import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
import jaci.openrio.toast.core.loader.simulation.SimulationData;

public class PWMJNI extends DIOJNI {
Expand All @@ -13,7 +14,18 @@ public static void freePWMChannel(long digital_port_pointer) {

public static void setPWM(long digital_port_pointer, short value) {
byte port = (byte)digital_port_pointer;
SimulationData.setPWM(port, (double) (value - 1012) / 255);
double output = (double) (value - 1012) / 255;
// let's figure out what motor controller is being used
switch (SimulationData.motorControllers[port]){
case FRCNetworkCommunicationsLibrary.tResourceType.kResourceType_VictorSP:
if (output > 0.6)
output += 0.01;
else if (output < -0.8)
output -= 0.01;
output += 0.05;
break;
}
SimulationData.setPWM(port, output);
}

public static short getPWM(long digital_port_pointer) {
Expand Down
5 changes: 5 additions & 0 deletions src/main/java/jaci/openrio/toast/core/loader/simulation/SimulationData.java
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,11 @@ public static void setPWM(byte port, double val) {
if (SimulationGUI.INSTANCE != null)
SimulationGUI.INSTANCE.pwmSpinners[port].setValue(val);
}

/**
* USAGE REPORTING *
*/
public static byte[] motorControllers = new byte[10];

/**
* POWER DISTRIBUTION PANEL *
Expand Down