Adding rev ctre functions (#140)

* Renaming files * Adding some tests * Fixing more issues
snobotsim · Jan 12, 2020 · 12ef0d4 · 12ef0d4
1 parent 77c70ac
commit 12ef0d4
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Showing 25 changed files with 952 additions and 431 deletions.
diff --git a/build.gradle b/build.gradle
@@ -128,7 +128,7 @@ if(hasProperty('maven_repo'))
     throw new GradleException("This isn't supported anymore")
 }
 
-ext.maven_version = "2020-0.0.0"
+ext.maven_version = "2020-0.0.1"
 if(hasProperty('maven_version'))
 {
     ext.maven_version = maven_version

diff --git a/...ot_sim_java/src/main/java/com/snobot/simulator/simulator_components/ctre/CtreManager.java b/...ot_sim_java/src/main/java/com/snobot/simulator/simulator_components/ctre/CtreManager.java
@@ -3,7 +3,9 @@
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.HashMap;
+import java.util.HashSet;
 import java.util.Map;
+import java.util.Set;
 
 import org.apache.logging.log4j.Level;
 import org.apache.logging.log4j.LogManager;
@@ -31,7 +33,7 @@ public void reset()
 
     private CtreTalonSrxSpeedControllerSim getMotorControllerWrapper(int aCanPort)
     {
-        return (CtreTalonSrxSpeedControllerSim) SensorActuatorRegistry.get().getSpeedControllers().get(aCanPort + 100);
+        return (CtreTalonSrxSpeedControllerSim) SensorActuatorRegistry.get().getSpeedControllers().get(aCanPort + CtreTalonSrxSpeedControllerSim.sCAN_SC_OFFSET);
     }
 
     private CtrePigeonImuSim getPigeonWrapper(int aCanPort)
@@ -45,6 +47,9 @@ public void handleMotorControllerMessage(String aCallback, int aCanPort, ByteBuf
 
         sLOGGER.log(Level.TRACE, "Handling motor controller message " + aCallback + ", " + aCanPort);
 
+
+        Set<String> unsupportedFunctions = new HashSet<>();
+
         if ("Create".equals(aCallback))
         {
             if (!DataAccessorFactory.getInstance().getSpeedControllerAccessor().getPortList()
@@ -136,6 +141,10 @@ else if ("Set_4".equals(aCallback))
                 break;
             }
         }
+        else if ("GetBaseID".equals(aCallback))
+        {
+            aData.putInt(aCanPort);
+        }
         else if ("ConfigSelectedFeedbackSensor".equals(aCallback))
         {
             CtreTalonSrxSpeedControllerSim wrapper = getMotorControllerWrapper(aCanPort);
@@ -320,17 +329,9 @@ else if ("SetInverted_2".equals(aCallback))
         ///////////////////////////////////
         // Unsupported, but not important
         ///////////////////////////////////
-        else if ("SetStatusFramePeriod".equals(aCallback))
-        {
-            sLOGGER.log(Level.DEBUG, "SetStatusFramePeriod not supported");
-        }
-        else if ("ConfigVelocityMeasurementPeriod".equals(aCallback))
-        {
-            sLOGGER.log(Level.DEBUG, "ConfigVelocityMeasurementPeriod not supported");
-        }
-        else if ("ConfigVelocityMeasurementWindow".equals(aCallback))
+        else if (unsupportedFunctions.contains(aCallback))
         {
-            sLOGGER.log(Level.DEBUG, "ConfigVelocityMeasurementWindow not supported");
+            sLOGGER.log(Level.DEBUG, aCallback + " not supported");
         }
         else
         {

diff --git a/...n/java/com/snobot/simulator/simulator_components/ctre/CtreTalonSrxSpeedControllerSim.java b/...n/java/com/snobot/simulator/simulator_components/ctre/CtreTalonSrxSpeedControllerSim.java
@@ -167,7 +167,6 @@ public void setCurrentProfile(byte aProfileSelect)
         mCurrentPidProfile = aProfileSelect;
     }
 
-
     @Override
     protected void registerFeedbackSensor()
     {
@@ -228,4 +227,28 @@ public int getBinnedVelocity()
     {
         return (int) (getVelocity() * this.getVelocityUnitConversion());
     }
+
+    public void setCanFeedbackDevice(byte aFeedbackDevice)
+    {
+        FeedbackDevice newDevice = null;
+        switch (aFeedbackDevice)
+        {
+        // Default feedback sensor, handle with care
+        case 0:
+            newDevice = FeedbackDevice.Encoder;
+            break;
+        case 2:
+            newDevice = FeedbackDevice.Analog;
+            break;
+        // The Absolute and Relative encoders behave the same
+        case 8:
+            newDevice = FeedbackDevice.Encoder;
+            break;
+        default:
+            sLOGGER.log(Level.WARN, "Unsupported feedback device " + aFeedbackDevice);
+            break;
+        }
+
+        setCanFeedbackDevice(newDevice);
+    }
 }