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Merge pull request #53 from DeepBlueRobotics/fix-to-work-with-complia…
…nt-can-sims Fix to work with spec compliant CAN sims.
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Submodule WPIWebSockets
updated
7 files
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29 changes: 29 additions & 0 deletions
29
...ontroller/src/main/java/org/team199/deepbluesim/mediators/AnalogInputEncoderMediator.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| package org.team199.deepbluesim.mediators; | ||
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| import org.team199.wpiws.devices.AnalogInputSim; | ||
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| import com.cyberbotics.webots.controller.PositionSensor; | ||
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| public class AnalogInputEncoderMediator extends EncoderMediatorBase { | ||
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| public final AnalogInputSim device; | ||
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| public AnalogInputEncoderMediator(PositionSensor encoder, AnalogInputSim device, boolean isOnMotorShaft, boolean isAbsolute, double absoluteOffsetDeg, boolean isInverted, int countsPerRevolution, double gearing) { | ||
| super(encoder, isOnMotorShaft, isAbsolute, absoluteOffsetDeg, isInverted, countsPerRevolution, gearing); | ||
| this.device = device; | ||
| } | ||
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| @Override | ||
| public void setPosition(int positionCounts) { | ||
| // 1 Volt = 1 Rotation. The robot code can use | ||
| // SparkAnalogSensor.setPositionConversionFactor() to change what | ||
| // SparkAnalogSensor.getPosition() returns. | ||
| device.setVoltage(1.0 * positionCounts / countsPerRevolution); | ||
| } | ||
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| @Override | ||
| public void setVelocity(int velocityCountsPerSecond) { | ||
| // AnalogInput data doesn't include velocity so we do nothing. | ||
| } | ||
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| } |
26 changes: 26 additions & 0 deletions
26
plugin/controller/src/main/java/org/team199/deepbluesim/mediators/CANEncoderMediator.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| package org.team199.deepbluesim.mediators; | ||
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| import org.team199.wpiws.devices.CANEncoderSim; | ||
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| import com.cyberbotics.webots.controller.PositionSensor; | ||
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| public class CANEncoderMediator extends EncoderMediatorBase { | ||
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| public final CANEncoderSim device; | ||
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| public CANEncoderMediator(PositionSensor encoder, CANEncoderSim device, boolean isOnMotorShaft, boolean isAbsolute, double absoluteOffsetDeg, boolean isInverted, int countsPerRevolution, double gearing) { | ||
| super(encoder, isOnMotorShaft, isAbsolute, absoluteOffsetDeg, isInverted, countsPerRevolution, gearing); | ||
| this.device = device; | ||
| } | ||
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| @Override | ||
| public void setPosition(int positionCounts) { | ||
| device.setPosition(1.0 * positionCounts / countsPerRevolution); | ||
| } | ||
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| @Override | ||
| public void setVelocity(int velocityCountsPerSecond) { | ||
| device.setVelocity(1.0 * velocityCountsPerSecond / countsPerRevolution); | ||
| } | ||
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| } |
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27 changes: 27 additions & 0 deletions
27
plugin/controller/src/main/java/org/team199/deepbluesim/mediators/DutyCycleMediator.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| package org.team199.deepbluesim.mediators; | ||
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| import org.team199.wpiws.devices.DutyCycleSim; | ||
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| import com.cyberbotics.webots.controller.PositionSensor; | ||
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| public class DutyCycleMediator extends EncoderMediatorBase { | ||
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| public final DutyCycleSim device; | ||
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| public DutyCycleMediator(PositionSensor encoder, DutyCycleSim device, boolean isOnMotorShaft, boolean isAbsolute, double absoluteOffsetDeg, boolean isInverted, int countsPerRevolution, double gearing) { | ||
| super(encoder, isOnMotorShaft, isAbsolute, absoluteOffsetDeg, isInverted, countsPerRevolution, gearing); | ||
| this.device = device; | ||
| device.setConnected(true); | ||
| } | ||
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| @Override | ||
| public void setPosition(int positionCounts) { | ||
| device.setPosition(1.0 * positionCounts / countsPerRevolution); | ||
| } | ||
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| @Override | ||
| public void setVelocity(int velocityCountsPerSecond) { | ||
| // DutyCycle data doesn't include velocity so we do nothing. | ||
| } | ||
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| } |
26 changes: 0 additions & 26 deletions
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.../controller/src/main/java/org/team199/deepbluesim/mediators/SimDeviceEncoderMediator.java
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