Initial commit of v6.0

.gitignore

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+build/

BSD_License_for_WPILib_code.txt

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+* Copyright (c) 2009 FIRST
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in the
+*       documentation and/or other materials provided with the distribution.
+*     * Neither the name of the FIRST nor the
+*       names of its contributors may be used to endorse or promote products
+*       derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
+* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR 
+* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR 
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+GRT Framework v6
+================
+
+GRTFramework is an asynchronous, event-driven framework built on top of [WPILibJ](http://firstforge.wpi.edu/sf/projects/wpilib), which is provided by FIRST and includes a host of useful low-level hardware classes.
+
+The purpose of GRTFramework is:
+* To provide a framework for rapid FRC robot development
+* An asynchronous design and a focus on quality code design
+* Coder happiness :)
+
+Please feel free to email any of the developers if you have questions about the code.
+
+-FRC Team 192: Gunn Robotics Team (A.K.A "GRT")

build.properties

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+# Properties file for a Sun Spot Application
+#
+# build.properties
+#
+# This file is the default location for user properties that over-ride the
+# defaults in ${sunspot.home}/default.properties.  See that file for a full
+# listing of the properties that may be set.  This file is minimal and contains
+# only those properties that a user would generally need to set right away.
+#
+user.classpath=${wpilibj.home}/src

build.xml

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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><project basedir="." default="help" name="Insert Name Here">
+
+<!-- You may freely edit this file. See commented blocks below for -->
+<!-- some examples of how to customize the build. -->
+
+    <!--
+    
+    The master build file lives at: ${sunspot.home}/build.xml.
+
+    If you do not have a Sun SPOT properties file for some reason,
+    then you can set the sunspot.home property manually.
+
+        <property name="sunspot.home" value="/opt/sunspot"/>
+
+    The behavior of the build is also controled through properties.
+    For example, to use a different source directory, you can set
+    the property 'src.dir'.
+
+        <property name="src.dir" value="mysrc"/>
+
+    For a complete listing of properties that are used, and their
+    explanations, see the file ${sunspot.home}/default.properties.
+
+    -->
+
+    <property name="user.properties.file" value="build.properties"/>
+    <property file="${user.home}/.sunspotfrc.properties"/>
+    <import file="${sunspot.home}/build.xml"/>
+
+    <!--
+
+    This file imports the master build file for compiling and deploying sunspot
+    applications.  This file provides hooks for the user build file, so that
+    you can accomplish almost anything without having to rewrite any of the
+    build procedures.  However, if need be, you can just look at the imported
+    build file to determine how exactly any step is accomplished.
+
+    Of course, another useful way to find out exactly what is happening is to
+    run the targets listed below with ant's 'verbose' flag (ant -v).  This will
+    display exactly what is happening at each step.
+
+    Some important targets that are defined within the master build file are:
+    (Do "ant help" to see the full list.)
+
+      init:                  initialize and check all properties
+      help:                  display useful a help message
+      environment            displays information about setting up your environment
+      sdk-info               displays information about the current SDK installation
+      find-spots             locate USB ports where SPOTs are connected
+      info                   displays information about the configuration of a SPOT
+      slots                  displays a list of the applications deployed on the SPOT
+
+      clean:                 delete all compiled/generated files
+      compile:               compiles java source files to classes
+      jar-app                Create a jar for this application
+      deploy                 deploy the application to a SPOT as an IMlet
+      jar-deploy             deploy an IMlet jar
+      run                    connect to a device and watch the application
+      debug-run              configure the SPOT ro run the debug agent and then start the debug proxy
+      debug-proxy-run        start the proxy for the high-level debugger
+
+    Some useful command line properties:
+              	
+      -Dbasestation.addr=1234   set the address of the basestation
+      -DremoteId=1234           set the target for remote run/deploy/debug-proxy-run
+      -Dsquawk.startup.class=com.example.MyStartUp
+                                set an alternative startup class name
+      -Dspotport=COM2           set the port name for communicating with the SPOT
+      -Djar.file=example.jar    set the jar file for jar-app, jar-deploy and make-host-jar
+      -Dmidlet=2                select a midlet to run for selectapplication
+                                or deploy targets (defaults to 1)
+      -Dutility.jars=utils.jar  a classpath separator delimited list of jars to be 
+              	                included with the application
+
+    There exist several targets which are by default empty and which can be 
+    used for execution of your tasks. These targets are usually executed 
+    before and after some main targets. They are defined as follows:
+
+        For each target above (except help),
+
+        -pre-<target>:  called before the target
+        -post-<target>: called after the target
+
+    For example, inserting an echo statement after compilation could look like this:
+
+        <target name="-post-compile">
+            <echo>Compile finished!</echo>
+        </target>    
+
+    For more information on using ant, see http://ant.apache.org.
+
+    -->
+</project>

nbproject/project.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+
+    This is a sample netbeans project file for a Sun Spot Application project.
+    You may edit it freely, it doesn't affect the ant-powered build.
+
+ -->
+<project xmlns="http://www.netbeans.org/ns/project/1">
+    <type>org.netbeans.modules.ant.freeform</type>
+    <configuration>
+        <general-data xmlns="http://www.netbeans.org/ns/freeform-project/1">
+            <name>grtframeworkv6</name>
+            <properties>
+                <property-file>${user.home}/.sunspotfrc.properties</property-file>
+                <property-file>build.properties</property-file>
+                <property-file>${sunspot.home}/default.properties</property-file>
+            </properties>
+            <folders>
+                <source-folder>
+                    <label>src</label>
+                    <type>java</type>
+                    <location>src</location>
+                </source-folder>
+            </folders>
+            <ide-actions>
+                <action name="build">
+                    <target>jar-app</target>
+                </action>
+                <action name="clean">
+                    <target>clean</target>
+                </action>
+                <action name="run">
+                    <target>deploy</target>
+                    <target>run</target>
+                </action>
+                <action name="rebuild">
+                    <target>clean</target>
+                    <target>jar-app</target>
+                </action>
+                <action name="debug">
+                    <target>deploy</target>
+                    <target>debug-run</target>
+                </action>
+                <action name="javadoc">
+                    <target>javadoc</target>
+                </action>
+            </ide-actions>
+            <export>
+                <type>folder</type>
+                <location>build</location>
+                <build-target>jar-app</build-target>
+            </export>
+            <view>
+                <items>
+                    <source-folder style="packages">
+                        <label>src</label>
+                        <location>src</location>
+                    </source-folder>
+                    <source-file>
+                        <location>build.xml</location>
+                    </source-file>
+                </items>
+                <context-menu>
+                    <ide-action name="build"/>
+                    <ide-action name="clean"/>
+                    <ide-action name="run"/>
+                    <ide-action name="rebuild"/>
+                    <ide-action name="debug"/>
+                    <ide-action name="javadoc"/>
+                    <action>
+                        <label>Sun SPOT-deploy</label>
+                        <target>deploy</target>
+                    </action>
+                    <action>
+                        <label>Sun SPOT-jar-deploy</label>
+                        <target>jar-deploy</target>
+                    </action>
+                    <separator/>
+                </context-menu>
+            </view>
+            <subprojects/>
+        </general-data>
+        <java-data xmlns="http://www.netbeans.org/ns/freeform-project-java/1">
+            <compilation-unit>
+                <package-root>src</package-root>
+                <classpath mode="boot">${sunspot.bootclasspath}</classpath>
+                <classpath mode="compile">/home/gerberduffy/sunspotfrcsdk/lib/WPILibJ/classes.jar</classpath>
+                <built-to>build</built-to>
+                <source-level>1.4</source-level>
+            </compilation-unit>
+        </java-data>
+    </configuration>
+</project>

resources/META-INF/MANIFEST.MF

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+MIDlet-Name: Base2012-redesign
+MIDlet-Version: 1.0.0
+MIDlet-Vendor: FIRST
+MIDlet-1: MainRobot, , deploy.MainRobot
+MicroEdition-Profile: IMP-1.0
+MicroEdition-Configuration: CLDC-1.1

src/actuator/GRTLed.java

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+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package actuator;
+
+import core.Actuator;
+import edu.wpi.first.wpilibj.PWM;
+
+/**
+ * Abstraction of a standard LED
+ * @author gerberduffy
+ */
+public class GRTLed extends Actuator {
+
+    private static final int DEFAULT_BRIGHTNESS = 255;
+    private static final int HIGHEST_BRIGHTNESS = 255;
+    private static final int OFF_BRIGHTNESS = 0;
+
+
+    private final PWM led;      //The PWM input controlling the LED
+    private int brightness;
+
+    public GRTLed(int channel, String id){
+        this(channel, DEFAULT_BRIGHTNESS, id);
+    }
+
+    public GRTLed(int channel, int brightness, String id){
+        super(id);
+
+        this.brightness = brightness;
+
+        led = new PWM(channel);
+        led.setRaw(brightness);
+    }
+
+    public void setToBrightness(int bright){
+        if (bright > HIGHEST_BRIGHTNESS){
+            bright = HIGHEST_BRIGHTNESS;
+        } else if (bright < OFF_BRIGHTNESS){
+            bright = OFF_BRIGHTNESS;
+        } 
+
+        led.setRaw(bright);
+
+        this.brightness = bright;
+    }
+
+    public void toggleState(){
+        if (isOn()){
+            led.setRaw(OFF_BRIGHTNESS);
+            brightness = OFF_BRIGHTNESS;
+
+        } else {
+            led.setRaw(HIGHEST_BRIGHTNESS);
+            brightness = HIGHEST_BRIGHTNESS;            
+        }
+    }
+
+    public int getBrightness(){
+        return this.brightness;
+    }
+
+    public boolean isOn(){
+        return this.brightness > OFF_BRIGHTNESS;
+    }
+
+    public void executeCommand(double command) {
+        led.setRaw((int) command);
+        brightness = (int) command;
+    }
+
+}

src/actuator/GRTRelay.java

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+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package actuator;
+
+import edu.wpi.first.wpilibj.Relay;
+import core.Actuator;
+
+/**
+ *
+ * @author calvin
+ */
+public class GRTRelay extends Actuator{
+    private Relay relay;
+
+    private static final double FORWARD = 1.0;
+    private static final double REVERSE = -1.0;
+    private static final double OFF = 0.0;
+
+    public GRTRelay(int channel, String name){
+        super(name);
+        relay = new Relay(channel);
+    }
+
+    /**
+ * Sends command to relay.  If the value of the command is -1.0 the relay is in reverse,
+ * 1.0 is forward, and 0.0 is off.
+ * @param c
+ */
+    public void executeCommand(double command) {
+        if (command == OFF) {
+            relay.set(Relay.Value.kOff);
+        } else if(command == FORWARD) {
+            relay.set(Relay.Value.kForward);
+        } else if(command == REVERSE) {
+            relay.set(Relay.Value.kReverse);
+        }
+    }
+/**
+ * SEts the state of the relay to off
+ */
+    public void halt() {
+        relay.set(Relay.Value.kOff);
+    }
+/**
+ * Returns String
+ * @return
+ */
+    public String toString() {
+        return "Relay";
+    }
+}