Package com.thegongoliers.hardware

Class Hardware

  • public class Hardware
extends java.lang.Object
    Miscellaneous hardware functions.

    • Constructor Summary

      Constructors 
      Constructor Description
      Hardware()  

    • Method Summary

      All Methods Static Methods Concrete Methods 
      Modifier and Type Method Description
      static edu.wpi.first.wpilibj.buttons.Button combineButtons​(edu.wpi.first.wpilibj.buttons.Button button1, edu.wpi.first.wpilibj.buttons.Button... buttons)
      Combines multiple buttons into a single button.
      static edu.wpi.first.wpilibj.interfaces.Potentiometer create10TurnPotentiometer​(int port, double zeroPoint)
      Creates a 10 turn potentiometer as sold by Andymark.
      static Drivetrain createDrivetrain​(edu.wpi.first.wpilibj.drive.DifferentialDrive robotDrive)  
      static edu.wpi.first.wpilibj.interfaces.Potentiometer createPotentiometer​(int port, double degreeRange, double zeroPoint)
      Creates potentiometer.
      static edu.wpi.first.wpilibj.interfaces.Gyro invertGyro​(edu.wpi.first.wpilibj.interfaces.Gyro gyro)
      Invert the direction of the Gyro.
      static edu.wpi.first.wpilibj.interfaces.Potentiometer invertPotentiometer​(edu.wpi.first.wpilibj.interfaces.Potentiometer potentiometer)
      Inverts a potentiometer.
      static edu.wpi.first.wpilibj.buttons.Button makeButton​(java.util.function.BooleanSupplier booleanSupplier)
      Creates a button from a boolean supplier.
      static ResettableSwitch makeResettableSwitch​(Switch aSwitch)
      Creates a resettable switch from a switch.
      static Switch makeSwitch​(java.util.function.BooleanSupplier booleanSupplier)
      Creates a switch from a boolean supplier.
      static edu.wpi.first.wpilibj.buttons.Trigger makeTrigger​(java.util.function.BooleanSupplier booleanSupplier)
      Creates a trigger from a boolean supplier.
      static edu.wpi.first.wpilibj.buttons.Trigger switchToTrigger​(Switch aSwitch)
      Creates a trigger from a switch.
      static edu.wpi.first.wpilibj.buttons.Button triggerToButton​(edu.wpi.first.wpilibj.buttons.Trigger trigger)
      Creates a button from a trigger.
      static double voltageToPWM​(double voltage, VoltageSensor batteryVoltageSensor)
      Convert a voltage to a PWM signal (percent power) based on the current voltage of the battery

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • Hardware

        public Hardware()

    • Method Detail

      • combineButtons

        public static edu.wpi.first.wpilibj.buttons.Button combineButtons​(edu.wpi.first.wpilibj.buttons.Button button1,
                                                                  edu.wpi.first.wpilibj.buttons.Button... buttons)
        Combines multiple buttons into a single button.
        Parameters:
        button1 - The first button.
        buttons - The rest of the buttons.
        Returns:
        A Button which is pressed only when ALL of the buttons are pressed.

      • makeButton

        public static edu.wpi.first.wpilibj.buttons.Button makeButton​(java.util.function.BooleanSupplier booleanSupplier)
        Creates a button from a boolean supplier.
        Parameters:
        booleanSupplier - The boolean supplier to become a button.
        Returns:
        The button which is pressed when the boolean supplier is true.

      • triggerToButton

        public static edu.wpi.first.wpilibj.buttons.Button triggerToButton​(edu.wpi.first.wpilibj.buttons.Trigger trigger)
        Creates a button from a trigger.
        Parameters:
        trigger - The trigger to become a button.
        Returns:
        The button which is pressed when the trigger is triggered.

      • switchToTrigger

        public static edu.wpi.first.wpilibj.buttons.Trigger switchToTrigger​(Switch aSwitch)
        Creates a trigger from a switch.
        Parameters:
        aSwitch - The switch to become a trigger.
        Returns:
        The trigger which is triggered when the switch is triggered.

      • makeTrigger

        public static edu.wpi.first.wpilibj.buttons.Trigger makeTrigger​(java.util.function.BooleanSupplier booleanSupplier)
        Creates a trigger from a boolean supplier.
        Parameters:
        booleanSupplier - The boolean supplier to become a trigger.
        Returns:
        The trigger which is triggered when the boolean supplier is true.

      • makeSwitch

        public static Switch makeSwitch​(java.util.function.BooleanSupplier booleanSupplier)
        Creates a switch from a boolean supplier.
        Parameters:
        booleanSupplier - The boolean supplier to become a switch.
        Returns:
        The switch which is triggered when the boolean supplier is true.

      • makeResettableSwitch

        public static ResettableSwitch makeResettableSwitch​(Switch aSwitch)
        Creates a resettable switch from a switch.
        Parameters:
        aSwitch - The switch to become a resettable switch.
        Returns:
        The resettable switch, which will remain true if the switch becomes triggered.

      • invertGyro

        public static edu.wpi.first.wpilibj.interfaces.Gyro invertGyro​(edu.wpi.first.wpilibj.interfaces.Gyro gyro)
        Invert the direction of the Gyro.
        Parameters:
        gyro - The Gyro to invert.
        Returns:
        The inverted Gyro.

      • invertPotentiometer

        public static edu.wpi.first.wpilibj.interfaces.Potentiometer invertPotentiometer​(edu.wpi.first.wpilibj.interfaces.Potentiometer potentiometer)
        Inverts a potentiometer. If a potentiometer goes from 0 to -100 degrees (after scale and zero point), but should be 0 to 100, use this method.
        Parameters:
        potentiometer - The potentiometer to invert.
        Returns:
        The inverted potentiometer.

      • createPotentiometer

        public static edu.wpi.first.wpilibj.interfaces.Potentiometer createPotentiometer​(int port,
                                                                                 double degreeRange,
                                                                                 double zeroPoint)
        Creates potentiometer.
        Parameters:
        port - The analog port that the potentiometer is plugged into.
        degreeRange - The total range in degrees that the potentiometer can turn
        zeroPoint - The zero point of the potentiometer. If you expect a position to be 0, but it is reading X degrees, put X here. (ex. actual 1000 to 1100 degrees, expected 0 to 100 degrees. Put 1000 here.)
        Returns:
        A potentiometer.

      • create10TurnPotentiometer

        public static edu.wpi.first.wpilibj.interfaces.Potentiometer create10TurnPotentiometer​(int port,
                                                                                       double zeroPoint)
        Creates a 10 turn potentiometer as sold by Andymark.
        Parameters:
        port - The analog port that the potentiometer is plugged into.
        zeroPoint - The zero point of the potentiometer. If you expect a position to be 0, but it is reading X degrees, put X here. (ex. actual 1000 to 1100 degrees, expected 0 to 100 degrees. Put 1000 here.)
        Returns:
        A 10 turn potentiometer.

      • createDrivetrain

        public static Drivetrain createDrivetrain​(edu.wpi.first.wpilibj.drive.DifferentialDrive robotDrive)

      • voltageToPWM

        public static double voltageToPWM​(double voltage,
                                  VoltageSensor batteryVoltageSensor)
        Convert a voltage to a PWM signal (percent power) based on the current voltage of the battery
        Parameters:
        voltage - the desired voltage
        batteryVoltageSensor - the battery voltage sensor
        Returns:
        the PWM signal [-1, 1] which delivers the desired voltage