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‎.classpath

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<?xml version="1.0" encoding="UTF-8"?>
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<classpath>
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<classpathentry kind="src" path="src"/>
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<classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
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<classpathentry kind="var" path="networktables" sourcepath="networktables.sources"/>
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<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
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<classpathentry kind="var" path="navx-mxp"/>
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<classpathentry kind="output" path="bin"/>
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</classpath>

‎.gitignore

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*.class
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build/*
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dist/*
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/bin/
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sysProps.xml

‎.project

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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>Simbot2016</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.jdt.core.javabuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>org.eclipse.jdt.core.javanature</nature>
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<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
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</natures>
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</projectDescription>

‎build.properties

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# Project specific information
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package=org.simbotics.robot
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robot.class=${package}.Robot
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userLibs=jars/navx_frc.jar
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simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
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#Uncomment and point at user libraries to include them in the build. Do not put libraries in the \wpilib\java folder, this folder is completely overwritten on plugin update.
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#userLibs=${user.home}/wpilib/user/lib

‎build.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<project name="FRC Deployment" default="deploy">
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<!--
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The following properties can be defined to override system level
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settings. These should not be touched unless you know what you're
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doing. The primary use is to override the wpilib version when
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working with older robots that can't compile with the latest
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libraries.
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-->
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<!-- By default the system version of WPI is used -->
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<!-- <property name="version" value=""/> -->
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<!-- By default the system team number is used -->
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<!-- <property name="team-number" value=""/> -->
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<!-- By default the target is set to 10.TE.AM.2 -->
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<!-- <property name="target" value=""/> -->
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<!-- Any other property in build.properties can also be overridden. -->
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<property file="${user.home}/wpilib/wpilib.properties"/>
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<property file="build.properties"/>
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<property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
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<import file="${wpilib.ant.dir}/build.xml"/>
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</project>

‎jars/navx_frc.jar

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‎src/org/simbotics/robot/Robot.java

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package org.simbotics.robot;
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import org.simbotics.robot.Robot;
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import org.simbotics.robot.auton.AutonControl;
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import org.simbotics.robot.io.DriverInput;
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import org.simbotics.robot.io.Logger;
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import org.simbotics.robot.io.RobotOutput;
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import org.simbotics.robot.io.SensorInput;
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import org.simbotics.robot.teleop.TeleopControl;
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import org.simbotics.robot.util.SmartDashboardConstants;
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import edu.wpi.first.wpilibj.IterativeRobot;
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import edu.wpi.first.wpilibj.Timer;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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public class Robot extends IterativeRobot {
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private RobotOutput robotOut;
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private DriverInput driverInput;
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private SensorInput sensorInput;
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private TeleopControl teleopControl;
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private Logger logger;
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public void robotInit() {
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SmartDashboardConstants.pushValues();
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this.robotOut = RobotOutput.getInstance();
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this.driverInput = DriverInput.getInstance();
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this.sensorInput = SensorInput.getInstance();
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this.teleopControl = TeleopControl.getInstance();
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this.logger = Logger.getInstance();
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}
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public void disabledInit() {
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this.robotOut.stopAll();
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this.logger.close();
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this.teleopControl.disable();
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}
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@Override
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public void disabledPeriodic() {
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this.sensorInput.update();
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AutonControl.getInstance().updateModes();
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}
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public void autonomousInit() {
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AutonControl.getInstance().initialize();
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SensorInput.getInstance().reset();
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}
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public void autonomousPeriodic() {
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this.sensorInput.update();
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AutonControl.getInstance().runCycle();
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}
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public void teleopInit(){
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this.logger.openFile();
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//SensorInput.getInstance().reset();
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}
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public void teleopPeriodic() {
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if(this.driverInput.getJumpButton()) {
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this.sensorInput.reset();
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}
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this.sensorInput.update();
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this.teleopControl.runCycle();
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this.logger.logAll(); // write the log data
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}
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}

‎src/org/simbotics/robot/auton/AutonCommand.java

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/*
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* To change this template, choose Tools | Templates
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* and open the template in the editor.
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*/
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package org.simbotics.robot.auton;
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import org.simbotics.robot.util.Debugger;
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/**
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*
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* @author Programmers
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*/
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public abstract class AutonCommand {
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//GOTCHA: add auton commands to list below and increase number in array
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private static AutonCommand[] autonComponents = new AutonCommand[RobotComponent.values().length];
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private RobotComponent cmdType;
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private long timeout = -1;
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private long startTime = -1;
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public AutonCommand(RobotComponent type, long timeoutLength) {
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this.cmdType = type;
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this.timeout = timeoutLength;
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}
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public AutonCommand(RobotComponent type) {
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this(type, -1);
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}
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public abstract boolean calculate();
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public abstract void override();
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public boolean checkAndRun() {
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// is something already running for this component
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if(autonComponents[this.cmdType.ordinal()] == null) {
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// if not, start running
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autonComponents[this.cmdType.ordinal()] = this;
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return true;
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} else {
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return false;
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}
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}
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public boolean runCommand() {
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if(this.startTime < 0) {
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this.startTime = System.currentTimeMillis();
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}
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boolean done = this.calculate();
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long timePassed = System.currentTimeMillis() - this.startTime;
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if(this.timeout > 0 && timePassed > this.timeout) {
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System.out.println("TIME OUT OCCURED " + this.getClass().getName());
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this.override();
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return true;
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} else if(done) {
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return true;
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} else {
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return false;
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}
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}
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public static void execute() {
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for(int i = 0; i < autonComponents.length; i++) {
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// if that component has a command running
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if(autonComponents[i] != null) {
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// run command
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boolean done = autonComponents[i].runCommand();
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// finished, so remove
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if(done) {
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autonComponents[i] = null;
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}
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}
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}
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}
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public static void overrideComponent(RobotComponent typeToOverride) {
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if(autonComponents[typeToOverride.ordinal()] != null) {
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autonComponents[typeToOverride.ordinal()].override();
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}
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autonComponents[typeToOverride.ordinal()] = null;
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}
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public static void reset() {
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for(int i = 0; i < autonComponents.length; i++) {
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autonComponents[i] = null;
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}
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}
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}
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