New jack branch

src/org/montclairrobotics/sprocket/SprocketRobot.java

@@ -1,8 +1,9 @@
 package org.montclairrobotics.sprocket;
 
-import edu.wpi.first.wpilibj.IterativeRobot;
 import org.montclairrobotics.sprocket.loop.Updater;
 
+import edu.wpi.first.wpilibj.IterativeRobot;
+
 public class SprocketRobot extends IterativeRobot {
 
     @Override

src/org/montclairrobotics/sprocket/control/ArcadeDriveInput.java

@@ -1,53 +1,64 @@
 package org.montclairrobotics.sprocket.control;
 
-import edu.wpi.first.wpilibj.Joystick;
+import org.montclairrobotics.sprocket.drive.DriveTrainTarget;
 import org.montclairrobotics.sprocket.drive.MotorInputType;
-import org.montclairrobotics.sprocket.drive.DriveTrainInput;
-import org.montclairrobotics.sprocket.geometry.Degrees;
-import org.montclairrobotics.sprocket.geometry.Inch;
-import org.montclairrobotics.sprocket.geometry.Polar;
+import org.montclairrobotics.sprocket.geometry.Angle;
+import org.montclairrobotics.sprocket.geometry.Distance;
+import org.montclairrobotics.sprocket.geometry.IN;
 import org.montclairrobotics.sprocket.geometry.Vector;
+import org.montclairrobotics.sprocket.geometry.XY;
+import org.montclairrobotics.sprocket.loop.Priority;
+import org.montclairrobotics.sprocket.loop.Updatable;
+import org.montclairrobotics.sprocket.loop.Updater;
+import org.montclairrobotics.sprocket.utils.Input;
+
+import edu.wpi.first.wpilibj.Joystick;
 
-public class ArcadeDriveInput extends DriveTrainInput {
+public class ArcadeDriveInput implements Input<DriveTrainTarget>,Updatable {
 
     private Joystick stick;
-    private boolean speedControl;
-    private double maxSpeed;
+    MotorInputType inputType;
+
+    //private boolean speedControl;
+    private Distance maxSpeed;
+    private Angle maxTurn;
 
     private Vector dir;
-    private double turn;
+    private Angle turn;
 
     public ArcadeDriveInput(Joystick stick) {
-        super(MotorInputType.PERCENT);
-        speedControl = false;
+    	inputType=MotorInputType.PERCENT;
         this.stick = stick;
+        this.maxSpeed=new IN(1);
+        this.maxTurn=Angle.QUARTER;
+        Updater.add(this, Priority.INPUT);
     }
 
-    public ArcadeDriveInput(Joystick stick, Inch maxSpeed) {
-        super(MotorInputType.SPEED);
-        speedControl = true;
+    public ArcadeDriveInput(Joystick stick, Distance maxSpeed, Angle maxTurn) {
+        inputType=MotorInputType.SPEED;
         this.stick = stick;
-        this.maxSpeed = maxSpeed.get();
+        this.maxSpeed = maxSpeed;
+        this.maxTurn=maxTurn;
+        Updater.add(this, Priority.INPUT);
     }
 
 
-    @Override
     public void update() {
-        turn = stick.getX();
-        dir = new Polar(stick.getMagnitude(), new Degrees(stick.getDirectionDegrees()));
-
-        if(speedControl) {
-            dir.scale(maxSpeed,false);
-        }
+        maxTurn = maxTurn.times(stick.getX());
+        dir = new XY(0,stick.getY()*maxSpeed.get());
     }
 
-    @Override
     public Vector getDirection() {
         return dir;
     }
 
-    @Override
-    public double getTurn() {
+    public Angle getTurn() {
         return turn;
     }
+
+	@Override
+	public DriveTrainTarget get() {
+		// TODO Auto-generated method stub
+		return new DriveTrainTarget(getDirection(),getTurn(),inputType);
+	}
 }

src/org/montclairrobotics/sprocket/drive/DriveModule.java

@@ -1,58 +1,44 @@
 package org.montclairrobotics.sprocket.drive;
 
-import edu.wpi.first.wpilibj.SpeedController;
-
 import org.montclairrobotics.sprocket.geometry.Angle;
-import org.montclairrobotics.sprocket.geometry.Inch;
-import org.montclairrobotics.sprocket.geometry.Polar;
 import org.montclairrobotics.sprocket.geometry.Vector;
-import org.montclairrobotics.sprocket.utils.PID;
-
-public class DriveModule extends Motor {
-
-    private Angle forceAngle;
-    private Vector offset;
-    private Inch maxSpeed;
-
-    private Vector forceVector;
-
-    public DriveModule(SpeedController motor,
-                       Angle forceAngle, Vector offset,
-                       SEncoder enc, PID pid, Inch maxSpeed,
-                       boolean invert) {
-        super(motor, enc, pid, invert);
-        this.forceAngle = forceAngle;
-        this.offset = offset;
-        this.maxSpeed = maxSpeed;
-
-        this.forceVector=new Polar(maxSpeed.get(),forceAngle);
-    }
-
-    public DriveModule(SpeedController motor,
-                       Angle forceAngle, Vector offset,
-                       SEncoder enc, PID pid, Inch maxSpeed) {
-        this(motor, forceAngle, offset, enc, pid, maxSpeed, false);
-    }
-
-    public DriveModule(SpeedController motor,
-                       Angle forceAngle, Vector offset) {
-        this(motor, forceAngle, offset, null, null, null, false);
-    }
-
-    public Angle getForceAngle() {
-        return forceAngle;
-    }
-
-    public Inch getMaxSpeed() {
-        return maxSpeed;
-    }
-
-    public Vector getOffset() {
-        return offset;
-    }
-
-    public Vector getForceVector()
-    {
-    	return forceVector;
-    }
+import org.montclairrobotics.sprocket.loop.Priority;
+import org.montclairrobotics.sprocket.loop.Updatable;
+import org.montclairrobotics.sprocket.loop.Updater;
+import org.montclairrobotics.sprocket.pipeline.Pipeline;
+
+public class DriveModule implements Updatable{
+	private Motor[] motors;
+	private Pipeline<Double> outputPipeline=new Pipeline<Double>(0.0);
+	private Vector force;
+	private Vector offset;
+	private double tgtForce;
+
+	public DriveModule(Vector force,Vector offset,Motor... motors){
+		this.motors=motors;
+		Updater.add(this, Priority.OUTPUT);
+	}
+	public Angle getTorque(Vector tgtDirection)
+	{
+		return null;
+
+	}
+	public void setDirectionTurn(Vector tgtDirection,Angle tgtTurn)
+	{
+
+	}
+
+	public void setOutputPipeline(Pipeline<Double> p)
+	{
+		this.outputPipeline=p;
+	}
+	@Override
+	public void update() {
+		tgtForce=outputPipeline.get(tgtForce);
+		for(Motor motor:motors)
+		{
+			motor.set(tgtForce);
+		}
+	}
+
 }

src/org/montclairrobotics/sprocket/drive/DriveTrainTarget.java

@@ -5,7 +5,8 @@
 
 public class DriveTrainTarget {
 
-    private Vector direction;
+    public static final DriveTrainTarget ZERO = new DriveTrainTarget(Vector.ZERO,Angle.ZERO,MotorInputType.SPEED);
+	private Vector direction;
     private Angle turn;
     private MotorInputType inputType;