0.3 merging branch

src/org/montclairrobotics/sprocket/actions/Action.java

@@ -0,0 +1,31 @@
+package org.montclairrobotics.sprocket.actions;
+
+/**
+ * This is designed to be the main base for every "thing" or action the robot can do
+ * This is extended by States, and consequently Auto Modes, 
+ * 		so things that can be activated by entering "auto" mode, or "test" mode
+ * Also, buttons should take these as their actions, 
+ * 		so that you can make something happen if you press a button.
+ * This hopefully should make it simple to implement routines, both in autonomous and during teleop
+ *
+ */
+
+public interface Action {
+	/**
+	 * Called once when the object is activated
+	 */
+	public void start();
+	/**
+	 * Called every loop the object is active, after it is activated
+	 */
+	public void enabled();
+	/**
+	 * Called once when the object is deactivated
+	 */
+	public void stop();
+	/**
+	 * Called every loop when the object is deactivated
+	 * Note: this may not be called by every implementation
+	 */
+	public void disabled();
+}

src/org/montclairrobotics/sprocket/actions/MultiAction.java

@@ -0,0 +1,45 @@
+package org.montclairrobotics.sprocket.actions;
+
+/**
+ * One can perform multiple actions with the same trigger with this utility object
+ *
+ */
+
+public class MultiAction implements Action {
+
+	private Action[] actions;
+
+	public MultiAction(Action... actions) 
+	{
+		this.actions=actions;
+	}
+
+
+	@Override
+	public void start() {
+		for(Action a : actions) {
+			a.start();
+		}
+	}
+
+	@Override
+	public void enabled() {
+		for(Action a : actions) {
+			a.enabled();
+		}
+	}
+
+	@Override
+	public void stop() {
+		for(Action a : actions) {
+			a.stop();
+		}
+	}
+
+	@Override
+	public void disabled() {
+		for(Action a : actions) {
+			a.disabled();
+		}
+	}
+}

src/org/montclairrobotics/sprocket/states/MultiState.java → src/org/montclairrobotics/sprocket/actions/MultiState.java

@@ -1,18 +1,23 @@
-package org.montclairrobotics.sprocket.states;
+package org.montclairrobotics.sprocket.actions;
 
 import org.montclairrobotics.sprocket.utils.Input;
 
-public class MultiState implements State {
+/**
+ * Can perform multiple actions at once
+ *
+ */
+
+public class MultiState extends MultiAction implements State {
 
-	private State[] states;
 	private Input<Boolean> done;
 
 	public MultiState(Input<Boolean> done, State... states) {
-		this.states = states;
+		super(states);
 		this.done = done;
 	}
 
-	public MultiState(int stateToStopAt, State... states) {
+	public MultiState(final int stateToStopAt, final State... states) {
+		super(states);
 		if(stateToStopAt < 0 || stateToStopAt > states.length) {
 			this.done = new Input<Boolean>() {
 				@Override
@@ -33,34 +38,11 @@ public Boolean get() {
 				}
 			};
 		}
-
-		this.states = states;
 	}
 
 	public MultiState(State... states) {
 		this(-1, states);
 	}
-
-	@Override
-	public void start() {
-		for(State s : states) {
-			s.start();
-		}
-	}
-
-	@Override
-	public void stop() {
-		for(State s : states) {
-			s.stop();
-		}
-	}
-
-	@Override
-	public void stateUpdate() {
-		for(State s : states) {
-			s.stateUpdate();
-		}
-	}
 
 	@Override
 	public boolean isDone() {

src/org/montclairrobotics/sprocket/actions/Reverse.java

@@ -0,0 +1,28 @@
+package org.montclairrobotics.sprocket.actions;
+
+public class Reverse implements Action{
+
+	private Action a;
+
+	public Reverse(Action a)
+	{
+		this.a=a;
+	}
+
+	public void start()
+	{
+		a.stop();
+	}
+	public void enabled()
+	{
+		a.disabled();
+	}
+	public void stop()
+	{
+		a.start();
+	}
+	public void disabled()
+	{
+		a.enabled();
+	}
+}

src/org/montclairrobotics/sprocket/actions/SplitButton.java

@@ -0,0 +1,55 @@
+package org.montclairrobotics.sprocket.actions;
+
+import org.montclairrobotics.sprocket.core.Button;
+import org.montclairrobotics.sprocket.utils.Input;
+
+public class SplitButton extends Button{
+
+	private Input<Boolean> onButton;
+	private Input<Boolean> offButton;
+
+	private boolean active=false;
+
+	public SplitButton()
+	{
+		super();
+	}
+	public SplitButton(Input<Boolean> onButton,Input<Boolean> offButton)
+	{
+		this.onButton=onButton;
+		this.offButton=offButton;
+	}
+
+	public Input<Boolean> getOnButton() {
+		return onButton;
+	}
+	public SplitButton setOnButton(Input<Boolean> onButton) {
+		this.onButton = onButton;
+		return this;
+	}
+	public Input<Boolean> getOffButton() {
+		return offButton;
+	}
+	public SplitButton setOffButton(Input<Boolean> offButton) {
+		this.offButton = offButton;
+		return this;
+	}
+
+	public void update()
+	{
+		if(onButton.get())
+		{
+			active=true;
+		}
+		else if(active&&offButton.get())
+		{
+			active=false;
+		}
+		super.update();
+	}
+	public Boolean get()
+	{
+		return active;
+	}
+
+}

src/org/montclairrobotics/sprocket/actions/State.java

@@ -0,0 +1,11 @@
+package org.montclairrobotics.sprocket.actions;
+
+/**
+ * The basic unit of a State Machine, very similar to Action, 
+ * 		except States also know when they are finished.
+ * Consequently, state machines can be made which move from state to state when each one is finished.
+ *
+ */
+public interface State extends Action{
+	boolean isDone();
+}