package com.grt192.controller;
import com.grt192.core.StepController;
import edu.wpi.first.wpilibj.AnalogModule;
import edu.wpi.first.wpilibj.Dashboard;
import edu.wpi.first.wpilibj.DigitalModule;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.SolenoidBase;
/**
*
* @author anand
*/
public class DashBoardController extends StepController {
public void act() {
updateDefaultDashboard();
}
public void updateDefaultDashboard() {
Dashboard lowDashData = DriverStation.getInstance()
.getDashboardPackerLow();
lowDashData.addCluster();
{
lowDashData.addCluster();
{ // analog modules
lowDashData.addCluster();
{
for (int i = 1; i <= 8; i++) {
lowDashData.addFloat((float) AnalogModule
.getInstance(1).getAverageVoltage(i));
}
}
lowDashData.finalizeCluster();
lowDashData.addCluster();
{
for (int i = 1; i <= 8; i++) {
lowDashData.addFloat((float) AnalogModule
.getInstance(2).getAverageVoltage(i));
}
}
lowDashData.finalizeCluster();
}
lowDashData.finalizeCluster();
lowDashData.addCluster();
{ // digital modules
lowDashData.addCluster();
{
lowDashData.addCluster();
{
int module = 4;
lowDashData.addByte(DigitalModule.getInstance(module)
.getRelayForward());
lowDashData.addByte(DigitalModule.getInstance(module)
.getRelayForward());
lowDashData.addShort(DigitalModule.getInstance(module)
.getAllDIO());
lowDashData.addShort(DigitalModule.getInstance(module)
.getDIODirection());
lowDashData.addCluster();
{
for (int i = 1; i <= 10; i++) {
lowDashData.addByte((byte) DigitalModule
.getInstance(module).getPWM(i));
}
}
lowDashData.finalizeCluster();
}
lowDashData.finalizeCluster();
}
lowDashData.finalizeCluster();
lowDashData.addCluster();
{
lowDashData.addCluster();
{
int module = 6;
lowDashData.addByte(DigitalModule.getInstance(module)
.getRelayForward());
lowDashData.addByte(DigitalModule.getInstance(module)
.getRelayReverse());
lowDashData.addShort(DigitalModule.getInstance(module)
.getAllDIO());
lowDashData.addShort(DigitalModule.getInstance(module)
.getDIODirection());
lowDashData.addCluster();
{
for (int i = 1; i <= 10; i++) {
lowDashData.addByte((byte) DigitalModule
.getInstance(module).getPWM(i));
}
}
lowDashData.finalizeCluster();
}
lowDashData.finalizeCluster();
}
lowDashData.finalizeCluster();
}
lowDashData.finalizeCluster();
// Solenoid data: currently not functional
// API change -- need to instantiate a SolenoidBase before
// Reading getAll()
lowDashData.addByte((byte) 0);
}
lowDashData.finalizeCluster();
lowDashData.commit();
}
}