From b2c2a0fff8c4ff12b85fec65262612a70deed1fd Mon Sep 17 00:00:00 2001
From: Trevor Tsang <trevorkhtsang@gmail.com>
Date: Tue, 27 Feb 2018 19:27:51 -0700
Subject: [PATCH 1/8] Updated outdated implementation causing crashes

---
 .../module/joysticks/XboxController.java      |  4 +-
 .../util/dashboard/BooleanDashboard.java      | 97 -------------------
 .../first/util/dashboard/NumberDashboard.java | 77 ---------------
 .../first/util/dashboard/StringDashboard.java | 86 ----------------
 4 files changed, 2 insertions(+), 262 deletions(-)
 delete mode 100644 src/edu/first/util/dashboard/BooleanDashboard.java
 delete mode 100644 src/edu/first/util/dashboard/NumberDashboard.java
 delete mode 100644 src/edu/first/util/dashboard/StringDashboard.java

diff --git a/src/edu/first/module/joysticks/XboxController.java b/src/edu/first/module/joysticks/XboxController.java
index 74e946f..a4f1a71 100644
--- a/src/edu/first/module/joysticks/XboxController.java
+++ b/src/edu/first/module/joysticks/XboxController.java
@@ -56,8 +56,8 @@ public class XboxController extends BindingJoystick {
     /**
      * Port for axis.
      */
-    public static final int LEFT_X = 0, LEFT_Y = 1, LEFT_TRIGGER = 2, RIGHT_TRIGGER = 3,
-            RIGHT_X = 4, RIGHT_Y = 5, RIGHT_FROM_MIDDLE = 6, LEFT_FROM_MIDDLE = 7, TRIGGERS = 8;
+    public static final int LEFT_X = 1, LEFT_Y = 2, LEFT_TRIGGER = 3, RIGHT_TRIGGER = 4,
+            RIGHT_X = 5, RIGHT_Y = 6, RIGHT_FROM_MIDDLE = 7, LEFT_FROM_MIDDLE = 8, TRIGGERS = 9;
 
     /**
      * Constructs the joystick with the {@link edu.wpi.first.wpilibj.Joystick}
diff --git a/src/edu/first/util/dashboard/BooleanDashboard.java b/src/edu/first/util/dashboard/BooleanDashboard.java
deleted file mode 100644
index 44d3633..0000000
--- a/src/edu/first/util/dashboard/BooleanDashboard.java
+++ /dev/null
@@ -1,97 +0,0 @@
-package edu.first.util.dashboard;
-
-import edu.first.identifiers.Position;
-import edu.first.identifiers.Switch;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.tables.TableKeyNotDefinedException;
-
-/**
- * General class that interacts with boolean values on the
- * {@link SmartDashboard}.
- *
- * @since June 23 13
- * @author Joel Gallant
- */
-public class BooleanDashboard implements Switch, Position {
-
-    private final String key;
-    private final boolean defaultValue;
-
-    /**
-     * Constructs the dashboard value with the key used to access it.
-     *
-     * @param key unique key that accesses the value
-     * @param defaultValue value to return if none exists
-     */
-    public BooleanDashboard(String key, boolean defaultValue) {
-        this.key = key;
-        this.defaultValue = defaultValue;
-    }
-
-    public BooleanDashboard(int dashboardIndex, boolean defaultValue) {
-        this("DB/Button " + dashboardIndex, defaultValue);
-    }
-
-    /**
-     * Returns the key of the dashboard value that is used to access it.
-     *
-     * @return key in smart dashboard
-     */
-    public String getKey() {
-        return key;
-    }
-
-    /**
-     * Returns whether or not the value is currently stored on the CRIO.
-     *
-     * @return if value exists
-     */
-    public boolean exists() {
-        try {
-            SmartDashboard.getBoolean(key, defaultValue);
-            return true;
-        } catch (TableKeyNotDefinedException ex) {
-            return false;
-        }
-    }
-
-    /**
-     * Returns the current value associated with the key. Will return the
-     * default value when it does not {@link #exists() exist}.
-     *
-     * @return current value
-     */
-    public boolean get() {
-        return SmartDashboard.getBoolean(key, defaultValue);
-    }
-
-    /**
-     * Sets the value to be associated with the key.
-     *
-     * @param val new value to set
-     */
-    public void set(boolean val) {
-        SmartDashboard.putBoolean(key, val);
-    }
-
-    /**
-     * Sets the value to be associated with the key.
-     *
-     * @param pos new value to set
-     */
-    @Override
-    public void setPosition(boolean pos) {
-        SmartDashboard.putBoolean(key, pos);
-    }
-
-    /**
-     * Returns the current value associated with the key. Will return the
-     * default value when it does not {@link #exists() exist}.
-     *
-     * @return current value
-     */
-    @Override
-    public boolean getPosition() {
-        return SmartDashboard.getBoolean(key, defaultValue);
-    }
-}
diff --git a/src/edu/first/util/dashboard/NumberDashboard.java b/src/edu/first/util/dashboard/NumberDashboard.java
deleted file mode 100644
index b4053c3..0000000
--- a/src/edu/first/util/dashboard/NumberDashboard.java
+++ /dev/null
@@ -1,77 +0,0 @@
-package edu.first.util.dashboard;
-
-import edu.first.identifiers.Input;
-import edu.first.identifiers.Output;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.tables.TableKeyNotDefinedException;
-
-/**
- * General class that interacts with number values on the {@link SmartDashboard}
- *
- * @since June 23 13
- * @author Joel Gallant
- */
-public class NumberDashboard implements Input, Output {
-
-    private final String key;
-    private final double defaultValue;
-
-    /**
-     * Constructs the dashboard value with the key used to access it.
-     *
-     * @param key unique key that accesses the value
-     * @param defaultValue value to return if none exists
-     */
-    public NumberDashboard(String key, double defaultValue) {
-        this.key = key;
-        this.defaultValue = defaultValue;
-    }
-
-    public NumberDashboard(int dashboardIndex, double defaultValue) {
-        this("DB/Slider " + dashboardIndex, defaultValue);
-    }
-
-    /**
-     * Returns the key of the dashboard value that is used to access it.
-     *
-     * @return key in smart dashboard
-     */
-    public String getKey() {
-        return key;
-    }
-
-    /**
-     * Returns whether or not the value is currently stored on the CRIO.
-     *
-     * @return if value exists
-     */
-    public boolean exists() {
-        try {
-            SmartDashboard.getNumber(key, defaultValue);
-            return true;
-        } catch (TableKeyNotDefinedException ex) {
-            return false;
-        }
-    }
-
-    /**
-     * Returns the current value associated with the key. Will return the
-     * default value when it does not {@link #exists() exist}.
-     *
-     * @return current value
-     */
-    @Override
-    public double get() {
-        return SmartDashboard.getNumber(key, defaultValue);
-    }
-
-    /**
-     * Sets the value to be associated with the key.
-     *
-     * @param val new value to set
-     */
-    @Override
-    public void set(double val) {
-        SmartDashboard.putNumber(key, val);
-    }
-}
diff --git a/src/edu/first/util/dashboard/StringDashboard.java b/src/edu/first/util/dashboard/StringDashboard.java
deleted file mode 100644
index 1d9d62f..0000000
--- a/src/edu/first/util/dashboard/StringDashboard.java
+++ /dev/null
@@ -1,86 +0,0 @@
-package edu.first.util.dashboard;
-
-import edu.first.identifiers.StringInput;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.tables.TableKeyNotDefinedException;
-
-/**
- * General class that interacts with string values on the
- * {@link SmartDashboard}.
- *
- * @since June 23 13
- * @author Joel Gallant
- */
-public class StringDashboard implements StringInput {
-
-    private final String key;
-    private final String defaultValue;
-
-    /**
-     * Constructs the dashboard value with the key used to access it.
-     *
-     * @param key unique key that accesses the value
-     * @param defaultValue value to return if none exists
-     */
-    public StringDashboard(String key, String defaultValue) {
-        this.key = key;
-        this.defaultValue = defaultValue;
-    }
-
-    public StringDashboard(int dashboardIndex, String defaultValue) {
-        this("DB/String " + dashboardIndex, defaultValue);
-    }
-
-    /**
-     * Returns the key of the dashboard value that is used to access it.
-     *
-     * @return key in smart dashboard
-     */
-    public String getKey() {
-        return key;
-    }
-
-    /**
-     * Returns whether or not the value is currently stored on the CRIO.
-     *
-     * @return if value exists
-     */
-    public boolean exists() {
-        try {
-            SmartDashboard.getString(key, defaultValue);
-            return true;
-        } catch (TableKeyNotDefinedException ex) {
-            return false;
-        }
-    }
-
-    /**
-     * Returns the current value associated with the key. Will return the
-     * default value when it does not {@link #exists() exist}.
-     *
-     * @return current value
-     */
-    public String get() {
-        return SmartDashboard.getString(key, defaultValue);
-    }
-
-    /**
-     * Returns the current value associated with the key. Will return the
-     * default value when it does not {@link #exists() exist}.
-     *
-     * @return current value
-     */
-    @Override
-    public String getValue() {
-        return SmartDashboard.getString(key, defaultValue);
-    }
-
-    /**
-     * Sets the value to be associated with the key.
-     *
-     * @param val new value to set
-     */
-    public void set(String val) {
-        SmartDashboard.putString(key, val);
-    }
-}

From ad92ca9d90ab0a675ab4fca04c998109d916692b Mon Sep 17 00:00:00 2001
From: Trevor Tsang <trevorkhtsang@gmail.com>
Date: Thu, 1 Mar 2018 17:41:08 -0700
Subject: [PATCH 2/8] Initial Gradle implementation

---
 build.gradle                                  |  45 +++++
 gradle/wrapper/gradle-wrapper.properties      |   5 +
 gradlew                                       | 172 ++++++++++++++++++
 gradlew.bat                                   |  84 +++++++++
 .../module/joysticks/XboxController.java      |  17 +-
 5 files changed, 315 insertions(+), 8 deletions(-)
 create mode 100644 build.gradle
 create mode 100644 gradle/wrapper/gradle-wrapper.properties
 create mode 100644 gradlew
 create mode 100644 gradlew.bat

diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..d3f4f36
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,45 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ *
+ * This generated file contains a sample Java Library project to get you started.
+ * For more details take a look at the Java Libraries chapter in the Gradle
+ * user guide available at https://docs.gradle.org/4.5.1/userguide/java_library_plugin.html
+ */
+
+plugins {
+    id 'java'
+    id "jaci.openrio.gradle.GradleRIO" version "2018.01.22"
+}
+
+sourceSets {
+   main {
+      java {
+         srcDir 'src'
+      }
+   }
+	
+   test {
+      java {
+         srcDir 'src'
+      }
+   }
+}
+
+dependencies {
+    // This dependency is exported to consumers, that is to say found on their compile classpath.
+    // api 'org.apache.commons:commons-math3:3.6.1'
+
+    // This dependency is used internally, and not exposed to consumers on their own compile classpath.
+    compile "edu.wpi.first.wpilibj:athena-jni:+"
+    compile "edu.wpi.first.wpilibj:athena:+"
+
+    // Use JUnit test framework
+    // testImplementation 'junit:junit:4.12'
+}
+
+// In this section you declare where to find the dependencies of your project
+repositories {
+    maven {
+        url "http://first.wpi.edu/FRC/roborio/maven/"
+    }
+}
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..568c50b
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.5.1-bin.zip
diff --git a/gradlew b/gradlew
new file mode 100644
index 0000000..cccdd3d
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+        JAVACMD="$JAVA_HOME/bin/java"
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=$((i+1))
+    done
+    case $i in
+        (0) set -- ;;
+        (1) set -- "$args0" ;;
+        (2) set -- "$args0" "$args1" ;;
+        (3) set -- "$args0" "$args1" "$args2" ;;
+        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 0000000..f955316
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/src/edu/first/module/joysticks/XboxController.java b/src/edu/first/module/joysticks/XboxController.java
index a4f1a71..545b0d0 100644
--- a/src/edu/first/module/joysticks/XboxController.java
+++ b/src/edu/first/module/joysticks/XboxController.java
@@ -24,17 +24,17 @@
  * Raw axes:
  *
  * <pre>
- * 0: Left Stick X Axis
+ * 1: Left Stick X Axis
  *     Left: Negative; Right: Positive
- * 1: Left Stick Y Axis
+ * 2: Left Stick Y Axis
  *     Up: Positive; Down: Negative
- * 2: Left Trigger
- * 3: Right Trigger
- * 4: Right Stick X Axis
+ * 3: Left Trigger
+ * 4: Right Trigger
+ * 5: Right Stick X Axis
  *     Left: Negative; Right: Positive
- * 5: Right Stick Y Axis
+ * 6: Right Stick Y Axis
  *     Up: Positive; Down: Negative
- * 6: Directional Pad (Not recommended, buggy)
+ * N/A: Directional Pad (Not recommended, buggy)
  *     Left: -1; Right: +1
  * 7: Right distance from the middle
  *     Up: Positive; Down: Negative
@@ -57,7 +57,8 @@ public class XboxController extends BindingJoystick {
      * Port for axis.
      */
     public static final int LEFT_X = 1, LEFT_Y = 2, LEFT_TRIGGER = 3, RIGHT_TRIGGER = 4,
-            RIGHT_X = 5, RIGHT_Y = 6, RIGHT_FROM_MIDDLE = 7, LEFT_FROM_MIDDLE = 8, TRIGGERS = 9;
+            RIGHT_X = 5, RIGHT_Y = 6, RIGHT_FROM_MIDDLE = 7, LEFT_FROM_MIDDLE = 8, TRIGGERS = 9, 
+            DPAD = 10;
 
     /**
      * Constructs the joystick with the {@link edu.wpi.first.wpilibj.Joystick}

From 39a6f336aa81d109e59bf3eb0f1a45d87e067712 Mon Sep 17 00:00:00 2001
From: Trevor Tsang <trevorkhtsang@gmail.com>
Date: Thu, 1 Mar 2018 17:48:43 -0700
Subject: [PATCH 3/8] Slightly updated build.gradle

---
 build.gradle | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/build.gradle b/build.gradle
index d3f4f36..ca8c97e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,11 +1,3 @@
-/*
- * This file was generated by the Gradle 'init' task.
- *
- * This generated file contains a sample Java Library project to get you started.
- * For more details take a look at the Java Libraries chapter in the Gradle
- * user guide available at https://docs.gradle.org/4.5.1/userguide/java_library_plugin.html
- */
-
 plugins {
     id 'java'
     id "jaci.openrio.gradle.GradleRIO" version "2018.01.22"
@@ -17,12 +9,6 @@ sourceSets {
          srcDir 'src'
       }
    }
-	
-   test {
-      java {
-         srcDir 'src'
-      }
-   }
 }
 
 dependencies {

From 7579866c74718404442624bab952f62f3981ec39 Mon Sep 17 00:00:00 2001
From: Trevor Tsang <trevorkhtsang@gmail.com>
Date: Thu, 1 Mar 2018 18:09:50 -0700
Subject: [PATCH 4/8] Button indexes start at 1

---
 .../module/joysticks/XboxController.java      | 48 +++++++++----------
 1 file changed, 24 insertions(+), 24 deletions(-)

diff --git a/src/edu/first/module/joysticks/XboxController.java b/src/edu/first/module/joysticks/XboxController.java
index 545b0d0..b18f039 100644
--- a/src/edu/first/module/joysticks/XboxController.java
+++ b/src/edu/first/module/joysticks/XboxController.java
@@ -9,36 +9,36 @@
  * Raw buttons:
  *
  * <pre>
- * 0: A
- * 1: B
- * 2: X
- * 3: Y
- * 4: Left Bumper
- * 5: Right Bumper
- * 6: Back
- * 7: Start
- * 8: Left Joystick
- * 9: Right Joystick
+ * 1: A
+ * 2: B
+ * 3: X
+ * 4: Y
+ * 5: Left Bumper
+ * 6: Right Bumper
+ * 7: Back
+ * 8: Start
+ * 9: Left Joystick
+ * 10: Right Joystick
  * </pre>
  *
  * Raw axes:
  *
  * <pre>
- * 1: Left Stick X Axis
+ * 0: Left Stick X Axis
  *     Left: Negative; Right: Positive
- * 2: Left Stick Y Axis
+ * 1: Left Stick Y Axis
  *     Up: Positive; Down: Negative
- * 3: Left Trigger
- * 4: Right Trigger
- * 5: Right Stick X Axis
+ * 2: Left Trigger
+ * 3: Right Trigger
+ * 4: Right Stick X Axis
  *     Left: Negative; Right: Positive
- * 6: Right Stick Y Axis
+ * 5: Right Stick Y Axis
  *     Up: Positive; Down: Negative
  * N/A: Directional Pad (Not recommended, buggy)
  *     Left: -1; Right: +1
- * 7: Right distance from the middle
+ * 6: Right distance from the middle
  *     Up: Positive; Down: Negative
- * 8: Left distance from the middle
+ * 7: Left distance from the middle
  *     Up: Positive; Down: Negative
  * </pre>
  *
@@ -50,15 +50,15 @@ public class XboxController extends BindingJoystick {
     /**
      * Port for button.
      */
-    public static final int A = 0, B = 1, X = 2,
-            Y = 3, LEFT_BUMPER = 4, RIGHT_BUMPER = 5,
-            BACK = 6, START = 7, LEFT_STICK = 8, RIGHT_STICK = 9;
+    public static final int A = 1, B = 2, X = 3,
+            Y = 4, LEFT_BUMPER = 5, RIGHT_BUMPER = 6,
+            BACK = 7, START = 8, LEFT_STICK = 9, RIGHT_STICK = 10;
     /**
      * Port for axis.
      */
-    public static final int LEFT_X = 1, LEFT_Y = 2, LEFT_TRIGGER = 3, RIGHT_TRIGGER = 4,
-            RIGHT_X = 5, RIGHT_Y = 6, RIGHT_FROM_MIDDLE = 7, LEFT_FROM_MIDDLE = 8, TRIGGERS = 9, 
-            DPAD = 10;
+    public static final int LEFT_X = 0, LEFT_Y = 1, LEFT_TRIGGER = 2, RIGHT_TRIGGER = 3,
+            RIGHT_X = 4, RIGHT_Y = 5, RIGHT_FROM_MIDDLE = 6, LEFT_FROM_MIDDLE = 7, TRIGGERS = 8, 
+            DPAD = 9;
 
     /**
      * Constructs the joystick with the {@link edu.wpi.first.wpilibj.Joystick}

From b89bdeaaba0db8690654ffd1f65d0a93a8b35049 Mon Sep 17 00:00:00 2001
From: Trevor Tsang <trevorkhtsang@gmail.com>
Date: Thu, 1 Mar 2018 18:14:28 -0700
Subject: [PATCH 5/8] Updated build.gradle again

---
 build.gradle | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/build.gradle b/build.gradle
index ca8c97e..106daa9 100644
--- a/build.gradle
+++ b/build.gradle
@@ -12,18 +12,10 @@ sourceSets {
 }
 
 dependencies {
-    // This dependency is exported to consumers, that is to say found on their compile classpath.
-    // api 'org.apache.commons:commons-math3:3.6.1'
-
-    // This dependency is used internally, and not exposed to consumers on their own compile classpath.
     compile "edu.wpi.first.wpilibj:athena-jni:+"
     compile "edu.wpi.first.wpilibj:athena:+"
-
-    // Use JUnit test framework
-    // testImplementation 'junit:junit:4.12'
 }
 
-// In this section you declare where to find the dependencies of your project
 repositories {
     maven {
         url "http://first.wpi.edu/FRC/roborio/maven/"

From a3a0911daeeb584b50b64a8acb32c6a70949d7b8 Mon Sep 17 00:00:00 2001
From: Trevor Tsang <trevorkhtsang@gmail.com>
Date: Sat, 3 Mar 2018 13:23:08 -0700
Subject: [PATCH 6/8] Added POV support

---
 src/edu/first/main/Constants.java             |  44 ----
 src/edu/first/main/GamePeriods.java           | 203 ------------------
 .../module/joysticks/JoystickModule.java      |  24 +++
 .../module/joysticks/XboxController.java      |  10 +-
 src/edu/first/robot/RobotMode.java            |   5 +-
 src/edu/first/robot/SafeRobotMode.java        |   1 -
 src/edu/first/robot/SimpleRobot.java          |   1 -
 7 files changed, 32 insertions(+), 256 deletions(-)
 delete mode 100644 src/edu/first/main/Constants.java
 delete mode 100644 src/edu/first/main/GamePeriods.java

diff --git a/src/edu/first/main/Constants.java b/src/edu/first/main/Constants.java
deleted file mode 100644
index 4b1c588..0000000
--- a/src/edu/first/main/Constants.java
+++ /dev/null
@@ -1,44 +0,0 @@
-package edu.first.main;
-
-/**
- * The central repository for all constant values. Values here are expected to
- * be accessible to the entire program, and for anyone to view.
- *
- * Values in this interface follow this general contract:
- * <ul>
- * <li> Values should never need to be changed when code is deployed
- * <li> Values should represent something universally true in all cases
- * <li> Values should not be costly or lengthly to initialize
- * <li> Values should be self-documented (self-explanatory) or have JavaDocs
- * attached
- * </ul>
- *
- * There are many different possible ways to make use of this class.
- *
- * <b>
- * For putting values into {@code Constants}:
- * </b>
- * <ul>
- * <li> Create categorical interfaces with values that are alike and make this
- * class extend them
- * <li> Separate values in this interface using line breaks and comments
- * <li> Use arrays as categories inside of this class indicating similar
- * constant types
- * </ul>
- *
- * <b>
- * For accessing values in {@code Constants}:
- * </b>
- * <ul>
- * <li> If using this <i>first</i> structure of putting values into
- * {@code Constants}, implement the appropriate interface to reduce class
- * loading time
- * <li> If not using the first method, implement this interface on classes to
- * access the constants within it
- * </ul>
- *
- * @since May 07 13
- * @author Joel Gallant
- */
-public interface Constants {
-}
diff --git a/src/edu/first/main/GamePeriods.java b/src/edu/first/main/GamePeriods.java
deleted file mode 100644
index b578aba..0000000
--- a/src/edu/first/main/GamePeriods.java
+++ /dev/null
@@ -1,203 +0,0 @@
-/*
- * This software was created by Alberta Tech Alliance, Team 4334, in 
- * Calgary, Alberta. This version is a fork by FRC Western Canada.
- */
-package edu.first.main;
-
-import edu.first.robot.IterativeRobotAdapter;
-import edu.first.robot.RobotMode;
-import edu.first.robot.SafeRobotMode;
-import edu.wpi.first.wpilibj.IterativeRobot;
-
-/**
- * This class is called by the VM automatically for every game mode. It is meant
- * to start all necessary functions, and is the gateway from the Java VM into
- * your code. {@code GamePeriods} is final because the functionality it provides
- * is through {@link RobotMode Robot Modes}. Although the implementation and
- * specifics about how {@link RobotMode} is used is up to the programmer, the
- * usage of {@link RobotMode} is necessary. This does not detract from
- * {@code GamePeriods}'s usefulness because it contains all of the methods of
- * {@code GamePeriods} and more.
- *
- * Please change the static variable {@link #robotMode} to your robot. Do so
- * however you wish, but you may experience problems if set statically (happens
- * before some internal initialisations of WPILibJ).
- *
- * <b> If you change the name of this class or the package after creating this
- * project, you must also update the manifest file in the resource directory.
- * (<i>/resources/META-INF/MANIFEST.MF</i> under "MIDlet-1")</b>
- *
- * This class is not thread safe and should <b>never</b> be manually
- * constructed, but by mandate (VM) its constructor needs to be public.
- *
- * @since May 07 13
- * @author Joel Gallant
- */
-public final class GamePeriods extends IterativeRobot {
-
-    // Stored to "end" the game mode after it is finished
-    private static GameMode previousGameMode = null;
-    // The current game mode - change to yours
-    private static RobotMode robotMode;
-
-    /**
-     * Please never use this!
-     */
-    public GamePeriods() {
-        // Init robot mode here so that static initializing doesn't interfere with wpi code
-        robotMode = new SafeRobotMode(new IterativeRobotAdapter("Null"));
-    }
-
-    /**
-     * Initializes the robot. Is run once at the start of the robot's execution
-     * cycle, but never again. Effectively should "start the robot", in whatever
-     * context it happens to be in.
-     */
-    @Override
-    public void robotInit() {
-        robotMode.init();
-    }
-
-    /**
-     * Initializes the disabled mode of the robot. Usually, this method "turns
-     * off" the functions of the robot, like background threads and motor
-     * controllers.
-     *
-     * Every time disabled is run, the {@code RobotMode} is updated. This only
-     * happens during the disabled period.
-     */
-    @Override
-    public void disabledInit() {
-        finishAndNewMode(GameMode.DISABLED);
-        robotMode.initDisabled();
-    }
-
-    /**
-     * Runs periodically during the disabled period.
-     *
-     * In the context of {@link IterativeRobot}, "periodic" means 50 times per
-     * second, or 50Hz. It is run every 0.02 seconds. This is not guaranteed,
-     * and is only run once every time the DriverStation sends packets. It can
-     * be roughly assumed that it runs at 50Hz, but should not be depended on.
-     */
-    @Override
-    public void disabledPeriodic() {
-        robotMode.periodicDisabled();
-    }
-
-    /**
-     * Initializes anything needed for the autonomous period of the robot.
-     */
-    @Override
-    public void autonomousInit() {
-        finishAndNewMode(GameMode.AUTONOMOUS);
-        robotMode.initAutonomous();
-    }
-
-    /**
-     * Runs periodically during the autonomous period.
-     *
-     * In the context of {@link IterativeRobot}, "periodic" means 50 times per
-     * second, or 50Hz. It is run every 0.02 seconds. This is not guaranteed,
-     * and is only run once every time the DriverStation sends packets. It can
-     * be roughly assumed that it runs at 50Hz, but should not be depended on.
-     */
-    @Override
-    public void autonomousPeriodic() {
-        robotMode.periodicAutonomous();
-    }
-
-    /**
-     * Initializes anything needed for the teleoperated period of the robot.
-     */
-    @Override
-    public void teleopInit() {
-        finishAndNewMode(GameMode.TELEOPERATED);
-        robotMode.initTeleoperated();
-    }
-
-    /**
-     * Runs periodically during the teleoperated period.
-     *
-     * In the context of {@link IterativeRobot}, "periodic" means 50 times per
-     * second, or 50Hz. It is run every 0.02 seconds. This is not guaranteed,
-     * and is only run once every time the DriverStation sends packets. It can
-     * be roughly assumed that it runs at 50Hz, but should not be depended on.
-     */
-    @Override
-    public void teleopPeriodic() {
-        robotMode.periodicTeleoperated();
-    }
-
-    /**
-     * Initializes anything needed for the test period of the robot.
-     */
-    @Override
-    public void testInit() {
-        finishAndNewMode(GameMode.TEST);
-        robotMode.initTest();
-    }
-
-    /**
-     * Runs periodically during the test period.
-     *
-     * In the context of {@link IterativeRobot}, "periodic" means 50 times per
-     * second, or 50Hz. It is run every 0.02 seconds. This is not guaranteed,
-     * and is only run once every time the DriverStation sends packets. It can
-     * be roughly assumed that it runs at 50Hz, but should not be depended on.
-     */
-    @Override
-    public void testPeriodic() {
-        robotMode.periodicTest();
-    }
-
-    /**
-     * Finishes the {@code GameMode} given the last time this method was run.
-     *
-     * @param newMode the mode that the user is headed into which will be ended
-     * the next time this method is run
-     */
-    private void finishAndNewMode(GameMode newMode) {
-        if (previousGameMode != null) {
-            previousGameMode.end();
-        }
-        previousGameMode = newMode;
-    }
-
-    /**
-     * Representation of the different game modes used to end them using the
-     * methods in {@link RobotMode}.
-     */
-    private static abstract class GameMode {
-
-        static final GameMode DISABLED = new GameMode() {
-            @Override
-            void end() {
-                robotMode.endDisabled();
-            }
-        };
-        static final GameMode AUTONOMOUS = new GameMode() {
-            @Override
-            void end() {
-                robotMode.endAutonomous();
-            }
-        };
-        static final GameMode TELEOPERATED = new GameMode() {
-            @Override
-            void end() {
-                robotMode.endTeleoperated();
-            }
-        };
-        static final GameMode TEST = new GameMode() {
-            @Override
-            void end() {
-                robotMode.endTest();
-            }
-        };
-
-        /**
-         * Ends the mode selected.
-         */
-        abstract void end();
-    }
-}
diff --git a/src/edu/first/module/joysticks/JoystickModule.java b/src/edu/first/module/joysticks/JoystickModule.java
index 1b9a00c..afcd0a3 100644
--- a/src/edu/first/module/joysticks/JoystickModule.java
+++ b/src/edu/first/module/joysticks/JoystickModule.java
@@ -107,6 +107,14 @@ public final double getRawAxisValue(int port) {
     public final Button getRawAxisAsButton(int port, double threshold) {
         return new RawAxisButton(port, threshold);
     }
+    
+    public final Button getPOVAsButton(int minAngle, int maxAngle) {
+    	return new POVButton(minAngle, maxAngle);
+    }
+    
+    public final Button getPOVAsButton(int angle) {
+    	return new POVButton(angle, angle);
+    }
 
     /**
      * {@inheritDoc}
@@ -344,6 +352,22 @@ public boolean getPosition() {
             }
         }
     }
+    
+    private class POVButton implements Button {
+    	
+    	private final int min, max;
+    	
+    	public POVButton(int minAngle, int maxAngle) {
+    		this.min = minAngle;
+    		this.max = maxAngle;
+		}
+    	
+    	@Override
+    	public boolean getPosition() {
+    		int angle = joystick.getPOV();
+    		return (angle <= min) && (angle <= max);
+    	}
+    }
 
     private class Rumble implements Output {
 
diff --git a/src/edu/first/module/joysticks/XboxController.java b/src/edu/first/module/joysticks/XboxController.java
index b18f039..8795068 100644
--- a/src/edu/first/module/joysticks/XboxController.java
+++ b/src/edu/first/module/joysticks/XboxController.java
@@ -52,13 +52,13 @@ public class XboxController extends BindingJoystick {
      */
     public static final int A = 1, B = 2, X = 3,
             Y = 4, LEFT_BUMPER = 5, RIGHT_BUMPER = 6,
-            BACK = 7, START = 8, LEFT_STICK = 9, RIGHT_STICK = 10;
+            BACK = 7, START = 8, LEFT_STICK = 9, RIGHT_STICK = 10,
+            DPAD_UP = 11, DPAD_DOWN = 12, DPAD_LEFT = 13, DPAD_RIGHT = 14;
     /**
      * Port for axis.
      */
     public static final int LEFT_X = 0, LEFT_Y = 1, LEFT_TRIGGER = 2, RIGHT_TRIGGER = 3,
-            RIGHT_X = 4, RIGHT_Y = 5, RIGHT_FROM_MIDDLE = 6, LEFT_FROM_MIDDLE = 7, TRIGGERS = 8, 
-            DPAD = 9;
+            RIGHT_X = 4, RIGHT_Y = 5, RIGHT_FROM_MIDDLE = 6, LEFT_FROM_MIDDLE = 7, TRIGGERS = 8;
 
     /**
      * Constructs the joystick with the {@link edu.wpi.first.wpilibj.Joystick}
@@ -73,6 +73,10 @@ protected XboxController(Joystick joystick) {
         setAxis(RIGHT_FROM_MIDDLE, new FromMiddle(getRightY(), getRightX()));
         setAxis(LEFT_FROM_MIDDLE, new FromMiddle(getLeftY(), getLeftX()));
         setAxis(TRIGGERS, new Combination(getLeftTrigger(), getRightTrigger()));
+        setButton(DPAD_UP, this.getPOVAsButton(0));
+        setButton(DPAD_DOWN, this.getPOVAsButton(180));
+        setButton(DPAD_LEFT, this.getPOVAsButton(270));
+        setButton(DPAD_RIGHT, this.getPOVAsButton(90));
         invertAxis(LEFT_Y);
         invertAxis(RIGHT_Y);
         invertAxis(LEFT_FROM_MIDDLE);
diff --git a/src/edu/first/robot/RobotMode.java b/src/edu/first/robot/RobotMode.java
index 00a6a0b..5002fc5 100644
--- a/src/edu/first/robot/RobotMode.java
+++ b/src/edu/first/robot/RobotMode.java
@@ -1,8 +1,5 @@
 package edu.first.robot;
 
-import edu.first.main.Constants;
-import edu.first.main.GamePeriods;
-
 /**
  * The framework for all "modes" a robot can perform, this is the basic class
  * that tells the robot what it should do and when it should do it.
@@ -42,7 +39,7 @@
  * @see SimpleRobot
  * @author Joel Gallant
  */
-public interface RobotMode extends Constants {
+public interface RobotMode {
 
     /**
      * Initializes the robot. This means that after this method is run,
diff --git a/src/edu/first/robot/SafeRobotMode.java b/src/edu/first/robot/SafeRobotMode.java
index d43e08b..59e2377 100644
--- a/src/edu/first/robot/SafeRobotMode.java
+++ b/src/edu/first/robot/SafeRobotMode.java
@@ -1,6 +1,5 @@
 package edu.first.robot;
 
-import edu.first.main.GamePeriods;
 import edu.first.util.log.Logger;
 
 /**
diff --git a/src/edu/first/robot/SimpleRobot.java b/src/edu/first/robot/SimpleRobot.java
index a5afa6c..fdc6cb8 100644
--- a/src/edu/first/robot/SimpleRobot.java
+++ b/src/edu/first/robot/SimpleRobot.java
@@ -1,6 +1,5 @@
 package edu.first.robot;
 
-import edu.first.main.GamePeriods;
 import edu.first.util.DriverstationInfo;
 
 /**

From 427a556d261d35d8dba76f44ebfe1b072325b0ed Mon Sep 17 00:00:00 2001
From: Trevor Tsang <trevorkhtsang@gmail.com>
Date: Sat, 3 Mar 2018 14:09:04 -0700
Subject: [PATCH 7/8] Updated LoopingCommand to 2017 functionality

---
 .../first/commands/common/LoopingCommand.java | 38 ++++++++++++++-----
 1 file changed, 28 insertions(+), 10 deletions(-)

diff --git a/src/edu/first/commands/common/LoopingCommand.java b/src/edu/first/commands/common/LoopingCommand.java
index 7fa0de7..43ad27c 100644
--- a/src/edu/first/commands/common/LoopingCommand.java
+++ b/src/edu/first/commands/common/LoopingCommand.java
@@ -9,26 +9,44 @@
  * @author Joel Gallant
  */
 public abstract class LoopingCommand implements Command {
+    private boolean first = true;
+
+    public LoopingCommand() {
+    }
 
     /**
      * Runs {@link #runLoop()} until {@link #continueLoop()} returns false.
      */
     @Override
     public final void run() {
-        while (continueLoop()) {
-            runLoop();
+        while(this.continueLoop()) {
+            if (this.first) {
+                this.first = false;
+
+                try {
+                    if (this.getClass().getMethod("firstLoop").getDeclaringClass().getTypeName().endsWith("LoopingCommand")) {
+                        this.runLoop();
+                    } else {
+                        this.firstLoop();
+                    }
+                } catch (SecurityException | NoSuchMethodException var2) {
+                    throw new RuntimeException(var2);
+                }
+            } else {
+                this.runLoop();
+            }
         }
+
+        this.end();
+    }
+
+    public void firstLoop() {
+    }
+
+    public void end() {
     }
 
-    /**
-     * Returns whether the loop should run again.
-     *
-     * @return if loop should continue
-     */
     public abstract boolean continueLoop();
 
-    /**
-     * Runs the actual instructions of the command.
-     */
     public abstract void runLoop();
 }

From f5c848d4cd83429caefc7b16ee9aa7aa3b091a61 Mon Sep 17 00:00:00 2001
From: Trevor Tsang <trevorkhtsang@gmail.com>
Date: Sat, 29 Sep 2018 21:19:39 -0600
Subject: [PATCH 8/8] Added TalonSRX, VictorSPX, and MotorModule

---
 .../first/module/actuators/MotorModule.java   |  90 ++++++++++
 .../module/actuators/TalonSRXModule.java      | 163 ++++++++++++++++++
 .../module/actuators/TalonSRXModuleGroup.java |  87 ++++++++++
 .../module/actuators/VictorSPXModule.java     |  86 +++++++++
 4 files changed, 426 insertions(+)
 create mode 100644 src/edu/first/module/actuators/MotorModule.java
 create mode 100644 src/edu/first/module/actuators/TalonSRXModule.java
 create mode 100644 src/edu/first/module/actuators/TalonSRXModuleGroup.java
 create mode 100644 src/edu/first/module/actuators/VictorSPXModule.java

diff --git a/src/edu/first/module/actuators/MotorModule.java b/src/edu/first/module/actuators/MotorModule.java
new file mode 100644
index 0000000..faae37c
--- /dev/null
+++ b/src/edu/first/module/actuators/MotorModule.java
@@ -0,0 +1,90 @@
+package main.java.ca.fourthreethreefour.module.actuators;
+
+import edu.first.module.Module;
+import edu.first.module.actuators.SpeedController;
+
+public class MotorModule extends Module.StandardModule implements SpeedController {
+	
+	private Module module;
+	private SpeedController speedController;
+	
+	public static enum Type {
+		TALON_SRX, VICTOR_SPX,
+	}
+	
+	public MotorModule(Type type, int channel) {
+		switch (type) {
+			case TALON_SRX:
+				TalonSRXModule talon = new TalonSRXModule(channel);
+				this.module = talon;
+				this.speedController = talon;
+				break;
+			case VICTOR_SPX:
+				VictorSPXModule victor = new VictorSPXModule(channel);
+				this.module = victor;
+				this.speedController = victor;
+				break;
+		}
+	}
+
+	@Override
+	public void init() {
+		this.module.init();
+	}
+
+	@Override
+	public void setSpeed(double speed) {
+		this.speedController.setSpeed(speed);
+	}
+
+	@Override
+	public void setRawSpeed(int speed) {
+		this.speedController.setRawSpeed(speed);
+	}
+
+	@Override
+	public double getSpeed() {
+		return this.speedController.getSpeed();
+	}
+
+	@Override
+	public int getRawSpeed() {
+		return this.speedController.getRawSpeed();
+	}
+
+	@Override
+	public void update() {
+		this.speedController.update();
+	}
+
+	@Override
+	public void setRate(double rate) {
+		this.speedController.setRate(rate);
+	}
+
+	@Override
+	public void set(double value) {
+		this.speedController.set(value);
+	}
+	
+	@Override
+	public double getRate() {
+		return this.speedController.getRate();
+	}
+
+	@Override
+	public double get() {
+		return this.speedController.get();
+	}
+
+	@Override
+	protected void enableModule() {
+		this.module.enable();
+	}
+
+	@Override
+	protected void disableModule() {
+		this.module.disable();
+	}
+	
+}
diff --git a/src/edu/first/module/actuators/TalonSRXModule.java b/src/edu/first/module/actuators/TalonSRXModule.java
new file mode 100644
index 0000000..d0a7c9d
--- /dev/null
+++ b/src/edu/first/module/actuators/TalonSRXModule.java
@@ -0,0 +1,163 @@
+package main.java.ca.fourthreethreefour.module.actuators;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.first.module.actuators.SpeedController;
+import edu.first.module.Module;
+
+/**
+ * The general purpose class that manipulates Talon speed controllers made by
+ * IFI / CTRE. Should work for all models <b> through CAN</b>.
+ *
+ * @since Feb 13 18
+ * @author Trevor Tsang
+ */
+public class TalonSRXModule extends Module.StandardModule implements SpeedController  {
+	
+	private final WPI_TalonSRX talon;
+	
+	protected TalonSRXModule(WPI_TalonSRX talon) {
+		if(talon == null) {
+            throw new NullPointerException("Null talon given");
+		}
+		this.talon = talon;
+	}
+	
+	/**
+	 * {@inheritDoc}
+	 */
+	public TalonSRXModule(int channel) {
+		this(new WPI_TalonSRX(channel));
+	}
+	
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void init() {
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	protected void enableModule() {
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	protected void disableModule() {
+		this.set(0);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void setSpeed(double speed) {
+		talon.set(speed);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void setRawSpeed(int speed) {
+		talon.set((speed - 127) / 127);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public double getSpeed() {
+		return talon.get();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public int getRawSpeed() {
+		return (int) (talon.get() * 127 + 127);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void update() {
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void setRate(double rate) {
+		talon.set(rate);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void set(double value) {
+		talon.set(value);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	public void setInverted(boolean isInverted) {
+		talon.setInverted(isInverted);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	public boolean getInverted(boolean isInverted) {
+		return talon.getInverted();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public double getRate() {
+		return talon.get();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public double get() {
+		return talon.get();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	public void stopMotor() {
+		talon.stopMotor();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 * @return object that can get/set individual raw sensor values.
+	 */
+	public Object getSensorCollection() {
+		return talon.getSensorCollection();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 * @return
+	 */
+	public double getAnalogIn() {
+		return talon.getSensorCollection().getAnalogIn();
+	}
+	
+}
diff --git a/src/edu/first/module/actuators/TalonSRXModuleGroup.java b/src/edu/first/module/actuators/TalonSRXModuleGroup.java
new file mode 100644
index 0000000..7d423b4
--- /dev/null
+++ b/src/edu/first/module/actuators/TalonSRXModuleGroup.java
@@ -0,0 +1,87 @@
+package main.java.ca.fourthreethreefour.module.actuators;
+
+import edu.first.module.actuators.SpeedController;
+import edu.first.module.actuators.SpeedControllerGroup;
+import edu.first.module.subsystems.Subsystem;
+
+public class TalonSRXModuleGroup extends Subsystem implements SpeedController {
+
+	private final SpeedControllerGroup group;
+	
+	public TalonSRXModuleGroup(TalonSRXModule[] group) {
+		super(group);
+		this.group = new SpeedControllerGroup(group);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void setSpeed(double speed) {
+		group.setSpeed(speed);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void setRawSpeed(int speed) {
+		group.setRawSpeed(speed);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public double getSpeed() {
+		return group.getSpeed();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public int getRawSpeed() {
+		return group.getRawSpeed();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void update() {
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void setRate(double rate) {
+		group.set(rate);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void set(double value) {
+		group.set(value);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public double getRate() {
+		return group.get();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public double get() {
+		return group.get();
+	}
+	
+}
diff --git a/src/edu/first/module/actuators/VictorSPXModule.java b/src/edu/first/module/actuators/VictorSPXModule.java
new file mode 100644
index 0000000..1e9384d
--- /dev/null
+++ b/src/edu/first/module/actuators/VictorSPXModule.java
@@ -0,0 +1,86 @@
+package main.java.ca.fourthreethreefour.module.actuators;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.VictorSPX;
+
+import edu.first.module.Module;
+import edu.first.module.actuators.SpeedController;
+
+public class VictorSPXModule extends Module.StandardModule implements SpeedController {
+
+	private final VictorSPX victor;
+	
+	protected VictorSPXModule(VictorSPX victor) {
+		if (victor == null) {
+            throw new NullPointerException("Null victor given");
+		}
+		this.victor = victor;
+	}
+	
+	public VictorSPXModule(int channel) {
+		this(new VictorSPX(channel));
+	}
+	
+	@Override
+	public void init() {
+	}
+
+	@Override
+	protected void enableModule() {
+	}
+	
+	@Override
+	protected void disableModule() {
+		victor.set(ControlMode.Disabled, 0);
+	}
+
+	@Override
+	public double get() {
+		return victor.getMotorOutputPercent();
+	}
+
+	@Override
+	public double getRate() {
+		return victor.getMotorOutputPercent();
+	}
+
+	@Override
+	public int getRawSpeed() {
+		return (int) victor.getMotorOutputVoltage();
+	}
+
+	@Override
+	public double getSpeed() {
+		return victor.getMotorOutputPercent();
+	}
+
+	@Override
+	public void set(double value) {
+		victor.set(ControlMode.PercentOutput, value);
+	}
+
+	@Override
+	public void setRate(double value) {
+		victor.set(ControlMode.Velocity, value);
+	}
+
+	@Override
+	public void setRawSpeed(int value) {
+		victor.set(ControlMode.PercentOutput, value);
+	}
+
+	@Override
+	public void setSpeed(double value) {
+		victor.set(ControlMode.PercentOutput, value);
+	}
+
+	@Override
+	public void update() {
+		victor.valueUpdated();
+	}
+	
+	public double getAnalogIn() {
+		return victor.getSensorCollection().getAnalogIn();
+	}
+
+}