Minor Cleanup

3128-Common.json

@@ -1,6 +1,6 @@
 {
   "name": "3128-common",
-  "version": "0.0.6",
+  "version": "0.0.7",
   "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
   "mavenUrls": [
     "https://jitpack.io"
@@ -11,7 +11,7 @@
     {
       "groupId": "com.github.Team3128",
       "artifactId": "3128-common",
-      "version": "0.0.6"
+      "version": "0.0.7"
     }
   ],
   "jniDependencies": [],

3128-common.json

@@ -1,6 +1,6 @@
 {
   "name": "3128-common",
-  "version": "0.0.6",
+  "version": "0.0.7",
   "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
   "mavenUrls": [
     "https://jitpack.io"
@@ -11,7 +11,7 @@
     {
       "groupId": "com.github.Team3128",
       "artifactId": "3128-common",
-      "version": "0.0.6"
+      "version": "0.0.7"
     }
   ],
   "jniDependencies": [],

src/main/java/common/core/controllers/Controller.java

@@ -55,6 +55,22 @@ public Controller(double kP, double kI, double kD, double kS, double kV, double
         this.type = type;
     }
 
+    /**
+     * Create a new object to control PID + FF logic for a subsystem.
+     * <p>Sets kP, kI, kD, kS, kV, kG values.
+     * 
+     * @param kP The proportional coefficient.
+     * @param kI The integral coefficient.
+     * @param kD The derivative coefficient.
+     * @param kS The static gain.
+     * @param kV The velocity gain.
+     * @param kG The gravity gain.
+     * @param type The type of setpoint used by the controller
+     */
+    public Controller(double kP, double kI, double kD, double kS, double kV, double kG, Type type) {
+        this(kP, kI, kD, kS, kV, kG, type, 0.02);
+    }
+
     /**
      * Create a new object to control PID logic for a subsystem.
      * <p>Sets kP, kI, kD, period values.

src/main/java/common/core/subsystems/NAR_PIDSubsystem.java

@@ -32,7 +32,7 @@ public abstract class NAR_PIDSubsystem extends SubsystemBase {
     public NAR_PIDSubsystem(Controller controller) {
         m_controller = controller;
         controller.setMeasurementSource(()-> getMeasurement());
-        controller.addOutput(this::useOutput);
+        controller.addOutput(output -> useOutput(output, getSetpoint()));
         min = Double.NEGATIVE_INFINITY;
         max = Double.POSITIVE_INFINITY;
         safetyThresh = 5;
@@ -166,7 +166,7 @@ public boolean atSetpoint() {
      *
      * @param output the output of the PIDController
      */
-    protected abstract void useOutput(double output);
+    protected abstract void useOutput(double output, double setpoint);
 
     /**
      * Returns the measurement of the process variable used by the PIDController.
@@ -185,7 +185,7 @@ public void enable() {
     /** Disables the PID control. Sets output to zero. */
     public void disable() {
         m_enabled = false;
-        useOutput(0);
+        useOutput(0, 0);
     }
 
     /**

src/main/java/common/utility/narwhaldashboard/NarwhalDashboard.java

@@ -81,6 +81,14 @@ private NarwhalDashboard(int port) throws UnknownHostException {
         super(new InetSocketAddress(port));
     }
 
+    /**
+     * Returns the selectedAuto on the web server
+     * @return A string containing an auto
+     */
+    public String getSelectedAuto() {
+        return selectedAuto;
+    }
+
     /**
      * Initializes NarwhalDashboard autos and buttons
      */
@@ -203,6 +211,7 @@ public void addButton(String key, BooleanConsumer button) {
     @Override
     public void onMessage(WebSocket conn, String message) {
         Log.info("NarwhalDashboard", message);
+        //Message format category + key + value or category + value, example auto:"exampleAuto"
         final String[] parts = message.split(":");
 
         if (!actionMap.containsKey(parts[0])) return;

src/main/java/common/utility/shuffleboard/NAR_Shuffleboard.java

@@ -51,24 +51,24 @@ public void update() {
     private static HashMap<String, HashMap<String, entryInfo>> tabs = new HashMap<String, HashMap<String,entryInfo>>();;
 
     /**
-   * Creates a new tab entry
-   *
-   * @param tabName the title of the new tab
-   */
+     * Creates a new tab entry
+     *
+     * @param tabName the title of the new tab
+     */
     private static void create_tab(String tabName) {
         tabs.put(tabName, new HashMap<String,entryInfo>());
     }
 
     /**
-   * Displays a value in Shuffleboard
-   *
-   * @param tabName the title of the tab to select
-   * @param name the name of the entry
-   * @param data value to display
-   * @param x -coord of the entry starting from 0
-   * @param y -coord of the entry starting from 0
-   * @return simple widget that can be modified
-   */
+     * Displays a value in Shuffleboard
+     *
+     * @param tabName the title of the tab to select
+     * @param name the name of the entry
+     * @param data value to display
+     * @param x -coord of the entry starting from 0
+     * @param y -coord of the entry starting from 0
+     * @return simple widget that can be modified
+     */
     public static SimpleWidget addData(String tabName, String name, Object data, int x, int y) {
         return addData(tabName, name, data, x, y, 1, 1);
     }
@@ -111,27 +111,27 @@ public static SimpleWidget addData(String tabName, String name, Supplier<Object>
     }
 
     /**
-   * Displays a value in Shuffleboard
-   *
-   * @param tabName the title of the tab to select
-   * @param name the name of the entry
-   * @param data value to display
-   * @param x -coord of the entry starting from 0
-   * @param y -coord of the entry starting from 0
-   * @param width -of the entry
-   * @param height -of the entry
-   * @return simple widget that can be modified
-   */
-  public static SimpleWidget addData(String tabName, String name, Object data, int x, int y, int width, int height) {
-    if(!tabs.containsKey(tabName)) create_tab(tabName);
-    if (tabs.get(tabName).containsKey(name)) {
-        tabs.get(tabName).get(name).m_data.setValue(data);
-        return tabs.get(tabName).get(name).m_entry;
+     * Displays a value in Shuffleboard
+     *
+     * @param tabName the title of the tab to select
+     * @param name the name of the entry
+     * @param data value to display
+     * @param x -coord of the entry starting from 0
+     * @param y -coord of the entry starting from 0
+     * @param width -of the entry
+     * @param height -of the entry
+     * @return simple widget that can be modified
+     */
+    public static SimpleWidget addData(String tabName, String name, Object data, int x, int y, int width, int height) {
+        if(!tabs.containsKey(tabName)) create_tab(tabName);
+        if (tabs.get(tabName).containsKey(name)) {
+            tabs.get(tabName).get(name).m_data.setValue(data);
+            return tabs.get(tabName).get(name).m_entry;
+        }
+        SimpleWidget entry = Shuffleboard.getTab(tabName).add(name,data).withPosition(x, y).withSize(width,height);
+        tabs.get(tabName).put(name, new entryInfo(entry,null));
+        return entry;
     }
-    SimpleWidget entry = Shuffleboard.getTab(tabName).add(name,data).withPosition(x, y).withSize(width,height);
-    tabs.get(tabName).put(name, new entryInfo(entry,null));
-    return entry;
-}
 
     /**
      * Displays complex values, like subsystems and command, works on all classes that extend sendable