From 3cb6fb347aa5a67a090af7c62f00e1f20ee2ab88 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Wed, 7 Mar 2018 17:10:25 -0500 Subject: [PATCH 01/54] Added Buttons and got rid of errors --- .idea/.name | 1 + .idea/modules.xml | 1 + .idea/modules/Alloy_test.iml | 29 ++++++++++ build.gradle | 1 - .../alloy/ftc/FTCButton.java | 55 ++++++++++++++++++- .../alloy/test/TestRobot.java | 1 - .../alloy/update/Updatable.java | 2 +- 7 files changed, 86 insertions(+), 4 deletions(-) create mode 100644 .idea/.name create mode 100644 .idea/modules/Alloy_test.iml diff --git a/.idea/.name b/.idea/.name new file mode 100644 index 0000000..7714568 --- /dev/null +++ b/.idea/.name @@ -0,0 +1 @@ +Alloy \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml index 07de6c1..9d7946a 100644 --- a/.idea/modules.xml +++ b/.idea/modules.xml @@ -5,6 +5,7 @@ + \ No newline at end of file diff --git a/.idea/modules/Alloy_test.iml b/.idea/modules/Alloy_test.iml new file mode 100644 index 0000000..a3178d0 --- /dev/null +++ b/.idea/modules/Alloy_test.iml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/build.gradle b/build.gradle index 57830b3..4482cb7 100644 --- a/build.gradle +++ b/build.gradle @@ -15,7 +15,6 @@ repositories { maven { url "http://repo.maven.apache.org/maven2" } - } dependencies{ diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java index 067e0d3..558738f 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java @@ -1,5 +1,6 @@ package org.montclairrobotics.alloy.ftc; +import com.qualcomm.robotcore.hardware.Gamepad; import org.montclairrobotics.alloy.core.Button; import org.montclairrobotics.alloy.utils.Input; @@ -23,7 +24,7 @@ public FTCButton(Input buttonInput, boolean invert){ this.buttonInput = buttonInput; this.inverted = invert; } - + @Override public boolean getValue() { if(inverted) { @@ -32,4 +33,56 @@ public boolean getValue() { return buttonInput.get(); } } + + // BUTTON PAD + public static FTCButton getAButton(Gamepad gamepad){ + return new FTCButton(() -> gamepad.a); + } + + public static FTCButton getBButton(Gamepad gamepad){ + return new FTCButton(() -> gamepad.b); + } + + public static FTCButton getXButton(Gamepad gamepad){ + return new FTCButton(() -> gamepad.x); + } + + public static FTCButton getYButton(Gamepad gamepad){ + return new FTCButton(() -> gamepad.y); + } + + // DPAD + public static FTCButton getDPADUp(Gamepad gamepad){ + return new FTCButton(() -> gamepad.dpad_up); + } + + public static FTCButton getDPADDown(Gamepad gamepad){ + return new FTCButton(() -> gamepad.dpad_down); + } + + public static FTCButton getYDPADRight(Gamepad gamepad){ + return new FTCButton(() -> gamepad.dpad_right); + } + + public static FTCButton getDPADLeft(Gamepad gamepad){ + return new FTCButton(() -> gamepad.dpad_left); + } + + // Bumpers + public static FTCButton getRightBumper(Gamepad gamepad){ + return new FTCButton(() -> gamepad.right_bumper); + } + + public static FTCButton getLeftBumper(Gamepad gamepad){ + return new FTCButton(() -> gamepad.left_bumper); + } + + // Triggers + public static FTCButton getRightTrigger(Gamepad gamepad){ + return new FTCButton(() -> gamepad.right_trigger > .5); + } + + public static FTCButton getLeftTrigger(Gamepad gamepad){ + return new FTCButton(() -> gamepad.left_trigger > .5); + } } diff --git a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java index ebf95a1..20d7210 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java +++ b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java @@ -1,7 +1,6 @@ package org.montclairrobotics.alloy.test; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import com.sun.org.apache.xpath.internal.operations.Bool; import org.montclairrobotics.alloy.control.ToggleButton; import org.montclairrobotics.alloy.core.Alloy; import org.montclairrobotics.alloy.ftc.FTCButton; diff --git a/src/main/java/org/montclairrobotics/alloy/update/Updatable.java b/src/main/java/org/montclairrobotics/alloy/update/Updatable.java index cdf470b..4348baa 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Updatable.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Updatable.java @@ -25,7 +25,7 @@ public class Updatable { public void run(){ try { - update.invoke(clazz, parameters); + update.invoke(clazz); } catch (IllegalAccessException e) { e.printStackTrace(); } catch (InvocationTargetException e) { From d1564d053805ff9fdfb359840669ef361fd2a28b Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Fri, 16 Mar 2018 14:55:57 -0400 Subject: [PATCH 02/54] Update README.md --- README.md | 41 ++++++++++++++++++++++++++++++++++++++++- 1 file changed, 40 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 541dd50..53541f6 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,46 @@ Status: **Beta** +Developed by FTC147 and FRC555 -Alloy is a robot framework designed specifically for the First Tech Challenge (FTC). +The goal of alloy is to provide a robot framework that allows anyone, including new programmers, to be able to implement +high functioning and quality code for their robots. In other terms, Alloy aims toprevent robot code from being a limiting +factor on the performance of the robot. + + +Alloy is a robot framework designed specifically for the First Tech Challenge (FTC), but is also designed +with expandibility in mind. FRC implementation is possible and will be coming in the future. Alloy is based off the FRC robot framework [Sprocket](https://github.com/MontclairRobotics/Sprocket), but redesigned to abstract away the more complex ideas but still allow for advanced robot functionality. + +Any information regarding Alloy, including how it works, project structure, as well as in depth explanation on how to use all of the components +can be found in the project [Wiki](). As well as a quick start guide. + + + +# FAQ + +### Q. What is the purpose/how do I use ___? + +A. Every class is heavily documented as well as wiki articles explaining the use of more complex/important parts of alloy + +### Q. I tried to update ___ method using @Update, but it isn't working? + +A. The way alloy is designed, is that everything is split up into components, and a method can only be updated if it is within a component. +you can read more about this topic [Here]() + +### Q. What is a component/what is the difference between the components? +A. Different components have different purposes, for example, a control component would be used for an advanced control system, +whereas a motor component, or motor ocmponent group would be used to control a drivetrain or manipulator + +### Q. What if I don't want to use components? + +A. Things can be done in alloy without the use of components, but if you are designing code for a specific tool or component on the robot, +such as a shooter, drivetrain, or control system, it is highly recommended as components add extra functionality like toggleability, +easier debugging, and updateable methods. But again, all of this can be done without the use of components. + +### Q. ___ isn't working. + +A. If you have a problem first see our [Troubleshooting guide](). If that does not fix your problem you can file an [Issue]() +using our issue template, please provide as much information as possible so we can fully understand the probelm and fix the issue. + From b5a963154ed509398068ca2bc567722ae5911612 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Fri, 16 Mar 2018 14:56:33 -0400 Subject: [PATCH 03/54] Update README.md Fixed grammatical error --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 53541f6..378371e 100644 --- a/README.md +++ b/README.md @@ -23,7 +23,7 @@ can be found in the project [Wiki](). As well as a quick start guide. # FAQ -### Q. What is the purpose/how do I use ___? +### Q. What is the purpose of/how do I use ___? A. Every class is heavily documented as well as wiki articles explaining the use of more complex/important parts of alloy From a15ed954ba1e96637bf2fd9b532d8e96d88264c7 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Fri, 16 Mar 2018 15:03:25 -0400 Subject: [PATCH 04/54] Update README.md --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 378371e..c26426d 100644 --- a/README.md +++ b/README.md @@ -17,7 +17,7 @@ with expandibility in mind. FRC implementation is possible and will be coming in Alloy is based off the FRC robot framework [Sprocket](https://github.com/MontclairRobotics/Sprocket), but redesigned to abstract away the more complex ideas but still allow for advanced robot functionality. Any information regarding Alloy, including how it works, project structure, as well as in depth explanation on how to use all of the components -can be found in the project [Wiki](). As well as a quick start guide. +can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki). As well as a quick start guide. @@ -30,7 +30,7 @@ A. Every class is heavily documented as well as wiki articles explaining the use ### Q. I tried to update ___ method using @Update, but it isn't working? A. The way alloy is designed, is that everything is split up into components, and a method can only be updated if it is within a component. -you can read more about this topic [Here]() +you can read more about this topic [Here](https://github.com/GarrettBurroughs/Alloy/wiki/Alloy-Update-System) ### Q. What is a component/what is the difference between the components? A. Different components have different purposes, for example, a control component would be used for an advanced control system, @@ -44,6 +44,6 @@ easier debugging, and updateable methods. But again, all of this can be done wit ### Q. ___ isn't working. -A. If you have a problem first see our [Troubleshooting guide](). If that does not fix your problem you can file an [Issue]() +A. If you have a problem first see our [Troubleshooting guide](https://github.com/GarrettBurroughs/Alloy/wiki/Troubleshooting-Guide). If that does not fix your problem you can file an [Issue](https://github.com/GarrettBurroughs/Alloy/issues/new) using our issue template, please provide as much information as possible so we can fully understand the probelm and fix the issue. From a790ec9622b3d72579a676e563739cf216cdb83c Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Mon, 2 Apr 2018 00:26:27 -0400 Subject: [PATCH 05/54] Basic motor rework.... again --- .../core/{PoweredMotor.java => Motor.java} | 2 +- .../alloy/core/TargetMotor.java | 17 +----- .../alloy/core/UniversalMotor.java | 10 ---- .../montclairrobotics/alloy/ftc/FTCMotor.java | 60 +++++++------------ .../alloy/ftc/FTCMotorBase.java | 44 -------------- .../alloy/ftc/FTCPoweredMotor.java | 60 ------------------- .../alloy/ftc/FTCTargetMotor.java | 4 +- .../montclairrobotics/alloy/test/Shooter.java | 6 +- 8 files changed, 30 insertions(+), 173 deletions(-) rename src/main/java/org/montclairrobotics/alloy/core/{PoweredMotor.java => Motor.java} (96%) delete mode 100644 src/main/java/org/montclairrobotics/alloy/core/UniversalMotor.java delete mode 100644 src/main/java/org/montclairrobotics/alloy/ftc/FTCMotorBase.java delete mode 100644 src/main/java/org/montclairrobotics/alloy/ftc/FTCPoweredMotor.java diff --git a/src/main/java/org/montclairrobotics/alloy/core/PoweredMotor.java b/src/main/java/org/montclairrobotics/alloy/core/Motor.java similarity index 96% rename from src/main/java/org/montclairrobotics/alloy/core/PoweredMotor.java rename to src/main/java/org/montclairrobotics/alloy/core/Motor.java index 71533be..009d494 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/PoweredMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Motor.java @@ -10,7 +10,7 @@ * @since 0.1 * */ -public interface PoweredMotor { +public interface Motor { /** * Sets the motor Power * diff --git a/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java b/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java index 38c6334..1fba1f5 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java @@ -5,7 +5,7 @@ * Target motor is a motor interface for motors that have encoders. * Target motors can set encoder positions using PID control */ -public interface TargetMotor{ +public interface TargetMotor extends Motor{ /** * Sets the motor Power * @@ -20,21 +20,6 @@ public interface TargetMotor{ */ public double getTargetPower(); - - /** - * Sets weather the motor runs the default way , or inverted - * - * @param inverted true for inverted, false for normal - */ - public void setInverted(boolean inverted); - - /** - * Gets weather the motor is inverted - * - * @return true if the motor is inverted - */ - public boolean getInverted(); - /** * Sets the motor position * diff --git a/src/main/java/org/montclairrobotics/alloy/core/UniversalMotor.java b/src/main/java/org/montclairrobotics/alloy/core/UniversalMotor.java deleted file mode 100644 index 5502a42..0000000 --- a/src/main/java/org/montclairrobotics/alloy/core/UniversalMotor.java +++ /dev/null @@ -1,10 +0,0 @@ -package org.montclairrobotics.alloy.core; - -/** - * Created by MHS Robotics on 2/25/2018. - * - * @author Garrett Burroughs - * @since - */ -public interface UniversalMotor extends TargetMotor, PoweredMotor { -} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java index 39b620d..eed7b81 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java @@ -2,24 +2,28 @@ import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorSimple; -import org.montclairrobotics.alloy.core.PoweredMotor; +import org.montclairrobotics.alloy.core.Motor; import org.montclairrobotics.alloy.core.RobotCore; import org.montclairrobotics.alloy.core.TargetMotor; -import org.montclairrobotics.alloy.core.UniversalMotor; /** * Created by MHS Robotics on 11/14/2017. * - * FTCMotor is a class that dynamically switches a motor's runmode - * depending on what functionality is being used + * FTCMotor is a basic implementation of a motor used for FTC. + * Basic FTC motors can be controlled using motor power but can + * not have their positions set using encoders. If you wish to + * set a motors position + * @see FTCTargetMotor * * @author Garrett Burroughs * @since 0.1 */ -public class FTCMotor extends FTCMotorBase implements UniversalMotor { +public class FTCMotor implements Motor { + + DcMotor motor; public FTCMotor(String motorConfiguration) { - super(motorConfiguration); + motor = RobotCore.getHardwareMap().dcMotor.get(motorConfiguration); } /** @@ -44,44 +48,24 @@ public double getMotorPower() { } /** - * Sets the power at which the motor will move when set to a position - * - * @param power the power that the motor will be set to (0-1 inclusive ) - */ - @Override - public void setTargetPower(double power) { - motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); - motor.setPower(power); - } - - /** - * Gets the motor power - * - * @return the current motor power, a value between (0-1) - */ - @Override - public double getTargetPower() { - return motor.getPower(); - } - - /** - * Sets the motor position + * Sets weather the motor runs the default way , or inverted * - * @param position the position the motor will be set to (in encoder ticks) + * @param inverted true for inverted, false for normal */ - @Override - public void setPosition(int position) { - motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); - motor.setTargetPosition(position); + public void setInverted(boolean inverted) { + if(inverted) { + motor.setDirection(DcMotorSimple.Direction.REVERSE); + } else{ + motor.setDirection(DcMotorSimple.Direction.FORWARD); + } } /** - * Gets the motors position + * Gets weather the motor is inverted * - * @return the position that the motor is at (in encoder ticks) + * @return true if the motor is inverted */ - @Override - public double getPosition() { - return motor.getCurrentPosition(); + public boolean getInverted() { + return motor.getDirection() == DcMotorSimple.Direction.REVERSE ? true : false; } } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotorBase.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotorBase.java deleted file mode 100644 index c3c4c4d..0000000 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotorBase.java +++ /dev/null @@ -1,44 +0,0 @@ -package org.montclairrobotics.alloy.ftc; - -import com.qualcomm.robotcore.hardware.DcMotor; -import com.qualcomm.robotcore.hardware.DcMotorSimple; -import org.montclairrobotics.alloy.core.RobotCore; - -/** - * Created by MHS Robotics on 2/25/2018. - * - * FTCMotorBase is the base class that contains all of the methods - * that every motor has - * - * @author Garrett Burroughs - * @since - */ -public class FTCMotorBase { - DcMotor motor; - - public FTCMotorBase(String motorConfiguration) { - motor = RobotCore.getHardwareMap().dcMotor.get(motorConfiguration); - } - - /** - * Sets weather the motor runs the default way , or inverted - * - * @param inverted true for inverted, false for normal - */ - public void setInverted(boolean inverted) { - if(inverted) { - motor.setDirection(DcMotorSimple.Direction.REVERSE); - } else{ - motor.setDirection(DcMotorSimple.Direction.FORWARD); - } - } - - /** - * Gets weather the motor is inverted - * - * @return true if the motor is inverted - */ - public boolean getInverted() { - return motor.getDirection() == DcMotorSimple.Direction.REVERSE ? true : false; - } -} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCPoweredMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCPoweredMotor.java deleted file mode 100644 index bcf3b10..0000000 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCPoweredMotor.java +++ /dev/null @@ -1,60 +0,0 @@ -package org.montclairrobotics.alloy.ftc; - -import com.qualcomm.robotcore.hardware.DcMotor; -import com.qualcomm.robotcore.hardware.DcMotorSimple; -import org.montclairrobotics.alloy.core.PoweredMotor; -import org.montclairrobotics.alloy.core.RobotCore; - -/** - * Created by MHS Robotics on 2/24/2018. - * - * A powered motor is a motor that is controlled by setting motor voltage - * A powered motor takes care of setting the motor configuration as well - * as setting the motor runmode do not change the robot runmode, if you - * plan to use a motor that is both controlled by voltage and position - * use FTCMotor - * @see FTCMotor - * - * @author Garrett Burroughs - * @since 0.1 - */ -public class FTCPoweredMotor extends FTCMotorBase implements PoweredMotor { - - public FTCPoweredMotor(String motorConfiguration) { - super(motorConfiguration); - } - - /** - * Sets the motor Power - * - * @param power the power that the motor will be set to (0-1 inclusive ) - */ - @Override - public void setMotorPower(double power) { - motor.setPower(power); - } - - /** - * Gets the motor power - * - * @return the current motor power, a value between (0-1) - */ - @Override - public double getMotorPower() { - return motor.getPower(); - } - - /** - * Sets weather the motor runs the default way , or inverted - * - * @param inverted true for inverted, false for normal - */ - - - /** - * @return the motor being controlled - */ - public DcMotor getMotor() { - return motor; - } -} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index 7521599..bbc995d 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -19,7 +19,7 @@ * @author Garrett Burroughs * @since 0.1 */ -public class FTCTargetMotor extends FTCMotorBase implements TargetMotor { +public class FTCTargetMotor extends FTCMotor implements TargetMotor { public FTCTargetMotor(String motorConfiguration) { super(motorConfiguration); motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); @@ -58,6 +58,7 @@ enum Mode{ @Override public void setPosition(int position) { if(runmode == Mode.DEFAULT){ + motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); motor.setTargetPosition(position); }else{ pid.setTarget(position); @@ -117,6 +118,7 @@ public void disablePID(){ @Update public void update() { if(runmode == Mode.CUSTOM){ + motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); setTargetPower(pid.get()); } } diff --git a/src/main/java/org/montclairrobotics/alloy/test/Shooter.java b/src/main/java/org/montclairrobotics/alloy/test/Shooter.java index e7a3ce2..8a658b8 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/Shooter.java +++ b/src/main/java/org/montclairrobotics/alloy/test/Shooter.java @@ -1,12 +1,12 @@ package org.montclairrobotics.alloy.test; -import org.montclairrobotics.alloy.core.PoweredMotor; +import org.montclairrobotics.alloy.core.Motor; import org.montclairrobotics.alloy.ftc.FTCMotor; import org.montclairrobotics.alloy.utils.Toggleable; public class Shooter extends Toggleable { - PoweredMotor motorR = new FTCMotor("Right PoweredMotor"); - PoweredMotor motorL = new FTCMotor("Left PoweredMotor"); + Motor motorR = new FTCMotor("Right PoweredMotor"); + Motor motorL = new FTCMotor("Left PoweredMotor"); @Override From cbb1c8d27a5e816e7323211088e959db1535cb69 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 29 Apr 2018 04:33:10 -0400 Subject: [PATCH 06/54] Update README.md --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index c26426d..cb6cd24 100644 --- a/README.md +++ b/README.md @@ -6,8 +6,8 @@ Status: **Beta** Developed by FTC147 and FRC555 -The goal of alloy is to provide a robot framework that allows anyone, including new programmers, to be able to implement -high functioning and quality code for their robots. In other terms, Alloy aims toprevent robot code from being a limiting +The goal of Alloy is to provide a robot framework that allows anyone, including new programmers, to be able to implement +high functioning and quality code for their robots. In other terms, Alloy aims to prevent robot code from being a limiting factor on the performance of the robot. @@ -16,8 +16,8 @@ with expandibility in mind. FRC implementation is possible and will be coming in Alloy is based off the FRC robot framework [Sprocket](https://github.com/MontclairRobotics/Sprocket), but redesigned to abstract away the more complex ideas but still allow for advanced robot functionality. -Any information regarding Alloy, including how it works, project structure, as well as in depth explanation on how to use all of the components -can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki). As well as a quick start guide. +Any information regarding Alloy, including how it works, project structure, as well as in-depth explanation on how to use all of the components +can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) as well as a [quick start guide](). From bfc9c2411b56cad403e9af13521e2686c4d4bd6a Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 6 May 2018 20:00:15 -0400 Subject: [PATCH 07/54] Started implementation of motor control elements --- .idea/compiler.xml | 9 -- .idea/misc.xml | 21 +-- .idea/modules.xml | 9 -- .idea/modules/Alloy_main.iml | 35 ----- .idea/vcs.xml | 2 +- Alloy.iml | 13 +- .../alloy/components/Component.java | 44 +++++- .../alloy/components/MotorComponent.java | 30 ---- .../montclairrobotics/alloy/core/Encoder.java | 141 ++++++++++++++++++ .../core/{PoweredMotor.java => Motor.java} | 12 +- .../alloy/core/TargetMotor.java | 11 +- .../alloy/core/UniversalMotor.java | 16 -- .../montclairrobotics/alloy/ftc/FTCMotor.java | 104 +++++-------- .../alloy/ftc/FTCMotorBase.java | 61 -------- .../alloy/ftc/FTCPoweredMotor.java | 91 ----------- .../alloy/ftc/FTCTargetMotor.java | 72 +++++---- .../montclairrobotics/alloy/motor/Mapper.java | 10 ++ .../alloy/motor/MotorGroup.java | 27 ++++ .../alloy/motor/MotorModule.java | 107 +++++++++++++ .../montclairrobotics/alloy/test/Shooter.java | 12 +- .../alloy/utils/Differential.java | 28 ++++ .../alloy/utils/ErrorCorrection.java | 7 + .../montclairrobotics/alloy/utils/PID.java | 25 +--- .../montclairrobotics/alloy/utils/Utils.java | 12 ++ 24 files changed, 464 insertions(+), 435 deletions(-) delete mode 100644 .idea/compiler.xml delete mode 100644 .idea/modules.xml delete mode 100644 .idea/modules/Alloy_main.iml delete mode 100644 src/main/java/org/montclairrobotics/alloy/components/MotorComponent.java create mode 100644 src/main/java/org/montclairrobotics/alloy/core/Encoder.java rename src/main/java/org/montclairrobotics/alloy/core/{PoweredMotor.java => Motor.java} (83%) delete mode 100644 src/main/java/org/montclairrobotics/alloy/core/UniversalMotor.java delete mode 100644 src/main/java/org/montclairrobotics/alloy/ftc/FTCMotorBase.java delete mode 100644 src/main/java/org/montclairrobotics/alloy/ftc/FTCPoweredMotor.java create mode 100644 src/main/java/org/montclairrobotics/alloy/motor/Mapper.java create mode 100644 src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java create mode 100644 src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java create mode 100644 src/main/java/org/montclairrobotics/alloy/utils/Differential.java create mode 100644 src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java create mode 100644 src/main/java/org/montclairrobotics/alloy/utils/Utils.java diff --git a/.idea/compiler.xml b/.idea/compiler.xml deleted file mode 100644 index 3446932..0000000 --- a/.idea/compiler.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml index 2a6099a..bc8d0a3 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -1,24 +1,7 @@ - - + - + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml deleted file mode 100644 index 2e3ae80..0000000 --- a/.idea/modules.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - \ No newline at end of file diff --git a/.idea/modules/Alloy_main.iml b/.idea/modules/Alloy_main.iml deleted file mode 100644 index d180623..0000000 --- a/.idea/modules/Alloy_main.iml +++ /dev/null @@ -1,35 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml index 94a25f7..35eb1dd 100644 --- a/.idea/vcs.xml +++ b/.idea/vcs.xml @@ -1,6 +1,6 @@ - + \ No newline at end of file diff --git a/Alloy.iml b/Alloy.iml index fea8e87..329f535 100644 --- a/Alloy.iml +++ b/Alloy.iml @@ -1,13 +1,2 @@ - - - - - - - - - - - - \ No newline at end of file + \ No newline at end of file diff --git a/src/main/java/org/montclairrobotics/alloy/components/Component.java b/src/main/java/org/montclairrobotics/alloy/components/Component.java index 761b82d..7a4e333 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/Component.java +++ b/src/main/java/org/montclairrobotics/alloy/components/Component.java @@ -7,9 +7,36 @@ import java.util.ArrayList; +/** + * The main component class that all components of alloy should extend + * + * Alloy is built of a system of components that all work together to operate a robot + * Components can be broken down into 2 simple parts + * -Physical Component + * -Input Component + * + * A physical component would include any part, feature, or function that is physically on the robot + * This can include things like motors, manipulators shooters, drivetrain, etc. + * + * An input component is more control based and includes things like buttons, joysticks, triggers, + * sensors, flow camera, optical control and anything else that would send an input to a physical component + * @see InputComponent + * + * All components have the ability to be toggled on and off as well as built in debug capability + * for easier testing and debugging of specific components. + * + * There is also a static list of all components that are created so that the updater can + * reference them. This means that you can have a method in a component be updated just by + * addint the @Update annotation + * + * @Author Garrett Burroughs + * @Version 0.1 + * @Since 0.1 + */ public abstract class Component extends Toggleable{ public static Debugger debugger; + private boolean debugMode = true; // // All components are added to the component arraylist so they can be updated public static ArrayList components; @@ -34,12 +61,27 @@ public void addDebugs(Iterable debugs){ } } + public void enableDebug(){ + debugMode = false; + } + + public void disableDebug(){ + debugMode = true; + } + @Update public void debug(){ - if(status.booleanValue()) { + if(status.booleanValue() && debugMode) { for (Debug debug : debugs) { debugger.debug(debug); } } } + + @Override + public void enableAction(){} + + @Override + public void disableAction(){} + } diff --git a/src/main/java/org/montclairrobotics/alloy/components/MotorComponent.java b/src/main/java/org/montclairrobotics/alloy/components/MotorComponent.java deleted file mode 100644 index 4c6dba2..0000000 --- a/src/main/java/org/montclairrobotics/alloy/components/MotorComponent.java +++ /dev/null @@ -1,30 +0,0 @@ -package org.montclairrobotics.alloy.components; - -import org.montclairrobotics.alloy.core.PoweredMotor; - -/** - * Created by MHS Robotics on 3/12/2018. - * - * @author Garrett Burroughs - * @since - */ -public class MotorComponent extends Component{ - - PoweredMotor motor; - - /** - * Method to be called when the toggleable is enabled - */ - @Override - public void enableAction() { - - } - - /** - * Method to be called when the toggleable is disabled - */ - @Override - public void disableAction() { - - } -} diff --git a/src/main/java/org/montclairrobotics/alloy/core/Encoder.java b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java new file mode 100644 index 0000000..1ca454f --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java @@ -0,0 +1,141 @@ +package org.montclairrobotics.alloy.core; + +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.utils.Differential; +import org.montclairrobotics.alloy.utils.Input; + + +/** + * A motor encoder that keeps track of kinematic information about the motor + * + * At a basic level hardware encoders are able to get how far a motor has gone + * as a unit of encoder ticks. The encoder class also calculates the acceleration + * anc velocity of the motor in terms of encoder ticks, and then the user can + * define the distance of unit to measure the motor in + */ +public abstract class Encoder extends InputComponent { + + /** + * An Object that calculates the change in position with respect to time (Velocity) + * Measured in Ticks per Second + */ + Differential calcVelocity; + + /** + * An Object that calculates the change in velocity with respect to time (Acceleration) + * Measured in Ticks per Second per Second + */ + Differential calcAcceleration; + + /** + * How far the motor goes for each encoder tick + * NOTE : It is very important that distances are consistent + */ + private double distancePerTick; + + /** + * Max speed that the motor can go + * Measured in Ticks per Second + */ + private double maxSpeed; + + /** + * A method that should be overridden by the encoder + * + * @return the raw value of encoder ticks that the encoder reads + */ + public abstract int getTicks(); + + public Encoder(double distancePerTick, double maxSpeed) { + this.distancePerTick = distancePerTick; + setInput(() -> getTicks()); + calcVelocity = new Differential((Input) () -> (double)getTicks()); + calcAcceleration = new Differential(calcVelocity); + } + + /** + * Create a new encoder with default values + */ + public Encoder(){ + this(1.0, 1.0); + } + + /** + * Set the distance per tick + * + * The distance per tick is the amount of distance the motor will move (or + * what the motor is attached to, eg wheel/lift) + * The distance unit should stay consistent throughout the robot project + * This method can also be daisychained as it returns a reference to itself + * + * @param distancePerTick how far the motor moves for 1 encoder tick + * @return the encoder + */ + public Encoder setDistancePerTick(double distancePerTick) { + this.distancePerTick = distancePerTick; + return this; + } + + /** + * Set the max speed (In Ticks per Second) that the motor can run + * + * @param maxSpeed max speed that the motor can run + * @return the encoder + */ + public Encoder setMaxSpeed(double maxSpeed){ + this.maxSpeed = maxSpeed; + return this; + } + + /** + * Get the velocity in Ticks per Second + * + * @return velocity in ticks per second + */ + public double getRawVelocity(){ + return calcVelocity.get(); + } + + /** + * Get the acceleration in ticks per second per second + * + * @return acceleration in ticks per second per second + */ + private double getRawAcceleration(){ + return calcAcceleration.get(); + } + + /** + * Get the velocity in distance per second + * The distance is set by the distance per tick method, + * it is important to keep distances consistent throughout + * the project. + * + * @return velocity in distance per second + */ + public double getVelocity(){ + return getRawVelocity() / distancePerTick; + } + + /** + * Get the acceleration in distance per second + * The distance is set by the distance per tick method, + * it is important to keep distances consistent throughout + * + * @return acceleration in distance per second + */ + public double getAcceleration(){ + return getRawAcceleration() / distancePerTick; + } + + + /** + * Get a scaled value (0 - 1) of how fast the motor is going + * + * @return a value 0 - 1 depending on how fast the motor is going + */ + public double getScaledVelocity(){ + return getRawVelocity() / maxSpeed; + } + +} diff --git a/src/main/java/org/montclairrobotics/alloy/core/PoweredMotor.java b/src/main/java/org/montclairrobotics/alloy/core/Motor.java similarity index 83% rename from src/main/java/org/montclairrobotics/alloy/core/PoweredMotor.java rename to src/main/java/org/montclairrobotics/alloy/core/Motor.java index 57f2831..cc23e02 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/PoweredMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Motor.java @@ -1,5 +1,8 @@ package org.montclairrobotics.alloy.core; + +import org.montclairrobotics.alloy.components.Component; + import java.util.ArrayList; /** @@ -12,7 +15,7 @@ * @since 0.1 * */ -public interface PoweredMotor { +public interface Motor { /** * Sets the motor Power * @@ -41,11 +44,4 @@ public interface PoweredMotor { * @return true if the motor is inverted */ public boolean getInverted(); - - /** - * gets the debug information for the motor - * - * @return the motor debugs - */ - public ArrayList getDebugs(); } diff --git a/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java b/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java index d783c1c..1da71e8 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java @@ -7,7 +7,7 @@ * Target motor is a motor interface for motors that have encoders. * Target motors can set encoder positions using PID control */ -public interface TargetMotor{ +public interface TargetMotor extends Motor{ /** * Sets the motor Power * @@ -49,12 +49,5 @@ public interface TargetMotor{ * * @return the position that the motor is at (in encoder ticks) */ - public double getPosition(); - - /** - * Gets the debug information of the motor - * - * @return the debugs for the motor - */ - public ArrayList getDebugs(); + public int getPosition(); } diff --git a/src/main/java/org/montclairrobotics/alloy/core/UniversalMotor.java b/src/main/java/org/montclairrobotics/alloy/core/UniversalMotor.java deleted file mode 100644 index bae027e..0000000 --- a/src/main/java/org/montclairrobotics/alloy/core/UniversalMotor.java +++ /dev/null @@ -1,16 +0,0 @@ -package org.montclairrobotics.alloy.core; - -/** - * Created by MHS Robotics on 2/25/2018. - * - * A universal motor is a motor that has the ability to both be controlled by motor power - * As well as controlled by encoder position. In FTC this also means dynamically switching - * the modes that the motor is in - * @see TargetMotor - * @see PoweredMotor - * - * @author Garrett Burroughs - * @since - */ -public interface UniversalMotor extends TargetMotor, PoweredMotor { -} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java index 79abf6e..925a1df 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java @@ -2,27 +2,39 @@ import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorSimple; +import org.montclairrobotics.alloy.components.Component; import org.montclairrobotics.alloy.core.*; import org.montclairrobotics.alloy.update.Update; import org.montclairrobotics.alloy.utils.Input; +import java.awt.*; import java.util.ArrayList; /** * Created by MHS Robotics on 11/14/2017. * - * FTCMotor is a class that dynamically switches a motor's runmode - * depending on what functionality is being used + * The basic motor for use in FTC. Basic motors are not aware of encoders and + * are not recommended for use in FTC as all motors come with encoders + * * * @author Garrett Burroughs * @since 0.1 */ -public class FTCMotor extends FTCMotorBase implements UniversalMotor { +public class FTCMotor extends Component implements Motor { - private double power; + /** + * The physical hardware motor reference to the motor being controlled + */ + public DcMotor motor; + + /** + * The power that the motor should be running at + */ + public double power; public FTCMotor(String motorConfiguration) { - super(motorConfiguration); + motor = RobotCore.getHardwareMap().dcMotor.get(motorConfiguration); + addDebug(new Debug(motorConfiguration + " Motor Power: ", (Input) () -> power)); } /** @@ -45,90 +57,46 @@ public void setMotorPower(double power) { public double getMotorPower() { return motor.getPower(); } - - /** - * Sets the power at which the motor will move when set to a position - * - * @param power the power that the motor will be set to (0-1 inclusive ) - */ - @Override - public void setTargetPower(double power) { - motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); - this.power = power; - } - - /** - * Gets the motor power - * - * @return the current motor power, a value between (0-1) - */ - @Override - public double getTargetPower() { - return motor.getPower(); - } - + /** - * Sets the motor position + * Sets whether the motor runs the default way , or inverted * - * @param position the position the motor will be set to (in encoder ticks) + * @param inverted true for inverted, false for normal */ @Override - public void setPosition(int position) { - motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); - motor.setTargetPosition(position); + public void setInverted(boolean inverted) { + if (inverted) { + motor.setDirection(DcMotorSimple.Direction.REVERSE); + } else { + motor.setDirection(DcMotorSimple.Direction.FORWARD); + } } - + /** - * Gets the motors position + * Gets weather the motor is inverted * - * @return the position that the motor is at (in encoder ticks) + * @return true if the motor is inverted */ @Override - public double getPosition() { - return motor.getCurrentPosition(); + public boolean getInverted() { + return motor.getDirection() == DcMotorSimple.Direction.REVERSE ? true : false; } @Update public void updateMotor(){ + + // Set Motor Power if it is enabled if(status.booleanValue()){ motor.setPower(power); }else{ motor.setPower(0); } + } - /** - * @return the motor position, and powers - */ @Override - public ArrayList getDebugs(){ - ArrayList motorDebugs = new ArrayList<>(); - - motorDebugs.add(new Debug("Motor Power", new Input(){ - - @Override - public Double get() { - return getMotorPower(); - } - })); - - motorDebugs.add(new Debug("Motor Position", new Input(){ - - @Override - public Double get() { - return getPosition(); - } - })); - - motorDebugs.add(new Debug("Target Power", new Input(){ - - @Override - public Double get() { - return getTargetPower(); - } - })); - - return motorDebugs; + public void disableAction() { + motor.setPower(0); } } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotorBase.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotorBase.java deleted file mode 100644 index 56c6418..0000000 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotorBase.java +++ /dev/null @@ -1,61 +0,0 @@ -package org.montclairrobotics.alloy.ftc; - -import com.qualcomm.robotcore.hardware.DcMotor; -import com.qualcomm.robotcore.hardware.DcMotorSimple; -import org.montclairrobotics.alloy.components.Component; -import org.montclairrobotics.alloy.core.RobotCore; - -/** - * Created by MHS Robotics on 2/25/2018. - * - * FTCMotorBase is the base class that contains all of the methods - * that every motor has - * - * @author Garrett Burroughs - * @since - */ -public class FTCMotorBase extends Component{ - DcMotor motor; - - public FTCMotorBase(String motorConfiguration) { - motor = RobotCore.getHardwareMap().dcMotor.get(motorConfiguration); - } - - /** - * Sets weather the motor runs the default way , or inverted - * - * @param inverted true for inverted, false for normal - */ - public void setInverted(boolean inverted) { - if(inverted) { - motor.setDirection(DcMotorSimple.Direction.REVERSE); - } else{ - motor.setDirection(DcMotorSimple.Direction.FORWARD); - } - } - - /** - * Gets weather the motor is inverted - * - * @return true if the motor is inverted - */ - public boolean getInverted() { - return motor.getDirection() == DcMotorSimple.Direction.REVERSE ? true : false; - } - - /** - * Method to be called when the toggleable is enabled - */ - @Override - public void enableAction() { - - } - - /** - * Method to be called when the toggleable is disabled - */ - @Override - public void disableAction() { - - } -} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCPoweredMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCPoweredMotor.java deleted file mode 100644 index 9c185e4..0000000 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCPoweredMotor.java +++ /dev/null @@ -1,91 +0,0 @@ -package org.montclairrobotics.alloy.ftc; - -import com.qualcomm.robotcore.hardware.DcMotor; -import com.qualcomm.robotcore.hardware.DcMotorSimple; -import org.montclairrobotics.alloy.core.Debug; -import org.montclairrobotics.alloy.core.PoweredMotor; -import org.montclairrobotics.alloy.core.RobotCore; -import org.montclairrobotics.alloy.update.Update; -import org.montclairrobotics.alloy.utils.Input; - -import java.util.ArrayList; -import java.util.Arrays; - -/** - * Created by MHS Robotics on 2/24/2018. - * - * A powered motor is a motor that is controlled by setting motor voltage - * A powered motor takes care of setting the motor configuration as well - * as setting the motor runmode do not change the robot runmode, if you - * plan to use a motor that is both controlled by voltage and position - * use FTCMotor - * @see FTCMotor - * - * @author Garrett Burroughs - * @since 0.1 - */ -public class FTCPoweredMotor extends FTCMotorBase implements PoweredMotor { - - private double power; - - public FTCPoweredMotor(String motorConfiguration) { - super(motorConfiguration); - } - - /** - * Sets the motor Power - * - * @param power the power that the motor will be set to (0-1 inclusive ) - */ - @Override - public void setMotorPower(double power) { - this.power = power; - } - - /** - * Gets the motor power - * - * @return the current motor power, a value between (0-1) - */ - @Override - public double getMotorPower() { - return motor.getPower(); - } - - /** - * gets the debug information for the motor - * - * @return the motor debugs - */ - @Override - public ArrayList getDebugs() { - ArrayList motorDebugs = new ArrayList<>(); - - motorDebugs.add(new Debug("Motor Power", new Input(){ - - @Override - public Double get() { - return getMotorPower(); - } - })); - - return motorDebugs; - } - - @Update - public void motorUpdate(){ - if(status.booleanValue()){ - motor.setPower(power); - }else{ - motor.setPower(0); - } - } - - - /** - * @return the motor being controlled - */ - public DcMotor getMotor() { - return motor; - } -} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index 0d1399d..f71d621 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -2,6 +2,7 @@ import com.qualcomm.robotcore.hardware.DcMotor; import org.montclairrobotics.alloy.core.Debug; +import org.montclairrobotics.alloy.core.Encoder; import org.montclairrobotics.alloy.core.TargetMotor; import org.montclairrobotics.alloy.update.Update; import org.montclairrobotics.alloy.utils.Input; @@ -23,13 +24,16 @@ * @author Garrett Burroughs * @since 0.1 */ -public class FTCTargetMotor extends FTCMotorBase implements TargetMotor { +public class FTCTargetMotor extends FTCMotor implements TargetMotor { - private double power; + private double targetPower; public FTCTargetMotor(String motorConfiguration) { super(motorConfiguration); motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); + addDebug(new Debug(motorConfiguration + " Motor Power: ", (Input) () -> power)); + addDebug(new Debug(motorConfiguration + " Motor Position: ", (Input) () -> getPosition())); + addDebug(new Debug(motorConfiguration + " Target Motor Power: ", (Input) () -> targetPower)); } enum Mode{ @@ -67,7 +71,7 @@ public void setPosition(int position) { if(runmode == Mode.DEFAULT){ motor.setTargetPosition(position); }else{ - pid.setTarget(position); + pid.setTarget((double)position); } } @@ -77,38 +81,10 @@ public void setPosition(int position) { * @return the position that the motor is at (in encoder ticks) */ @Override - public double getPosition() { + public int getPosition() { return motor.getCurrentPosition(); } - /** - * Gets the debug information of the motor - * - * @return the debugs for the motor - */ - @Override - public ArrayList getDebugs() { - ArrayList motorDebugs = new ArrayList<>(); - - motorDebugs.add(new Debug("Motor Position", new Input(){ - - @Override - public Double get() { - return getPosition(); - } - })); - - motorDebugs.add(new Debug("Motor Power", new Input(){ - - @Override - public Double get() { - return getTargetPower(); - } - })); - - return motorDebugs; - } - /** * Sets the motor Power * @@ -116,7 +92,8 @@ public Double get() { */ @Override public void setTargetPower(double power) { - this.power = power; + motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); + this.targetPower = power; } /** @@ -151,13 +128,18 @@ public void disablePID(){ */ @Update public void update() { - if(status.booleanValue()) { - if (runmode == Mode.CUSTOM) { - setTargetPower(pid.get()); + if(status.booleanValue()) { // Check if enabled + if(motor.getMode() == DcMotor.RunMode.RUN_TO_POSITION){ + if (runmode == Mode.CUSTOM) { + setTargetPower(pid.get()); // If running using custom PID mode, set power to PID output + }else{ + motor.setPower(targetPower); // If running in default target mode, set the target power + } + }else{ + motor.setPower(power); // If running by power, set the power } - motor.setPower(power); }else{ - motor.setPower(0); + motor.setPower(0); // If disabled, set power to 0 } } @@ -182,4 +164,18 @@ public DcMotor getMotor() { public Mode getRunmode() { return runmode; } + + /** + * Allows for the creation of an encoder object that is aware of the amount of ticks the motor has gone + * + * @return a new encoder object that will return the amount of encoder ticks the motor is at + */ + public Encoder getEncoder(){ + return new Encoder() { + @Override + public int getTicks() { + return getPosition(); + } + }; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java b/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java new file mode 100644 index 0000000..50837e0 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java @@ -0,0 +1,10 @@ +package org.montclairrobotics.alloy.motor; + +import org.montclairrobotics.alloy.components.Component; +import org.montclairrobotics.alloy.core.Motor; + +import java.util.ArrayList; + +public interface Mapper { + public void map(T input, MotorModule modules); +} diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java new file mode 100644 index 0000000..00afb5a --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java @@ -0,0 +1,27 @@ +package org.montclairrobotics.alloy.motor; + +import org.montclairrobotics.alloy.components.Component; + +import java.util.ArrayList; + + +/** + * A motor group is a group of motor modules that run together + * + * A motor group should control any collection of motors that + * take an input, and then maps the output to a set of motors + * that run together. For example in a lift mechanism there + * may be 2 motor that both run in the same direction but + * one should be inverted to lift the lift up. The modules + * would define what direction the motors are running in + * the mapper would define that they need to run in opposite + * directions and the MotorGroup would run the motors together + * fully operating the lift. This could work with other things + * like an intake, shooter or other manipulator that requires + * multiple motors running together from one input + */ +public class MotorGroup extends Component { + + public Mapper mapper; + public ArrayList modules; +} diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java new file mode 100644 index 0000000..ddae964 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java @@ -0,0 +1,107 @@ +package org.montclairrobotics.alloy.motor; + +import org.montclairrobotics.alloy.components.Component; +import org.montclairrobotics.alloy.core.Encoder; +import org.montclairrobotics.alloy.core.Motor; +import org.montclairrobotics.alloy.update.Update; +import org.montclairrobotics.alloy.utils.ConstantInput; +import org.montclairrobotics.alloy.utils.Input; +import org.montclairrobotics.alloy.utils.PID; +import org.montclairrobotics.alloy.vector.Vector; + +import java.util.ArrayList; +import java.util.Arrays; + +/** + * Highly Functional set of motors that run together + * + * A motor module consists of multiple motors that run together + * in the same direction. Modules are aware of what direction + * the run in so they can be used in MoroGroups to be run together + * with other modules. Modules can also be controlled with an + * encoder and a PID to ensure that the are going the right + * speed. + * + * @Author Garrett Burroughs + * @Version 0.1 + * @Since 0.1 + */ +public class MotorModule extends Component { + /** + * The motors that the module will control + */ + public ArrayList motors; + + /** + * The direction that the modules run + * This is for use in a motor group running + * with different modules + */ + public Vector direction; + + /** + * A PID controller that will control the + */ + public PID powerControl; + public Encoder encoder; + public double targetPower; + + public MotorModule(Vector direction, Encoder encoder, PID powerControl, Motor ... motors){ + this.direction = direction; + this.motors = new ArrayList<>(Arrays.asList(motors)); + this.powerControl = powerControl; + this.encoder = encoder; + try { + powerControl.setInput(() -> encoder.getScaledVelocity()); + }catch(NullPointerException e){ + powerControl.setInput(new ConstantInput(0.0)); + } + } + + public MotorModule(Vector direction, Motor ... motors){ + this(direction, null, null, motors); + } + + + public MotorModule setEncoder(Encoder encoder){ + this.encoder = encoder; + return this; + } + + public MotorModule setPID(PID powerControl){ + this.powerControl = powerControl; + return this; + } + + @Update + public void powerCorrection(){ + if(status.booleanValue()){ // Check if its enabled + for(Motor m : motors){ + if(powerControl != null) { + m.setMotorPower(targetPower + powerControl.get()); + }else{ + m.setMotorPower(targetPower); + } + } + }else{ // If disabled, set the power to 0 + for(Motor m : motors){ + m.setMotorPower(0); + } + } + } + + public void setPower(double power){ + targetPower = power; + powerControl.setTarget(power); + } + + /** + * Method to be called when the toggleable is disabled + */ + @Override + public void disableAction() { + for(Motor m : motors){ + m.setMotorPower(0); + } + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/test/Shooter.java b/src/main/java/org/montclairrobotics/alloy/test/Shooter.java index f616084..c31aa3b 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/Shooter.java +++ b/src/main/java/org/montclairrobotics/alloy/test/Shooter.java @@ -1,21 +1,15 @@ package org.montclairrobotics.alloy.test; import org.montclairrobotics.alloy.components.Component; -import org.montclairrobotics.alloy.core.Debug; -import org.montclairrobotics.alloy.core.PoweredMotor; +import org.montclairrobotics.alloy.core.Motor; import org.montclairrobotics.alloy.ftc.FTCMotor; -import org.montclairrobotics.alloy.utils.Toggleable; - -import java.util.ArrayList; public class Shooter extends Component { - PoweredMotor motorR = new FTCMotor("Right PoweredMotor"); - PoweredMotor motorL = new FTCMotor("Left PoweredMotor"); + Motor motorR = new FTCMotor("Right Motor"); + Motor motorL = new FTCMotor("Left Motor"); public Shooter(){ super(); - addDebugs(motorL.getDebugs()); - addDebugs(motorR.getDebugs()); } @Override diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Differential.java b/src/main/java/org/montclairrobotics/alloy/utils/Differential.java new file mode 100644 index 0000000..a60ad09 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/utils/Differential.java @@ -0,0 +1,28 @@ +package org.montclairrobotics.alloy.utils; + +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.update.Update; + +public class Differential extends InputComponent { + Input input; + + double prevTime; + double prevIn; + + public Differential(Input in){ + input = in; + } + + @Update + public void calculateDifferential(){ + double elapsedTime = System.nanoTime() - prevTime; + double elapsedIn = input.get() - prevIn; + if(System.nanoTime() != 0) { + output = elapsedIn / elapsedTime; + }else{ + output = 0.0; + } + prevIn = input.get(); + prevTime = System.nanoTime(); + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java new file mode 100644 index 0000000..a6f66df --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java @@ -0,0 +1,7 @@ +package org.montclairrobotics.alloy.utils; + +public interface ErrorCorrection { + public void setInput(Input input); + public void setTarget(T target); + public T getCorrection(); +} diff --git a/src/main/java/org/montclairrobotics/alloy/utils/PID.java b/src/main/java/org/montclairrobotics/alloy/utils/PID.java index 30591d7..40e9bda 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/PID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/PID.java @@ -22,7 +22,7 @@ * @author Garrett Burroughs * @since 0.1 */ -public class PID extends InputComponent { +public class PID extends InputComponent implements ErrorCorrection { private double p; private double i; private double d; @@ -71,18 +71,16 @@ public PID(double p, double i, double d, Input input, double target) { this.target = target; } - public PID setTarget(double target){ + @Override + public void setTarget(Double target){ this.target = target; - return this; } + @Override public void setInput(Input input){ this.input = input; } - /** - * The update method should be defined for every updatable, and is called every loop if added to the updater - */ @Update public void update() { @@ -120,19 +118,8 @@ public void update() { prevTime = System.currentTimeMillis()/1000d; } - /** - * Method to be called when the toggleable is enabled - */ @Override - public void enableAction() { - - } - - /** - * Method to be called when the toggleable is disabled - */ - @Override - public void disableAction() { - + public Double getCorrection(){ + return output; } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Utils.java b/src/main/java/org/montclairrobotics/alloy/utils/Utils.java new file mode 100644 index 0000000..afbd134 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/utils/Utils.java @@ -0,0 +1,12 @@ +package org.montclairrobotics.alloy.utils; + +public class Utils { + public static double constrain(double in, double min, double max){ + if(in > max){ + return max; + }else if(in < min){ + return min; + } + return in; + } +} From 2409e2bd36f6b8a87f33b85fc3771da18d2b01a8 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 6 May 2018 21:39:27 -0400 Subject: [PATCH 08/54] Added Spotless code formatter https://github.com/diffplug/spotless to clean up and organize code --- .idea/modules.xml | 1 - .idea/modules/Alloy_main.iml | 25 +-- .idea/modules/Alloy_test.iml | 28 +--- Alloy.iml | 1 + README.md | 97 ++++++----- SpotlessLicense | 23 +++ build.gradle | 28 +++- gradle/wrapper/gradle-wrapper.properties | 3 +- gradlew | 0 .../alloy/auto/AlloyAutonomous.java | 34 +++- .../montclairrobotics/alloy/auto/README.md | 4 +- .../montclairrobotics/alloy/auto/State.java | 44 +++-- .../alloy/auto/StateMachine.java | 74 +++++---- .../alloy/control/ButtonAction.java | 77 +++++---- .../montclairrobotics/alloy/control/README.md | 10 +- .../alloy/control/ToggleButton.java | 71 ++++---- .../montclairrobotics/alloy/core/Alloy.java | 57 ++++--- .../montclairrobotics/alloy/core/Button.java | 32 +++- .../montclairrobotics/alloy/core/Debug.java | 33 +++- .../alloy/core/Joystick.java | 26 ++- .../montclairrobotics/alloy/core/Mode.java | 34 +++- .../montclairrobotics/alloy/core/Motor.java | 29 +++- .../montclairrobotics/alloy/core/README.md | 4 +- .../alloy/core/RobotCore.java | 67 +++++--- .../alloy/core/TargetMotor.java | 34 +++- .../alloy/drive/DTMapper.java | 23 +++ .../alloy/drive/DriveTrain.java | 26 ++- .../alloy/ftc/FTCButton.java | 88 ++++++---- .../montclairrobotics/alloy/ftc/FTCDebug.java | 32 +++- .../alloy/ftc/FTCJoystick.java | 42 +++-- .../montclairrobotics/alloy/ftc/FTCMotor.java | 49 ++++-- .../alloy/ftc/FTCTargetMotor.java | 86 +++++----- .../montclairrobotics/alloy/test/Shooter.java | 24 ++- .../alloy/test/TestRobot.java | 40 ++++- .../alloy/update/Updatable.java | 27 ++- .../alloy/update/Update.java | 24 +++ .../alloy/update/Updater.java | 70 +++++--- .../montclairrobotics/alloy/utils/Input.java | 23 +++ .../montclairrobotics/alloy/utils/PID.java | 87 ++++++---- .../alloy/utils/Toggleable.java | 94 ++++++----- .../alloy/utils/TuneablePID.java | 26 ++- .../montclairrobotics/alloy/vector/Angle.java | 86 +++++----- .../montclairrobotics/alloy/vector/Polar.java | 138 ++++++++------- .../alloy/vector/Vector.java | 157 +++++++++--------- .../montclairrobotics/alloy/vector/XY.java | 143 +++++++++------- 45 files changed, 1372 insertions(+), 749 deletions(-) create mode 100644 SpotlessLicense mode change 100644 => 100755 gradlew diff --git a/.idea/modules.xml b/.idea/modules.xml index 9d7946a..07de6c1 100644 --- a/.idea/modules.xml +++ b/.idea/modules.xml @@ -5,7 +5,6 @@ - \ No newline at end of file diff --git a/.idea/modules/Alloy_main.iml b/.idea/modules/Alloy_main.iml index b653b4a..795b244 100644 --- a/.idea/modules/Alloy_main.iml +++ b/.idea/modules/Alloy_main.iml @@ -1,25 +1,4 @@ - - - - - - - - - - - - - - - - - - - - - - - + + \ No newline at end of file diff --git a/.idea/modules/Alloy_test.iml b/.idea/modules/Alloy_test.iml index a3178d0..6b3eb10 100644 --- a/.idea/modules/Alloy_test.iml +++ b/.idea/modules/Alloy_test.iml @@ -1,29 +1,5 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - + + \ No newline at end of file diff --git a/Alloy.iml b/Alloy.iml index fea8e87..9dd3ce3 100644 --- a/Alloy.iml +++ b/Alloy.iml @@ -1,5 +1,6 @@ + diff --git a/README.md b/README.md index cb6cd24..a65a2dd 100644 --- a/README.md +++ b/README.md @@ -1,49 +1,48 @@ -# Alloy  [![Build Status](https://travis-ci.org/GarrettBurroughs/Alloy.svg?branch=master)](https://travis-ci.org/GarrettBurroughs/Alloy) [![CodeFactor](https://www.codefactor.io/repository/github/garrettburroughs/alloy/badge)](https://www.codefactor.io/repository/github/garrettburroughs/alloy) - -![AlloyLogo](http://gdurl.com/AFl8) - -Status: **Beta** - -Developed by FTC147 and FRC555 - -The goal of Alloy is to provide a robot framework that allows anyone, including new programmers, to be able to implement -high functioning and quality code for their robots. In other terms, Alloy aims to prevent robot code from being a limiting -factor on the performance of the robot. - - -Alloy is a robot framework designed specifically for the First Tech Challenge (FTC), but is also designed -with expandibility in mind. FRC implementation is possible and will be coming in the future. - -Alloy is based off the FRC robot framework [Sprocket](https://github.com/MontclairRobotics/Sprocket), but redesigned to abstract away the more complex ideas but still allow for advanced robot functionality. - -Any information regarding Alloy, including how it works, project structure, as well as in-depth explanation on how to use all of the components -can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) as well as a [quick start guide](). - - - -# FAQ - -### Q. What is the purpose of/how do I use ___? - -A. Every class is heavily documented as well as wiki articles explaining the use of more complex/important parts of alloy - -### Q. I tried to update ___ method using @Update, but it isn't working? - -A. The way alloy is designed, is that everything is split up into components, and a method can only be updated if it is within a component. -you can read more about this topic [Here](https://github.com/GarrettBurroughs/Alloy/wiki/Alloy-Update-System) - -### Q. What is a component/what is the difference between the components? -A. Different components have different purposes, for example, a control component would be used for an advanced control system, -whereas a motor component, or motor ocmponent group would be used to control a drivetrain or manipulator - -### Q. What if I don't want to use components? - -A. Things can be done in alloy without the use of components, but if you are designing code for a specific tool or component on the robot, -such as a shooter, drivetrain, or control system, it is highly recommended as components add extra functionality like toggleability, -easier debugging, and updateable methods. But again, all of this can be done without the use of components. - -### Q. ___ isn't working. - -A. If you have a problem first see our [Troubleshooting guide](https://github.com/GarrettBurroughs/Alloy/wiki/Troubleshooting-Guide). If that does not fix your problem you can file an [Issue](https://github.com/GarrettBurroughs/Alloy/issues/new) -using our issue template, please provide as much information as possible so we can fully understand the probelm and fix the issue. - +# Alloy  [![Build Status](https://travis-ci.org/GarrettBurroughs/Alloy.svg?branch=master)](https://travis-ci.org/GarrettBurroughs/Alloy) [![CodeFactor](https://www.codefactor.io/repository/github/garrettburroughs/alloy/badge)](https://www.codefactor.io/repository/github/garrettburroughs/alloy) + +![AlloyLogo](http://gdurl.com/AFl8) + +Status: **Beta** + +Developed by FTC147 and FRC555 + +The goal of Alloy is to provide a robot framework that allows anyone, including new programmers, to be able to implement +high functioning and quality code for their robots. In other terms, Alloy aims to prevent robot code from being a limiting +factor on the performance of the robot. + + +Alloy is a robot framework designed specifically for the First Tech Challenge (FTC), but is also designed +with expandibility in mind. FRC implementation is possible and will be coming in the future. + +Alloy is based off the FRC robot framework [Sprocket](https://github.com/MontclairRobotics/Sprocket), but redesigned to abstract away the more complex ideas but still allow for advanced robot functionality. + +Any information regarding Alloy, including how it works, project structure, as well as in-depth explanation on how to use all of the components +can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) as well as a [quick start guide](). + + + +# FAQ + +### Q. What is the purpose of/how do I use ___? + +A. Every class is heavily documented as well as wiki articles explaining the use of more complex/important parts of alloy + +### Q. I tried to update ___ method using @Update, but it isn't working? + +A. The way alloy is designed, is that everything is split up into components, and a method can only be updated if it is within a component. +you can read more about this topic [Here](https://github.com/GarrettBurroughs/Alloy/wiki/Alloy-Update-System) + +### Q. What is a component/what is the difference between the components? +A. Different components have different purposes, for example, a control component would be used for an advanced control system, +whereas a motor component, or motor ocmponent group would be used to control a drivetrain or manipulator + +### Q. What if I don't want to use components? + +A. Things can be done in alloy without the use of components, but if you are designing code for a specific tool or component on the robot, +such as a shooter, drivetrain, or control system, it is highly recommended as components add extra functionality like toggleability, +easier debugging, and updateable methods. But again, all of this can be done without the use of components. + +### Q. ___ isn't working. + +A. If you have a problem first see our [Troubleshooting guide](https://github.com/GarrettBurroughs/Alloy/wiki/Troubleshooting-Guide). If that does not fix your problem you can file an [Issue](https://github.com/GarrettBurroughs/Alloy/issues/new) +using our issue template, please provide as much information as possible so we can fully understand the probelm and fix the issue. diff --git a/SpotlessLicense b/SpotlessLicense new file mode 100644 index 0000000..31878a2 --- /dev/null +++ b/SpotlessLicense @@ -0,0 +1,23 @@ +/* +MIT License + +Copyright (c) $YEAR Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ \ No newline at end of file diff --git a/build.gradle b/build.gradle index 4482cb7..315f0e2 100644 --- a/build.gradle +++ b/build.gradle @@ -1,5 +1,11 @@ -apply plugin: 'java' -apply plugin: 'maven' +plugins { + id "com.diffplug.gradle.spotless" version "3.10.0" + id 'java' + id 'maven' +} + + + group = 'Alloy' version = '0.0.1-SNAPSHOT' @@ -12,13 +18,21 @@ targetCompatibility = 1.8 repositories { - - maven { url "http://repo.maven.apache.org/maven2" } + maven { url "http://repo.maven.apache.org/maven2" } + +} + +spotless { + java { + googleJavaFormat('1.1').aosp() + + licenseHeaderFile 'SpotlessLicense' + } } dependencies{ - testCompile 'junit:junit:4.12' - compile fileTree(dir: "src/main/libs/", include: ['*.jar']) - compile 'org.reflections:reflections:0.9.11' + testCompile 'junit:junit:4.12' + compile fileTree(dir: "src/main/libs/", include: ['*.jar']) + compile 'org.reflections:reflections:0.9.11' } diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index 2c2bbe5..6dfd77e 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,5 +1,6 @@ +#Sun May 06 20:16:45 EDT 2018 distributionBase=GRADLE_USER_HOME distributionPath=wrapper/dists zipStoreBase=GRADLE_USER_HOME zipStorePath=wrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-4.4.1-bin.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-4.4.1-all.zip diff --git a/gradlew b/gradlew old mode 100644 new mode 100755 diff --git a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java index 89f62e4..5ec0bf6 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.auto; import com.qualcomm.robotcore.eventloop.opmode.OpMode; @@ -7,16 +30,11 @@ * * @author Garrett Burroughs */ -public abstract class AlloyAutonomous extends OpMode{ - +public abstract class AlloyAutonomous extends OpMode { @Override - public void init() { - - } + public void init() {} @Override - public void loop() { - - } + public void loop() {} } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/README.md b/src/main/java/org/montclairrobotics/alloy/auto/README.md index 41048d5..91d5243 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/README.md +++ b/src/main/java/org/montclairrobotics/alloy/auto/README.md @@ -6,7 +6,7 @@ can be found in the auto package. ## Contents -1. State Machine - A state machine is an object that takes in a number of states and then runs them, states can be ran
+1. State Machine - A state machine is an object that takes in a number of states and then runs them, states can be ran
in a linear fashion by default, but can have more fine tuned control by the user. State machines can also be used outside
of auto modes to run states in teleop. State machines are also states themselves so a state machine can run another state machine @@ -16,4 +16,4 @@ when they have finished running 3. Alloy Autonomus - This is the basic framework for alloy auto's. An alloy autonomous takes care of running the state machine
that the auto is using so all the user has to do is create the state machine and define functionality. -You can read more about how to use an Alloy Autonomous [Here](https://github.com/GarrettBurroughs/Alloy/wiki/Creating-An-Auto-Mode) \ No newline at end of file +You can read more about how to use an Alloy Autonomous [Here](https://github.com/GarrettBurroughs/Alloy/wiki/Creating-An-Auto-Mode) diff --git a/src/main/java/org/montclairrobotics/alloy/auto/State.java b/src/main/java/org/montclairrobotics/alloy/auto/State.java index ebb5b45..e9b515d 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/State.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/State.java @@ -1,13 +1,36 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.auto; /** * Created by MHS Robotics on 12/16/2017. * - * States are designed to be passed in and run in a state machine. States can be used for + *

States are designed to be passed in and run in a state machine. States can be used for * Autonomous modes as well as autonomously doing actions in teleop. + * * @see StateMachine * @see AlloyAutonomous - * * @author Garrett Burroughs * @since 0.1 * @version 0.1 @@ -16,29 +39,24 @@ public abstract class State { Integer nextState = null; - /** - * The start method is the first thing called when the state is run - */ + /** The start method is the first thing called when the state is run */ public abstract void start(); - /** - * The run method is called every loop while the state is running - */ + /** The run method is called every loop while the state is running */ public abstract void run(); - /** - * The Stop method is the last thing called once the state is done - */ + /** The Stop method is the last thing called once the state is done */ public abstract void stop(); /** * IsDone should return true when the state is finished + * * @return true if the state is done */ public abstract boolean isDone(); - public int getNextState(int currentState){ - if(nextState != null){ + public int getNextState(int currentState) { + if (nextState != null) { return nextState; } return currentState + 1; diff --git a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java index 6f9cd4d..4c5f120 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java @@ -1,20 +1,39 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.auto; -import org.montclairrobotics.alloy.core.RobotCore; -import org.montclairrobotics.alloy.ftc.FTCDebug; - import java.util.ArrayList; /** * Created by MHS Robotics on 12/16/2017. * - * A state machine takes in states and runs them in a controlled order.
- * By default the states will run in a linear fashion and the next state will start - * when the previous state has finished.
- *
- * State machines can be used for controlling auto modes, - * but can also be ran in teleop modes for pre coded instructions that make driving easier. - * + *

A state machine takes in states and runs them in a controlled order.
+ * By default the states will run in a linear fashion and the next state will start when the + * previous state has finished.
+ *
+ * State machines can be used for controlling auto modes, but can also be ran in teleop modes for + * pre coded instructions that make driving easier. * * @author Garrett Burroughs * @since @@ -23,43 +42,36 @@ public class StateMachine extends State { ArrayList states; - /** - * Since state machines can run in a non linear fashion, the last state in the array - * may not be the last state in the state machine, finalState keeps track of what signifies the end - * of the state machine. The final state should not be in reference to an actual state, but a number that - * is outside the index of the state machine.
- * For example, if a state machine had 5 states in it, a valid final state would could be 6, and to end the state - * machine, you would simply have the last state you want to run, go to state 6 once it is done.
- * Note: even if your state machine is running in a linear fashion, it needs to have a final state. + * Since state machines can run in a non linear fashion, the last state in the array may not be + * the last state in the state machine, finalState keeps track of what signifies the end of the + * state machine. The final state should not be in reference to an actual state, but a number + * that is outside the index of the state machine.
+ * For example, if a state machine had 5 states in it, a valid final state would could be 6, and + * to end the state machine, you would simply have the last state you want to run, go to state 6 + * once it is done.
+ * Note: even if your state machine is running in a linear fashion, it needs to have a final + * state. */ Integer finalState; - public StateMachine(State ... states){ - - } + public StateMachine(State... states) {} @Override - public void start() { - - } + public void start() {} @Override - public void run() { - - } + public void run() {} @Override - public void stop() { - - } + public void stop() {} @Override public boolean isDone() { return false; } - public void addState(State state){ + public void addState(State state) { states.add(state); } } diff --git a/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java b/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java index 4a82752..7d42757 100644 --- a/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java +++ b/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java @@ -1,65 +1,76 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.control; import org.montclairrobotics.alloy.core.Button; -import org.montclairrobotics.alloy.update.Updatable; import org.montclairrobotics.alloy.update.Update; -import org.montclairrobotics.alloy.update.Updater; /** * Created by MHS Robotics on 2/11/2018. * - * Every Button action is tied to a button, and controls what - * happens when the button is pressed, held, unpressed, and released + *

Every Button action is tied to a button, and controls what happens when the button is pressed, + * held, unpressed, and released * * @author Garrett Burroughs * @since 0.1 */ -public abstract class ButtonAction { - +public abstract class ButtonAction { + public Button button; - - public ButtonAction(Button button){ + + public ButtonAction(Button button) { this.button = button; } - - - /** - * On pressed is called once, when the button goes from being unpressed, to pressed - */ + + /** On pressed is called once, when the button goes from being unpressed, to pressed */ public abstract void onPressed(); - - /** - * On released is called once, when the button goes from being pressed, to unpressed - */ + + /** On released is called once, when the button goes from being pressed, to unpressed */ public abstract void onReleased(); - - /** - * While pressed is called every loop while the button is pressed - */ + + /** While pressed is called every loop while the button is pressed */ public abstract void whilePressed(); - - /** - * While released is called every loop while the button is unpressed - */ + + /** While released is called every loop while the button is unpressed */ public abstract void whileReleased(); - + public boolean wasPressed = false; - + @Update public void update() { - if(button.getValue()){ + if (button.getValue()) { whilePressed(); - }else{ + } else { whileReleased(); } - if(wasPressed && !button.getValue()){ + if (wasPressed && !button.getValue()) { onReleased(); } - if(!wasPressed && button.getValue()){ + if (!wasPressed && button.getValue()) { onPressed(); } - - + wasPressed = button.getValue(); } } diff --git a/src/main/java/org/montclairrobotics/alloy/control/README.md b/src/main/java/org/montclairrobotics/alloy/control/README.md index f643833..828c0d0 100644 --- a/src/main/java/org/montclairrobotics/alloy/control/README.md +++ b/src/main/java/org/montclairrobotics/alloy/control/README.md @@ -1,13 +1,13 @@ # Control -The control package contains all of the classes that deal with the control features of the robot. +The control package contains all of the classes that deal with the control features of the robot. This is mostly includes the human to robot interaction as well as tools that help the user -control the robot. This package does not however, contain any autonomous robot control, that can be found +control the robot. This package does not however, contain any autonomous robot control, that can be found in the "auto" package -## Contents +## Contents -1. Button Action - Button actions are the way that functionality can be tied to buttons in alloy. A button action can +1. Button Action - Button actions are the way that functionality can be tied to buttons in alloy. A button action can have functionality defined for when a button is pressed, released, held, and un-held -2. Toggle Button - A toggle button is a button that is tied to a toggleable, they toggle the toggleable when the button +2. Toggle Button - A toggle button is a button that is tied to a toggleable, they toggle the toggleable when the button is pressed diff --git a/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java b/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java index a85371d..c6d5272 100644 --- a/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java +++ b/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java @@ -1,5 +1,27 @@ -package org.montclairrobotics.alloy.control; +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.control; import org.montclairrobotics.alloy.core.Button; import org.montclairrobotics.alloy.utils.Toggleable; @@ -7,52 +29,37 @@ /** * Created by MHS Robotics on 2/11/2018. * - * A ToggleButton is tied to a button and a toggleable, - * when the button is pressed the toggleable will - * toggle between states + *

A ToggleButton is tied to a button and a toggleable, when the button is pressed the toggleable + * will toggle between states + * * @see Toggleable * @see ButtonAction - * * @author Garrett Burroughs * @since 0.1 */ -public class ToggleButton extends ButtonAction{ +public class ToggleButton extends ButtonAction { Toggleable toggleable; - + public ToggleButton(Button button, Toggleable toggleable) { super(button); this.toggleable = toggleable; } - - /** - * On pressed is called once, when the button goes from being unpressed, to pressed - */ + + /** On pressed is called once, when the button goes from being unpressed, to pressed */ @Override public void onPressed() { toggleable.toggle(); } - - /** - * On released is called once, when the button goes from being pressed, to unpressed - */ + + /** On released is called once, when the button goes from being pressed, to unpressed */ @Override - public void onReleased() { - - } - - /** - * While pressed is called every loop while the button is pressed - */ + public void onReleased() {} + + /** While pressed is called every loop while the button is pressed */ @Override - public void whilePressed() { - - } - - /** - * While released is called every loop while the button is unpressed - */ + public void whilePressed() {} + + /** While released is called every loop while the button is unpressed */ @Override - public void whileReleased() { - - } + public void whileReleased() {} } diff --git a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java index 5a79c25..964c7cf 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.core; import com.qualcomm.robotcore.eventloop.opmode.OpMode; @@ -6,40 +29,35 @@ /** * Created by MHS Robotics on 11/13/2017. * - * The main purpose behind the alloy class is to controll how and when all of the mehotds in Robot are run - * as well as initialize all global variables + *

The main purpose behind the alloy class is to controll how and when all of the mehotds in + * Robot are run as well as initialize all global variables * * @author Garrett Burroughs * @version 0.1 * @since 0.1 - * */ -public abstract class Alloy extends OpMode{ - - +public abstract class Alloy extends OpMode { + /** - * The robotSetup is where all code specific to robot setup is placed - * If you only have one teleop this can be done in the initialization - * Method. robotSetup is called right after the robot core is initialized + * The robotSetup is where all code specific to robot setup is placed If you only have one + * teleop this can be done in the initialization Method. robotSetup is called right after the + * robot core is initialized */ public abstract void robotSetup(); - + /** - * The initialization method is were everything specific to the OpMode - * Should be set up. Initialization will be the first thing called after - * The robot setup. + * The initialization method is were everything specific to the OpMode Should be set up. + * Initialization will be the first thing called after The robot setup. */ public abstract void initialization(); /** - * Although most of the periodic actions are taken care by the updater, the user may want to - * add their own methods and code that need to be updated or run periodically, this can be done in - * the periodic() method - * periodic will be run every loop. + * Although most of the periodic actions are taken care by the updater, the user may want to add + * their own methods and code that need to be updated or run periodically, this can be done in + * the periodic() method periodic will be run every loop. */ public abstract void periodic(); - @Override public void init() { // Set Up the core robot components, This allows them to be accessed throughout the project @@ -49,8 +67,7 @@ public void init() { } @Override - public void loop() - { + public void loop() { Updater.update(); periodic(); } diff --git a/src/main/java/org/montclairrobotics/alloy/core/Button.java b/src/main/java/org/montclairrobotics/alloy/core/Button.java index d37d0aa..5c56181 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Button.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Button.java @@ -1,20 +1,42 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.core; /** * Created by MHS Robotics on 11/13/2017. * - * The button interface is implemented in ftc button - * The user can get the value of the button, - * In most cases this will be a Boolean (True if pressed, false if not), + *

The button interface is implemented in ftc button The user can get the value of the button, In + * most cases this will be a Boolean (True if pressed, false if not), * * @author Garrett Burroughs * @version 0.1 * @since 0.1 - * */ -public interface Button{ +public interface Button { /** * Gets the value of a button + * * @return returns the value of the button, in most case True(pressed) or False(unpressed) */ public boolean getValue(); diff --git a/src/main/java/org/montclairrobotics/alloy/core/Debug.java b/src/main/java/org/montclairrobotics/alloy/core/Debug.java index 27c4caa..6875349 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Debug.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Debug.java @@ -1,23 +1,44 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.core; /** * Created by MHS Robotics on 11/13/2017. * - * Debugs are used for debugging information to the user - * In ftc the debugs use Telemetry to read an output to the phone - * The debug allows for easier usage of the telemetry methods - * That are most used for debugging. + *

Debugs are used for debugging information to the user In ftc the debugs use Telemetry to read + * an output to the phone The debug allows for easier usage of the telemetry methods That are most + * used for debugging. * * @author Garrett Burroughs * @version 0.1 * @since 0.1 - * */ public interface Debug { /** * Debugs a value with a Key(Identifier) * - * @param key Name of the value + * @param key Name of the value * @param value Value to be debugged */ public void log(String key, Object value); diff --git a/src/main/java/org/montclairrobotics/alloy/core/Joystick.java b/src/main/java/org/montclairrobotics/alloy/core/Joystick.java index 9f807ce..1fa6c06 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Joystick.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Joystick.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.core; import org.montclairrobotics.alloy.vector.Vector; @@ -5,12 +28,11 @@ /** * Created by MHS Robotics on 11/14/2017. * - * Joysticks should return a vector made up of the X and Y values of their position + *

Joysticks should return a vector made up of the X and Y values of their position * * @author Garrett Burroughs * @version 0.1 * @since 0.1 - * */ public interface Joystick { /** diff --git a/src/main/java/org/montclairrobotics/alloy/core/Mode.java b/src/main/java/org/montclairrobotics/alloy/core/Mode.java index 784280b..8477a97 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Mode.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Mode.java @@ -1,22 +1,40 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.core; /** * Created by MHS Robotics on 11/14/2017. * - * Mode stores all the different run modes that a robot can run in + *

Mode stores all the different run modes that a robot can run in * * @author Garrett Burroughs * @version 0.1 * @since 0.1 - * */ public enum Mode { - /** - * ftc Telemetry Operated Mode - */ + /** ftc Telemetry Operated Mode */ FTCTELEOP, - /** - * ftc autonomous mode - */ + /** ftc autonomous mode */ FTCAUTONOMOUS } diff --git a/src/main/java/org/montclairrobotics/alloy/core/Motor.java b/src/main/java/org/montclairrobotics/alloy/core/Motor.java index 009d494..53030f8 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Motor.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Motor.java @@ -1,14 +1,34 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.core; /** * Created by MHS Robotics on 11/13/2017. * - * - * * @author Garrett Burroughs * @version 0.1 * @since 0.1 - * */ public interface Motor { /** @@ -25,7 +45,6 @@ public interface Motor { */ public double getMotorPower(); - /** * Sets weather the motor runs the default way , or inverted * @@ -34,7 +53,7 @@ public interface Motor { public void setInverted(boolean inverted); /** - * Gets weather the motor is inverted + * Gets weather the motor is inverted * * @return true if the motor is inverted */ diff --git a/src/main/java/org/montclairrobotics/alloy/core/README.md b/src/main/java/org/montclairrobotics/alloy/core/README.md index a6e9bd9..3216c85 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/README.md +++ b/src/main/java/org/montclairrobotics/alloy/core/README.md @@ -1,8 +1,8 @@ # CORE -This is where all the base functionality and components are located. +This is where all the base functionality and components are located. -The intent of Alloy is to be Multi-Platform (FTC aswell as FRC), so everything in core +The intent of Alloy is to be Multi-Platform (FTC aswell as FRC), so everything in core was designed to be the very base components of a robot and should then be implemented in the respective FTC and FRC folders. diff --git a/src/main/java/org/montclairrobotics/alloy/core/RobotCore.java b/src/main/java/org/montclairrobotics/alloy/core/RobotCore.java index d05d3d8..fbc90e0 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/RobotCore.java +++ b/src/main/java/org/montclairrobotics/alloy/core/RobotCore.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.core; import com.qualcomm.robotcore.hardware.Gamepad; @@ -7,47 +30,43 @@ /** * Created by MHS Robotics on 12/5/2017. * - * Since essential parts to the robots operation are stored in OpMode - * @see com.qualcomm.robotcore.eventloop.opmode.OpMode - * The robot core class creates static instances of all of the essentail objects on initialization - * The actual objects are passed in in the alloy class - * @see Alloy - * With this, the user can acess all of the objects throughout the project. + *

Since essential parts to the robots operation are stored in OpMode * + * @see com.qualcomm.robotcore.eventloop.opmode.OpMode The robot core class creates static instances + * of all of the essentail objects on initialization The actual objects are passed in in the + * alloy class + * @see Alloy With this, the user can acess all of the objects throughout the project. * @author Garrett Burroughs * @version 0.1 * @since 0.1 - * */ public class RobotCore { /** - * Telemetry is used for reading out information on the phones and is useful for debugging, - * The telemetry is also used in Debug + * Telemetry is used for reading out information on the phones and is useful for debugging, The + * telemetry is also used in Debug + * * @see Debug */ public static Telemetry telemetry; /** - * The hardware map is essential to any robot and is how the ftc core interacts with the hardware devices - * on the phones + * The hardware map is essential to any robot and is how the ftc core interacts with the + * hardware devices on the phones */ public static HardwareMap hardwareMap; - /** - * The first gamepad, generated by pressing start + 'a' on the controller - */ + /** The first gamepad, generated by pressing start + 'a' on the controller */ public static Gamepad gamepad1; - /** - * The second gamepad, generated by pressing start + 'b' on the controller - */ + /** The second gamepad, generated by pressing start + 'b' on the controller */ public static Gamepad gamepad2; - public RobotCore(Telemetry telemetry, HardwareMap hardwareMap, Gamepad gamepad1, Gamepad gamepad2) { - //Instantiate all static instances - this.telemetry = telemetry; + public RobotCore( + Telemetry telemetry, HardwareMap hardwareMap, Gamepad gamepad1, Gamepad gamepad2) { + // Instantiate all static instances + this.telemetry = telemetry; this.hardwareMap = hardwareMap; - this.gamepad1 = gamepad1; - this.gamepad2 = gamepad2; + this.gamepad1 = gamepad1; + this.gamepad2 = gamepad2; } /** @@ -55,7 +74,7 @@ public RobotCore(Telemetry telemetry, HardwareMap hardwareMap, Gamepad gamepad1, * * @return the hardware map */ - public static HardwareMap getHardwareMap(){ + public static HardwareMap getHardwareMap() { return hardwareMap; } @@ -64,7 +83,7 @@ public static HardwareMap getHardwareMap(){ * * @return telemetry */ - public static Telemetry getTelemetry() throws NullPointerException{ + public static Telemetry getTelemetry() throws NullPointerException { return telemetry; } diff --git a/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java b/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java index 1fba1f5..2f423b3 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java @@ -1,25 +1,47 @@ -package org.montclairrobotics.alloy.core; +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.core; /** - * Target motor is a motor interface for motors that have encoders. - * Target motors can set encoder positions using PID control + * Target motor is a motor interface for motors that have encoders. Target motors can set encoder + * positions using PID control */ -public interface TargetMotor extends Motor{ +public interface TargetMotor extends Motor { /** * Sets the motor Power * * @param power the power that the motor will be set to (0-1 inclusive ) */ public void setTargetPower(double power); - + /** * Gets the motor power * * @return the current motor power, a value between (0-1) */ public double getTargetPower(); - + /** * Sets the motor position * diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java b/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java index 9a64841..babe125 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.drive; /** diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java index 04299a2..d71e835 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.drive; /** @@ -6,5 +29,4 @@ * @author Garrett Burroughs * @since 0.1 */ -public class DriveTrain { -} +public class DriveTrain {} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java index 558738f..94bd61c 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.ftc; import com.qualcomm.robotcore.hardware.Gamepad; @@ -7,82 +30,83 @@ /** * Created by MHS Robotics on 11/14/2017. * - * An FTC button provides implementation for a button used in the FTC competition + *

An FTC button provides implementation for a button used in the FTC competition + * * @author Garrett Burroughs * @since 0.1 */ public class FTCButton implements Button { - + Input buttonInput; private boolean inverted; - - public FTCButton(Input buttonInput){ + + public FTCButton(Input buttonInput) { this(buttonInput, false); } - public FTCButton(Input buttonInput, boolean invert){ + public FTCButton(Input buttonInput, boolean invert) { this.buttonInput = buttonInput; this.inverted = invert; } - + @Override public boolean getValue() { - if(inverted) { + if (inverted) { return !buttonInput.get(); - }else{ + } else { return buttonInput.get(); } } - + // BUTTON PAD - public static FTCButton getAButton(Gamepad gamepad){ + public static FTCButton getAButton(Gamepad gamepad) { return new FTCButton(() -> gamepad.a); } - - public static FTCButton getBButton(Gamepad gamepad){ + + public static FTCButton getBButton(Gamepad gamepad) { return new FTCButton(() -> gamepad.b); } - - public static FTCButton getXButton(Gamepad gamepad){ + + public static FTCButton getXButton(Gamepad gamepad) { return new FTCButton(() -> gamepad.x); } - - public static FTCButton getYButton(Gamepad gamepad){ + + public static FTCButton getYButton(Gamepad gamepad) { return new FTCButton(() -> gamepad.y); } - + // DPAD - public static FTCButton getDPADUp(Gamepad gamepad){ + public static FTCButton getDPADUp(Gamepad gamepad) { return new FTCButton(() -> gamepad.dpad_up); } - - public static FTCButton getDPADDown(Gamepad gamepad){ + + public static FTCButton getDPADDown(Gamepad gamepad) { return new FTCButton(() -> gamepad.dpad_down); } - - public static FTCButton getYDPADRight(Gamepad gamepad){ + + public static FTCButton getYDPADRight(Gamepad gamepad) { return new FTCButton(() -> gamepad.dpad_right); } - - public static FTCButton getDPADLeft(Gamepad gamepad){ + + public static FTCButton getDPADLeft(Gamepad gamepad) { return new FTCButton(() -> gamepad.dpad_left); } - + // Bumpers - public static FTCButton getRightBumper(Gamepad gamepad){ + public static FTCButton getRightBumper(Gamepad gamepad) { return new FTCButton(() -> gamepad.right_bumper); } - - public static FTCButton getLeftBumper(Gamepad gamepad){ + + public static FTCButton getLeftBumper(Gamepad gamepad) { return new FTCButton(() -> gamepad.left_bumper); } - + // Triggers - public static FTCButton getRightTrigger(Gamepad gamepad){ + public static FTCButton getRightTrigger(Gamepad gamepad) { return new FTCButton(() -> gamepad.right_trigger > .5); } - - public static FTCButton getLeftTrigger(Gamepad gamepad){ + + public static FTCButton getLeftTrigger(Gamepad gamepad) { return new FTCButton(() -> gamepad.left_trigger > .5); } } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebug.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebug.java index ddaaddb..1c11c96 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebug.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebug.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.ftc; import org.firstinspires.ftc.robotcore.external.Telemetry; @@ -7,10 +30,8 @@ /** * Created by MHS Robotics on 11/14/2017. * - * The FTCDebug class is a basic wrapper around the - * ftc telemetry framework and allows telemetry to be - * used in any class as well as making debugging information - * easier + *

The FTCDebug class is a basic wrapper around the ftc telemetry framework and allows telemetry + * to be used in any class as well as making debugging information easier * * @author Garrett Burroughs * @since 0.1 @@ -22,10 +43,11 @@ public class FTCDebug implements Debug { public FTCDebug() { try { this.telemetry = RobotCore.getTelemetry(); - }catch (NullPointerException e){ + } catch (NullPointerException e) { e.printStackTrace(); } } + @Override public void log(String key, Object value) { telemetry.addData(key, value); diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java index 20d5f50..b2c67c6 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java @@ -1,6 +1,28 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.ftc; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.Gamepad; import org.montclairrobotics.alloy.core.Joystick; import org.montclairrobotics.alloy.vector.Vector; @@ -12,24 +34,24 @@ * @author Garrett Burroughs * @since 0.1 */ -public class FTCJoystick implements Joystick{ - - public enum Side{ +public class FTCJoystick implements Joystick { + + public enum Side { RIGHT, LEFT } - + Gamepad gamepad; Side side; - + public FTCJoystick(Gamepad gamepad, Side side) { this.gamepad = gamepad; this.side = side; } - + @Override - public Vector getValue(){ - switch (side){ + public Vector getValue() { + switch (side) { case RIGHT: return new XY(gamepad.right_stick_x, gamepad.right_stick_y); case LEFT: @@ -38,6 +60,4 @@ public Vector getValue(){ return new XY(0, 0); } } - - } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java index eed7b81..16fcbb1 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java @@ -1,31 +1,52 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.ftc; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorSimple; import org.montclairrobotics.alloy.core.Motor; import org.montclairrobotics.alloy.core.RobotCore; -import org.montclairrobotics.alloy.core.TargetMotor; /** * Created by MHS Robotics on 11/14/2017. * - * FTCMotor is a basic implementation of a motor used for FTC. - * Basic FTC motors can be controlled using motor power but can - * not have their positions set using encoders. If you wish to - * set a motors position - * @see FTCTargetMotor + *

FTCMotor is a basic implementation of a motor used for FTC. Basic FTC motors can be controlled + * using motor power but can not have their positions set using encoders. If you wish to set a + * motors position * + * @see FTCTargetMotor * @author Garrett Burroughs * @since 0.1 */ public class FTCMotor implements Motor { - + DcMotor motor; - + public FTCMotor(String motorConfiguration) { motor = RobotCore.getHardwareMap().dcMotor.get(motorConfiguration); } - + /** * Sets the motor Power * @@ -36,7 +57,7 @@ public void setMotorPower(double power) { motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); motor.setPower(power); } - + /** * Gets the motor power * @@ -46,20 +67,20 @@ public void setMotorPower(double power) { public double getMotorPower() { return motor.getPower(); } - + /** * Sets weather the motor runs the default way , or inverted * * @param inverted true for inverted, false for normal */ public void setInverted(boolean inverted) { - if(inverted) { + if (inverted) { motor.setDirection(DcMotorSimple.Direction.REVERSE); - } else{ + } else { motor.setDirection(DcMotorSimple.Direction.FORWARD); } } - + /** * Gets weather the motor is inverted * diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index bbc995d..048521d 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.ftc; import com.qualcomm.robotcore.hardware.DcMotor; @@ -5,16 +28,14 @@ import org.montclairrobotics.alloy.update.Update; import org.montclairrobotics.alloy.utils.PID; - /** * Created by MHS Robotics on 2/24/2018. * - * A target motor is a motor that can use encoders to be set to a certain position - * Since FTC motors have their own PIDs that they are controlled with by default, - * the user has the ability to override this and use custom PIDs if need be. - * By default, the user does not have to worry about any of this. - * Do not attempt to change the PID if you do not know what you are doing - * You can read more about PIDs here https://en.wikipedia.org/wiki/PID_controller + *

A target motor is a motor that can use encoders to be set to a certain position Since FTC + * motors have their own PIDs that they are controlled with by default, the user has the ability to + * override this and use custom PIDs if need be. By default, the user does not have to worry about + * any of this. Do not attempt to change the PID if you do not know what you are doing You can read + * more about PIDs here https://en.wikipedia.org/wiki/PID_controller * * @author Garrett Burroughs * @since 0.1 @@ -24,32 +45,27 @@ public FTCTargetMotor(String motorConfiguration) { super(motorConfiguration); motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); } - - enum Mode{ + + enum Mode { /** - * Defualt target motor runmode - * The default mode will run using the build in Motor PIDs to control the motor + * Defualt target motor runmode The default mode will run using the build in Motor PIDs to + * control the motor */ DEFAULT, /** - * Custom target motor runmode - * The custom mode will control the motor with a user defined PID controller + * Custom target motor runmode The custom mode will control the motor with a user defined + * PID controller */ CUSTOM } - /** - * PID being used to control the motor in custom mode - */ + /** PID being used to control the motor in custom mode */ private PID pid; - - /** - * Current target motor runmode - * NOTE: not equal to the DCMotor runmode - */ + + /** Current target motor runmode NOTE: not equal to the DCMotor runmode */ private Mode runmode = Mode.DEFAULT; - + /** * Sets the motor position * @@ -57,10 +73,10 @@ enum Mode{ */ @Override public void setPosition(int position) { - if(runmode == Mode.DEFAULT){ + if (runmode == Mode.DEFAULT) { motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); motor.setTargetPosition(position); - }else{ + } else { pid.setTarget(position); } } @@ -96,18 +112,17 @@ public double getTargetPower() { } /** - * Set the motor to run using a custom PID + * Set the motor to run using a custom PID + * * @param pid the PID that the motor will be controlled with */ - public void setPID(PID pid){ + public void setPID(PID pid) { this.pid = pid; runmode = runmode.CUSTOM; } - /** - * Stop using the custom PID and return to using the default mode - */ - public void disablePID(){ + /** Stop using the custom PID and return to using the default mode */ + public void disablePID() { this.pid = null; runmode = Mode.DEFAULT; } @@ -117,28 +132,25 @@ public void disablePID(){ */ @Update public void update() { - if(runmode == Mode.CUSTOM){ + if (runmode == Mode.CUSTOM) { motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); setTargetPower(pid.get()); } } - /** - * @return the PID being used to control the motor - */ + /** @return the PID being used to control the motor */ public PID getPid() { return pid; } - /** - * @return the motor being controlled - */ + /** @return the motor being controlled */ public DcMotor getMotor() { return motor; } /** * NOTE: this is not the same as the DCMotor runmode + * * @return the current target motor runmode */ public Mode getRunmode() { diff --git a/src/main/java/org/montclairrobotics/alloy/test/Shooter.java b/src/main/java/org/montclairrobotics/alloy/test/Shooter.java index 8a658b8..cbbeef8 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/Shooter.java +++ b/src/main/java/org/montclairrobotics/alloy/test/Shooter.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.test; import org.montclairrobotics.alloy.core.Motor; @@ -8,7 +31,6 @@ public class Shooter extends Toggleable { Motor motorR = new FTCMotor("Right PoweredMotor"); Motor motorL = new FTCMotor("Left PoweredMotor"); - @Override public void enableAction() { motorR.setMotorPower(1); diff --git a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java index 20d7210..e52ba87 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java +++ b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.test; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; @@ -17,18 +40,17 @@ public void robotSetup() { } @Override - public void initialization() { - - } + public void initialization() {} @Override public void periodic() { - Input shooterButton = new Input() { - @Override - public Boolean get() { - return gamepad1.a; - } - }; + Input shooterButton = + new Input() { + @Override + public Boolean get() { + return gamepad1.a; + } + }; new ToggleButton(new FTCButton(shooterButton), shooter); } diff --git a/src/main/java/org/montclairrobotics/alloy/update/Updatable.java b/src/main/java/org/montclairrobotics/alloy/update/Updatable.java index 4348baa..6d1b3aa 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Updatable.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Updatable.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.update; import java.lang.reflect.InvocationTargetException; @@ -23,7 +46,7 @@ public class Updatable { this.parameters = parameters; } - public void run(){ + public void run() { try { update.invoke(clazz); } catch (IllegalAccessException e) { @@ -33,7 +56,7 @@ public void run(){ } } - public int getUpdateRate(){ + public int getUpdateRate() { return updateRate; } } diff --git a/src/main/java/org/montclairrobotics/alloy/update/Update.java b/src/main/java/org/montclairrobotics/alloy/update/Update.java index f9db354..a8779f6 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Update.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Update.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.update; import java.lang.annotation.ElementType; @@ -9,5 +32,6 @@ @Target({ElementType.METHOD}) public @interface Update { int updateRate() default 1; + int priority() default 0; } diff --git a/src/main/java/org/montclairrobotics/alloy/update/Updater.java b/src/main/java/org/montclairrobotics/alloy/update/Updater.java index 3272379..ef18fc1 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Updater.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Updater.java @@ -1,14 +1,36 @@ -package org.montclairrobotics.alloy.update; +/* +MIT License -import org.reflections.Reflections; -import org.reflections.scanners.MethodAnnotationsScanner; -import org.reflections.scanners.SubTypesScanner; +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.update; import java.lang.annotation.Annotation; import java.lang.reflect.Method; import java.util.Comparator; import java.util.Set; import java.util.TreeMap; +import org.reflections.Reflections; +import org.reflections.scanners.MethodAnnotationsScanner; +import org.reflections.scanners.SubTypesScanner; /** * Created by MHS Robotics on 12/5/2017. @@ -16,44 +38,48 @@ * @author Garrett Burroughs * @since 0.1 */ - -//I'm making my life so much harder than it has to be because I hate myself public class Updater { private static int counter; - private static TreeMap updateables = new TreeMap<>(new Comparator() { - @Override - public int compare(Integer o1, Integer o2) { - return o2 - o1; - } - }); - + private static TreeMap updateables = + new TreeMap<>( + new Comparator() { + @Override + public int compare(Integer o1, Integer o2) { + return o2 - o1; + } + }); - public static void registerUpdatables() { + public static void registerUpdatables() { String userFiles = ""; - Reflections alloyReflections = new Reflections("org.montclairrobotics", new MethodAnnotationsScanner(), new SubTypesScanner()); + Reflections alloyReflections = + new Reflections( + "org.montclairrobotics", + new MethodAnnotationsScanner(), + new SubTypesScanner()); // Reflections userRefelecitons = new Reflections(userFiles); System.out.println(alloyReflections.getMethodsAnnotatedWith(Update.class)); Set methods = alloyReflections.getMethodsAnnotatedWith(Update.class); - for(Method method : methods){ + for (Method method : methods) { int updateRate = 1; int priority = 0; - for(Annotation annotation : method.getDeclaredAnnotations()){ - if(annotation instanceof Update){ + for (Annotation annotation : method.getDeclaredAnnotations()) { + if (annotation instanceof Update) { updateRate = ((Update) annotation).updateRate(); priority = ((Update) annotation).priority(); } } - updateables.put(priority, new Updatable(method, updateRate, method.getClass(), method.getParameters())); + updateables.put( + priority, + new Updatable(method, updateRate, method.getClass(), method.getParameters())); } } - public static void update() { - for (Updatable updatable : updateables.values()){ - if(counter % updatable.getUpdateRate() == 0){ + for (Updatable updatable : updateables.values()) { + if (counter % updatable.getUpdateRate() == 0) { updatable.run(); } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Input.java b/src/main/java/org/montclairrobotics/alloy/utils/Input.java index 5b5bee3..828a3a4 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Input.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Input.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.utils; /** diff --git a/src/main/java/org/montclairrobotics/alloy/utils/PID.java b/src/main/java/org/montclairrobotics/alloy/utils/PID.java index 93c84fa..6155316 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/PID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/PID.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.utils; import org.montclairrobotics.alloy.update.Update; @@ -5,18 +28,17 @@ /** * Created by Montclair robotics on 2/27/2018 * - * A PID controller is able to control a component that has a target, current state, and can be controlled for example: - * - A robots heading using a Gryo - * - A motors position using encoders + *

A PID controller is able to control a component that has a target, current state, and can be + * controlled for example: - A robots heading using a Gryo - A motors position using encoders * - * PID stands for Proportion, Integral and Derivative control. - * It uses the error of a component and then calculates the correction - * the PID values must be tuned in order to have a working PID loop - * A properly tuned implementation of a PID controller should result in a correction that goes fast, and accurate to - * its target, and does not overshoot it. + *

PID stands for Proportion, Integral and Derivative control. It uses the error of a component + * and then calculates the correction the PID values must be tuned in order to have a working PID + * loop A properly tuned implementation of a PID controller should result in a correction that goes + * fast, and accurate to its target, and does not overshoot it. * - * You can read more about implementing PID control here https://github.com/GarrettBurroughs/Alloy/wiki/Using-PID-control - * You can read more about how PID works here https://en.wikipedia.org/wiki/PID_controller + *

You can read more about implementing PID control here + * https://github.com/GarrettBurroughs/Alloy/wiki/Using-PID-control You can read more + * about how PID works here https://en.wikipedia.org/wiki/PID_controller * * @author Garrett Burroughs * @since 0.1 @@ -29,35 +51,43 @@ public class PID implements Input { private double target; private double correction; - /** The error of the PID, calculated by the target - input*/ + /** The error of the PID, calculated by the target - input */ private double error; - /** The rate that the error is changing on a certain interval (Slope of the error if it were graphed) AKA derivative*/ + /** + * The rate that the error is changing on a certain interval (Slope of the error if it were + * graphed) AKA derivative + */ private double errorRate; - /** The total error that has accumulated over time (Area under the graph if the error were graphed) AKA Integral*/ + /** + * The total error that has accumulated over time (Area under the graph if the error were + * graphed) AKA Integral + */ private double totalError; - /** The error of the previous calculation, used for calculating the rate of error*/ + /** The error of the previous calculation, used for calculating the rate of error */ private double prevError; - /** The time of the previous calculation, used for calculating the rate of error*/ + /** The time of the previous calculation, used for calculating the rate of error */ private double prevTime; - /** The difference in time between update loops*/ + /** The difference in time between update loops */ private double timeDifference; - /** The difference in error between update loops*/ + /** The difference in error between update loops */ private double errorDifference; - + /** * Create a new PID + * * @param p proportional constant * @param i integral constant * @param d derivative constant */ - public PID(double p, double i, double d){ + public PID(double p, double i, double d) { this.p = p; this.i = i; this.d = d; } - + /** * Create a new PID with the input and target defined + * * @param p proportional constan * @param i integral constant * @param d derivative constant @@ -72,12 +102,12 @@ public PID(double p, double i, double d, Input input, double target) { this.target = target; } - public PID setTarget(double target){ + public PID setTarget(double target) { this.target = target; return this; } - public PID setInput(Input input){ + public PID setInput(Input input) { this.input = input; return this; } @@ -88,17 +118,18 @@ public Double get() { } /** - * The update method should be defined for every updatable, and is called every loop if added to the updater + * The update method should be defined for every updatable, and is called every loop if added to + * the updater */ - @Update public void update() { // Calculate Error try { error = target - input.get(); - }catch(NullPointerException e){ - throw new RuntimeException("PID input has not been defined use pid.setInput(Input input), to set it"); + } catch (NullPointerException e) { + throw new RuntimeException( + "PID input has not been defined use pid.setInput(Input input), to set it"); } // calculate time difference in time since the last update @@ -110,7 +141,7 @@ public void update() { // Calculate slope of the error (Derivative) change in error / change in time try { errorRate = errorDifference / timeDifference; - }catch(ArithmeticException e){ + } catch (ArithmeticException e) { errorRate = 0; } @@ -121,6 +152,6 @@ public void update() { correction = p * error + i * totalError + d * errorRate; prevError = error; - prevTime = System.currentTimeMillis()/1000d; + prevTime = System.currentTimeMillis() / 1000d; } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java b/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java index a8397dd..aaa142e 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java @@ -1,75 +1,83 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.utils; /** * Created by MHS Robotics on 2/11/2018. * - * Toggleables are used for objects of mechanisms that can - * either be on (Enabled), or off toggleables can have - * actions defined for when they are enabled and disabled, - * as well as be tied to different parts of alloy like - * buttons and auto states - * @see org.montclairrobotics.alloy.control.ToggleButton + *

Toggleables are used for objects of mechanisms that can either be on (Enabled), or off + * toggleables can have actions defined for when they are enabled and disabled, as well as be tied + * to different parts of alloy like buttons and auto states * + * @see org.montclairrobotics.alloy.control.ToggleButton * @author Garrett Burroughs * @since 0.1 */ public abstract class Toggleable { - - /** - * Method to be called when the toggleable is enabled - */ + + /** Method to be called when the toggleable is enabled */ public abstract void enableAction(); - - /** - * Method to be called when the toggleable is disabled - */ + + /** Method to be called when the toggleable is disabled */ public abstract void disableAction(); - - /** - * The status of the toggleable, to keep track of weather it is enabled, or disabled - */ + + /** The status of the toggleable, to keep track of weather it is enabled, or disabled */ Status status; - - - enum Status{ + + enum Status { ENABLED(true), DISABLED(false); - - + boolean enabled; - private Status(boolean enabled){ + + private Status(boolean enabled) { this.enabled = enabled; } - - public boolean booleanValue(){ + + public boolean booleanValue() { return enabled; } } - - /** - * Enables the toggleable - */ - public void enable(){ + + /** Enables the toggleable */ + public void enable() { status = Status.ENABLED; enableAction(); } - - - /** - * Disables the toggleable - */ - public void disable(){ + + /** Disables the toggleable */ + public void disable() { status = Status.DISABLED; disableAction(); } - + /** - * Switches(Toggles), between the two states, - * If the toggleable is disabled, enable it - * If the toggleable is enabled, disable it + * Switches(Toggles), between the two states, If the toggleable is disabled, enable it If the + * toggleable is enabled, disable it */ - public void toggle(){ - switch (status){ + public void toggle() { + switch (status) { case ENABLED: disable(); break; diff --git a/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java b/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java index 6936ed5..419fb23 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java @@ -1,6 +1,26 @@ -package org.montclairrobotics.alloy.utils; +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs -public class TuneablePID { +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.utils; -} +public class TuneablePID {} diff --git a/src/main/java/org/montclairrobotics/alloy/vector/Angle.java b/src/main/java/org/montclairrobotics/alloy/vector/Angle.java index f41766c..ad4a747 100644 --- a/src/main/java/org/montclairrobotics/alloy/vector/Angle.java +++ b/src/main/java/org/montclairrobotics/alloy/vector/Angle.java @@ -1,12 +1,34 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.vector; /** * Created by MHS Robotics on 11/13/2017. * - * - * The angle class allows for easy management of angles as well as easy conversion between degree and radian - * angle measure - * The class keeps track of the angle in degrees but can easily be converted to radians + *

The angle class allows for easy management of angles as well as easy conversion between degree + * and radian angle measure The class keeps track of the angle in degrees but can easily be + * converted to radians * * @author Garrett Burroughs * @version 0.1 @@ -14,42 +36,36 @@ */ public class Angle { - /** - * AngleMeasure, is used for keeping track of what type of angle measure the angle is being created with + * AngleMeasure, is used for keeping track of what type of angle measure the angle is being + * created with */ - enum AngleMeasure{ - /** - * Radian Angle Measure - */ + enum AngleMeasure { + /** Radian Angle Measure */ RADIAN, - /** - * Degree Angle Measure - */ + /** Degree Angle Measure */ DEGREE } - /** - * Keeps Track of the degrees that the angle is - */ + /** Keeps Track of the degrees that the angle is */ private double degrees; // Zero Angle public final Angle ZERO = new Angle(AngleMeasure.DEGREE, 0); - /** * Creating a new angle with an angle measure unit and the measure of the angle itself * * @param angleMeasure What unit to be used for the angle measure - * @param angle The angle + * @param angle The angle */ - public Angle(AngleMeasure angleMeasure, double angle){ - // If angle is in degrees set degrees to the angle, no conversion is needed because they are the same unit - if(angleMeasure == AngleMeasure.DEGREE){ + public Angle(AngleMeasure angleMeasure, double angle) { + // If angle is in degrees set degrees to the angle, no conversion is needed because they are the + // same unit + if (angleMeasure == AngleMeasure.DEGREE) { degrees = angle; - }else{ + } else { // Convert the radian measure to degrees (radians to degrees: (angle * PI)/180) degrees = angle * (Math.PI / 180); } @@ -60,28 +76,25 @@ public Angle(AngleMeasure angleMeasure, double angle){ * * @param degrees Degree angle measure */ - public Angle(double degrees){ + public Angle(double degrees) { this(AngleMeasure.DEGREE, degrees); } - - - /** * Get the angle measure in degrees * - * @return the degree angle measure + * @return the degree angle measure */ - public double getDegrees(){ + public double getDegrees() { return degrees; } /** * Get the angle measure in radians * - * @return the radian angle measure + * @return the radian angle measure */ - public double getRadians(){ + public double getRadians() { return degrees * (Math.PI / 180); } @@ -90,7 +103,7 @@ public double getRadians(){ * * @param degrees the degree angle measure */ - public void setDegrees(double degrees){ + public void setDegrees(double degrees) { this.degrees = degrees; } @@ -99,8 +112,8 @@ public void setDegrees(double degrees){ * * @param radians the degree angle measure */ - public void setRadians(double radians){ - this.degrees = radians * (180/Math.PI); + public void setRadians(double radians) { + this.degrees = radians * (180 / Math.PI); } /** @@ -108,7 +121,7 @@ public void setRadians(double radians){ * * @return the sine of the angle */ - public double sin(){ + public double sin() { return Math.sin(getRadians()); } @@ -117,7 +130,7 @@ public double sin(){ * * @return the cosine of the angle */ - public double cos(){ + public double cos() { return Math.cos(getRadians()); } @@ -126,8 +139,7 @@ public double cos(){ * * @return the tangent of the angle */ - public double tan(){ + public double tan() { return Math.tan(getRadians()); } - } diff --git a/src/main/java/org/montclairrobotics/alloy/vector/Polar.java b/src/main/java/org/montclairrobotics/alloy/vector/Polar.java index 56f0a99..a3e3a6b 100644 --- a/src/main/java/org/montclairrobotics/alloy/vector/Polar.java +++ b/src/main/java/org/montclairrobotics/alloy/vector/Polar.java @@ -1,23 +1,45 @@ -package org.montclairrobotics.alloy.vector; +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.vector; /** * Created by MHS Robotics on 11/14/2017. * - * A vector can be defined in rectangular(XY), or polar form.
- * This class is implementation for vectors in Polar form
+ *

A vector can be defined in rectangular(XY), or polar form.
+ * This class is implementation for vectors in Polar form
* It controls the conversions from rectangular to polar and vice versa * - * https://en.wikipedia.org/wiki/Vector_notation - * @see Vector + *

https://en.wikipedia.org/wiki/Vector_notation * + * @see Vector * @author Garrett Burroughs * @version 0.1 * @since 0.1 */ public class Polar implements Vector { private double magnitude; - private Angle angle; + private Angle angle; public Polar(double magnitude, Angle angle) { this.magnitude = magnitude; @@ -108,25 +130,25 @@ public void setAngle(Angle angle) { /** * Adds two vectors together and returns the result + * *

+ * + *

The result of a vector addition will be another vector, One way of adding two vectors + * together is splitting it up into it's x and y components and adding them together and making + * a new vector out of those components
+ * EX:
+ * V1 = 3i + 4j
+ * V2 = 7i + 5j
+ *
+ * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
+ * Geometric Visualization:
+ * Vectors can also be added in a geometric way through the "Tip-To-Tail" method, In this method + * both the vectors are drawn using arrow vector notation + * https://en.wikipedia.org/wiki/Vector_notation one vector is then drawn at the + * edge of the first vector. The resultant vector is then drawn from the start of the first + * vector to the tip of the second vector This is where the name tip to tail comes from + * *

- * The result of a vector addition will be another vector, - * One way of adding two vectors together is splitting it up into it's x and y components and adding them - * together and making a new vector out of those components
- * EX:
- * V1 = 3i + 4j
- * V2 = 7i + 5j
- *
- * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j - *
- * Geometric Visualization:
- * Vectors can also be added in a geometric way through the "Tip-To-Tail" method, - * In this method both the vectors are drawn using arrow vector notation https://en.wikipedia.org/wiki/Vector_notation - * one vector is then drawn at the edge of the first vector. - * The resultant vector is then drawn from the start of the first vector to the tip of the second vector - * This is where the name tip to tail comes from - *

- *

* * @param vector The vector to be added * @return The result of the two vectors being added @@ -138,17 +160,17 @@ public Vector add(Vector vector) { /** * Subtracts a vector and returns the result + * *

- *

- * vector subtraction is similar to vector addition but the direction of the vector being subtracted - * is simply reversed
- * EX:
- * V1 = 3i + 4j
- * V2 = 7i + 5j
- *
- * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
- * V1 - V2 = 3i + (-7i) + 4j + (-5j) = -4i + -j
- *

+ * + *

vector subtraction is similar to vector addition but the direction of the vector being + * subtracted is simply reversed
+ * EX:
+ * V1 = 3i + 4j
+ * V2 = 7i + 5j
+ *
+ * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
+ * V1 - V2 = 3i + (-7i) + 4j + (-5j) = -4i + -j
* * @param vector The vector to be subtracted * @return The result of the passed in vector being subtracted from the vector object @@ -171,16 +193,15 @@ public Vector scale(double scalar) { /** * Returns the product of two vectors that have been crossed + * *

- *

- * The result of the cross product is a vector, - * The cross product of a vector is the vector that is perpendicular to both vectors - * When crossing two 2dimensional vectors the result will be a 3dimensional vector - * Because of this this method only returns the magnitude (Z component) of the cross product - * The magnitude of the cross product is same as the area of the parallelogram that the two - * vectors make in the X/Y plane.
+ * + *

The result of the cross product is a vector, The cross product of a vector is the vector + * that is perpendicular to both vectors When crossing two 2dimensional vectors the result will + * be a 3dimensional vector Because of this this method only returns the magnitude (Z component) + * of the cross product The magnitude of the cross product is same as the area of the + * parallelogram that the two vectors make in the X/Y plane.
* https://en.wikipedia.org/wiki/Cross_product - *

* * @param vector the vector to be multiplied using the cross product * @return the magnitude of the cross product of the two vectors @@ -192,18 +213,17 @@ public double cross(Vector vector) { /** * Returns the dot product of two vectors + * *

- *

- * The result of the dot product is a scalar value (number), - * The dot product can be viewed as the projection of one vector on to another times the magnitude of the - * original vector
- * This can be written mathematically as |A||B|cos(theta), where theta is the angle between A and B - * Another mathematical representation of the dot product using its components is:
- * A = {@literal }
- * B = {@literal }
- * A . B = a1*b1 + a2*b2
+ * + *

The result of the dot product is a scalar value (number), The dot product can be viewed as + * the projection of one vector on to another times the magnitude of the original vector
+ * This can be written mathematically as |A||B|cos(theta), where theta is the angle between A + * and B Another mathematical representation of the dot product using its components is:
+ * A = {@literal }
+ * B = {@literal }
+ * A . B = a1*b1 + a2*b2
* https://en.wikipedia.org/wiki/Dot_product - *

* * @param vector The vector to be multiplied using the dot product * @return the scalar result of the dot of the two vectors @@ -237,15 +257,15 @@ public Angle angleBetween(Vector vector) { /** * Normalizes a vector and returns the result + * *

- *

- * A normalized vector is a vector with magnitude 1. - * Normalized vectors are also called unit vectors. - * A normalized vector keeps it's direction as well as the same proportions of its components. - * When a vector is defined by its components it can be normalized it can be expressed as
- * A = {@literal }
- * A' = {@literal }
- *

+ * + *

A normalized vector is a vector with magnitude 1. Normalized vectors are also called unit + * vectors. A normalized vector keeps it's direction as well as the same proportions of its + * components. When a vector is defined by its components it can be normalized it can be + * expressed as
+ * A = {@literal }
+ * A' = {@literal }
* * @return the normalized vector */ diff --git a/src/main/java/org/montclairrobotics/alloy/vector/Vector.java b/src/main/java/org/montclairrobotics/alloy/vector/Vector.java index 0fabfad..28916cf 100644 --- a/src/main/java/org/montclairrobotics/alloy/vector/Vector.java +++ b/src/main/java/org/montclairrobotics/alloy/vector/Vector.java @@ -1,24 +1,49 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.vector; /** - * Created by MHS Robotics on 11/14/2017.
- *
- * Interface for creating vector classes, implemented in vector.XY and vector.Polar
- *
- * Since a 2D vector can be made up of an angle and a Magnitude or it's vector components (XY) - * The vector interface contains all functionality that a vector should have and it is then implemented - * in each vector subclass
- *
- * NOTE: No mathematical operations are performed on the vector but return a new vector that is the result of the operation
- *
- * To read more about vectors see here https://en.wikipedia.org/wiki/Euclidean_vector
- * To read more about dot products see here https://en.wikipedia.org/wiki/Dot_product
- * To read more about cross products see here https://en.wikipedia.org/wiki/Cross_product
+ * Created by MHS Robotics on 11/14/2017.
+ *
+ * Interface for creating vector classes, implemented in vector.XY and vector.Polar
+ *
+ * Since a 2D vector can be made up of an angle and a Magnitude or it's vector components (XY) The + * vector interface contains all functionality that a vector should have and it is then implemented + * in each vector subclass
+ *
+ * NOTE: No mathematical operations are performed on the vector but return a new vector that is the + * result of the operation
+ *
+ * To read more about vectors see here https://en.wikipedia.org/wiki/Euclidean_vector + *
+ * To read more about dot products see here https://en.wikipedia.org/wiki/Dot_product + *
+ * To read more about cross products see here + * https://en.wikipedia.org/wiki/Cross_product
+ * * @see Polar * @see XY - * - * - * * @author Garrett Burroughs * @version 0.1 * @since 0.1 @@ -83,24 +108,20 @@ public interface Vector { /** * Adds two vectors together and returns the result * - *

- * The result of a vector addition will be another vector, - * One way of adding two vectors together is splitting it up into it's x and y components and adding them - * together and making a new vector out of those components
- * EX:
- * V1 = 3i + 4j
- * V2 = 7i + 5j
- *
- * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j - *
- * Geometric Visualization:
- * Vectors can also be added in a geometric way through the "Tip-To-Tail" method, - * In this method both the vectors are drawn using arrow vector notation https://en.wikipedia.org/wiki/Vector_notation - * one vector is then drawn at the edge of the first vector. - * The resultant vector is then drawn from the start of the first vector to the tip of the second vector - * This is where the name tip to tail comes from - * - *

+ *

The result of a vector addition will be another vector, One way of adding two vectors + * together is splitting it up into it's x and y components and adding them together and making + * a new vector out of those components
+ * EX:
+ * V1 = 3i + 4j
+ * V2 = 7i + 5j
+ *
+ * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
+ * Geometric Visualization:
+ * Vectors can also be added in a geometric way through the "Tip-To-Tail" method, In this method + * both the vectors are drawn using arrow vector notation + * https://en.wikipedia.org/wiki/Vector_notation one vector is then drawn at the + * edge of the first vector. The resultant vector is then drawn from the start of the first + * vector to the tip of the second vector This is where the name tip to tail comes from * * @param vector The vector to be added * @return The result of the two vectors being added @@ -110,17 +131,14 @@ public interface Vector { /** * Subtracts a vector and returns the result * - *

- * vector subtraction is similar to vector addition but the direction of the vector being subtracted - * is simply reversed
- * EX:
- * V1 = 3i + 4j
- * V2 = 7i + 5j
- *
- * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
- * V1 - V2 = 3i + (-7i) + 4j + (-5j) = -4i + -j
- *

- * + *

vector subtraction is similar to vector addition but the direction of the vector being + * subtracted is simply reversed
+ * EX:
+ * V1 = 3i + 4j
+ * V2 = 7i + 5j
+ *
+ * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
+ * V1 - V2 = 3i + (-7i) + 4j + (-5j) = -4i + -j
* * @param vector The vector to be subtracted * @return The result of the passed in vector being subtracted from the vector object @@ -138,15 +156,12 @@ public interface Vector { /** * Returns the product of two vectors that have been crossed * - *

- * The result of the cross product is a vector, - * The cross product of a vector is the vector that is perpendicular to both vectors - * When crossing two 2dimensional vectors the result will be a 3dimensional vector - * Because of this this method only returns the magnitude (Z component) of the cross product - * The magnitude of the cross product is same as the area of the parallelogram that the two - * vectors make in the X/Y plane.
- * https://en.wikipedia.org/wiki/Cross_product - *

+ *

The result of the cross product is a vector, The cross product of a vector is the vector + * that is perpendicular to both vectors When crossing two 2dimensional vectors the result will + * be a 3dimensional vector Because of this this method only returns the magnitude (Z component) + * of the cross product The magnitude of the cross product is same as the area of the + * parallelogram that the two vectors make in the X/Y plane.
+ * https://en.wikipedia.org/wiki/Cross_product * * @param vector the vector to be multiplied using the cross product * @return the magnitude of the cross product of the two vectors @@ -156,17 +171,14 @@ public interface Vector { /** * Returns the dot product of two vectors * - *

- * The result of the dot product is a scalar value (number), - * The dot product can be viewed as the projection of one vector on to another times the magnitude of the - * original vector
- * This can be written mathematically as |A||B|cos(theta), where theta is the angle between A and B - * Another mathematical representation of the dot product using its components is:
- * A = {@literal }
- * B = {@literal }
- * A . B = {@literal }
- * https://en.wikipedia.org/wiki/Dot_product - *

+ *

The result of the dot product is a scalar value (number), The dot product can be viewed as + * the projection of one vector on to another times the magnitude of the original vector
+ * This can be written mathematically as |A||B|cos(theta), where theta is the angle between A + * and B Another mathematical representation of the dot product using its components is:
+ * A = {@literal }
+ * B = {@literal }
+ * A . B = {@literal }
+ * https://en.wikipedia.org/wiki/Dot_product * * @param vector The vector to be multiplied using the dot product * @return the scalar result of the dot of the two vectors @@ -192,14 +204,12 @@ public interface Vector { /** * Normalizes a vector and returns the result * - *

- * A normalized vector is a vector with magnitude 1. - * Normalized vectors are also called unit vectors. - * A normalized vector keeps it's direction as well as the same proportions of its components. - * When a vector is defined by its components it can be normalized it can be expressed as
- * A = {@literal }
- * A' = {@literal }
- *

+ *

A normalized vector is a vector with magnitude 1. Normalized vectors are also called unit + * vectors. A normalized vector keeps it's direction as well as the same proportions of its + * components. When a vector is defined by its components it can be normalized it can be + * expressed as
+ * A = {@literal }
+ * A' = {@literal }
* * @return the normalized vector */ @@ -211,5 +221,4 @@ public interface Vector { * @return a copy of the vector */ public Vector copy(); - } diff --git a/src/main/java/org/montclairrobotics/alloy/vector/XY.java b/src/main/java/org/montclairrobotics/alloy/vector/XY.java index f25b117..765598c 100644 --- a/src/main/java/org/montclairrobotics/alloy/vector/XY.java +++ b/src/main/java/org/montclairrobotics/alloy/vector/XY.java @@ -1,29 +1,52 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.vector; /** * Created by MHS Robotics on 11/14/2017. * - * A vector can be defined in rectangular(XY), or polar form.
- * This class is implementation for vectors in XY form
+ *

A vector can be defined in rectangular(XY), or polar form.
+ * This class is implementation for vectors in XY form
* It controls the conversions from rectangular to polar and vice versa * - * https://en.wikipedia.org/wiki/Vector_notation - * @see Vector + *

https://en.wikipedia.org/wiki/Vector_notation * + * @see Vector * @author Garrett Burroughs * @version 0.1 * @since 0.1 */ -public class XY implements Vector{ +public class XY implements Vector { private double x; private double y; - public XY(double x, double y){ + public XY(double x, double y) { this.x = x; this.y = y; } - public XY(XY vector){ + public XY(XY vector) { x = vector.getY(); y = vector.getY(); } @@ -112,25 +135,25 @@ public void setAngle(Angle angle) { /** * Adds two vectors together and returns the result + * *

+ * + *

The result of a vector addition will be another vector, One way of adding two vectors + * together is splitting it up into it's x and y components and adding them together and making + * a new vector out of those components
+ * EX:
+ * V1 = 3i + 4j
+ * V2 = 7i + 5j
+ *
+ * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
+ * Geometric Visualization:
+ * Vectors can also be added in a geometric way through the "Tip-To-Tail" method, In this method + * both the vectors are drawn using arrow vector notation + * https://en.wikipedia.org/wiki/Vector_notation one vector is then drawn at the + * edge of the first vector. The resultant vector is then drawn from the start of the first + * vector to the tip of the second vector This is where the name tip to tail comes from + * *

- * The result of a vector addition will be another vector, - * One way of adding two vectors together is splitting it up into it's x and y components and adding them - * together and making a new vector out of those components
- * EX:
- * V1 = 3i + 4j
- * V2 = 7i + 5j
- *
- * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j - *
- * Geometric Visualization:
- * Vectors can also be added in a geometric way through the "Tip-To-Tail" method, - * In this method both the vectors are drawn using arrow vector notation https://en.wikipedia.org/wiki/Vector_notation - * one vector is then drawn at the edge of the first vector. - * The resultant vector is then drawn from the start of the first vector to the tip of the second vector - * This is where the name tip to tail comes from - *

- *

* * @param vector The vector to be added * @return The result of the two vectors being added @@ -142,17 +165,17 @@ public Vector add(Vector vector) { /** * Subtracts a vector and returns the result + * *

- *

- * vector subtraction is similar to vector addition but the direction of the vector being subtracted - * is simply reversed
- * EX:
- * V1 = 3i + 4j
- * V2 = 7i + 5j
- *
- * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
- * V1 - V2 = 3i + (-7i) + 4j + (-5j) = -4i + -j
- *

+ * + *

vector subtraction is similar to vector addition but the direction of the vector being + * subtracted is simply reversed
+ * EX:
+ * V1 = 3i + 4j
+ * V2 = 7i + 5j
+ *
+ * V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
+ * V1 - V2 = 3i + (-7i) + 4j + (-5j) = -4i + -j
* * @param vector The vector to be subtracted * @return The result of the passed in vector being subtracted from the vector object @@ -175,16 +198,15 @@ public Vector scale(double scalar) { /** * Returns the product of two vectors that have been crossed + * *

- *

- * The result of the cross product is a vector, - * The cross product of a vector is the vector that is perpendicular to both vectors - * When crossing two 2dimensional vectors the result will be a 3dimensional vector - * Because of this this method only returns the magnitude (Z component) of the cross product - * The magnitude of the cross product is same as the area of the parallelogram that the two - * vectors make in the X/Y plane.
+ * + *

The result of the cross product is a vector, The cross product of a vector is the vector + * that is perpendicular to both vectors When crossing two 2dimensional vectors the result will + * be a 3dimensional vector Because of this this method only returns the magnitude (Z component) + * of the cross product The magnitude of the cross product is same as the area of the + * parallelogram that the two vectors make in the X/Y plane.
* https://en.wikipedia.org/wiki/Cross_product - *

* * @param vector the vector to be multiplied using the cross product * @return the magnitude of the cross product of the two vectors @@ -196,18 +218,17 @@ public double cross(Vector vector) { /** * Returns the dot product of two vectors + * *

- *

- * The result of the dot product is a scalar value (number), - * The dot product can be viewed as the projection of one vector on to another times the magnitude of the - * original vector
- * This can be written mathematically as |A||B|cos(theta), where theta is the angle between A and B - * Another mathematical representation of the dot product using its components is:
- * A = {@literal }
- * B = {@literal }
- * A . B = {@literal }
+ * + *

The result of the dot product is a scalar value (number), The dot product can be viewed as + * the projection of one vector on to another times the magnitude of the original vector
+ * This can be written mathematically as |A||B|cos(theta), where theta is the angle between A + * and B Another mathematical representation of the dot product using its components is:
+ * A = {@literal }
+ * B = {@literal }
+ * A . B = {@literal }
* https://en.wikipedia.org/wiki/Dot_product - *

* * @param vector The vector to be multiplied using the dot product * @return the scalar result of the dot of the two vectors @@ -241,21 +262,21 @@ public Angle angleBetween(Vector vector) { /** * Normalizes a vector and returns the result + * *

- *

- * A normalized vector is a vector with magnitude 1. - * Normalized vectors are also called unit vectors. - * A normalized vector keeps it's direction as well as the same proportions of its components. - * When a vector is defined by its components it can be normalized it can be expressed as
- * A = {@literal }
- * A' = {@literal }
- *

+ * + *

A normalized vector is a vector with magnitude 1. Normalized vectors are also called unit + * vectors. A normalized vector keeps it's direction as well as the same proportions of its + * components. When a vector is defined by its components it can be normalized it can be + * expressed as
+ * A = {@literal }
+ * A' = {@literal }
* * @return the normalized vector */ @Override public Vector normalize() { - return new XY(x/getManitude(), y/getManitude()); + return new XY(x / getManitude(), y / getManitude()); } /** From 2984a7800d7d97c7b4957547022a3ee223bf3700 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 6 May 2018 21:44:30 -0400 Subject: [PATCH 09/54] Updated readme to include command reference for Spotless --- README.md | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/README.md b/README.md index a65a2dd..5056154 100644 --- a/README.md +++ b/README.md @@ -20,6 +20,20 @@ Any information regarding Alloy, including how it works, project structure, as w can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) as well as a [quick start guide](). +##Formatting +Alloy uses the [Spotless]() code formatter to ensure that +all of the code follows a specific format. It is added as a build step for a gradle +build so this means that all code in alloy must be compliant to be merged. +Spotless allows for automatic code formatting. Just run +``` +cmd> gradlew spotlessApply +:spotlessApply +BUILD SUCCESSFUL + +cmd> gradlew build +BUILD SUCCESSFUL +``` + # FAQ From 13d5079eff73a636b7dc45a6cf9c9c19957e3fcc Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 6 May 2018 21:45:45 -0400 Subject: [PATCH 10/54] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 5056154..98a641c 100644 --- a/README.md +++ b/README.md @@ -20,7 +20,7 @@ Any information regarding Alloy, including how it works, project structure, as w can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) as well as a [quick start guide](). -##Formatting +## Formatting Alloy uses the [Spotless]() code formatter to ensure that all of the code follows a specific format. It is added as a build step for a gradle build so this means that all code in alloy must be compliant to be merged. From 049daf98a388b73a1f4dcc6dca60ae4b1376cb89 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 6 May 2018 21:46:20 -0400 Subject: [PATCH 11/54] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 98a641c..714b424 100644 --- a/README.md +++ b/README.md @@ -24,7 +24,7 @@ can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wik Alloy uses the [Spotless]() code formatter to ensure that all of the code follows a specific format. It is added as a build step for a gradle build so this means that all code in alloy must be compliant to be merged. -Spotless allows for automatic code formatting. Just run +Spotless allows for automatic code formatting, just run: ``` cmd> gradlew spotlessApply :spotlessApply From bc8be91f7a07f909d69bcf629da7a34e512ede37 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Tue, 15 May 2018 16:17:18 -0400 Subject: [PATCH 12/54] added utils --- .../{Updatable.java => Updateable.java} | 24 +++++++++++++++---- .../alloy/utils/BangBang.java | 4 ++++ 2 files changed, 23 insertions(+), 5 deletions(-) rename src/main/java/org/montclairrobotics/alloy/update/{Updatable.java => Updateable.java} (76%) create mode 100644 src/main/java/org/montclairrobotics/alloy/utils/BangBang.java diff --git a/src/main/java/org/montclairrobotics/alloy/update/Updatable.java b/src/main/java/org/montclairrobotics/alloy/update/Updateable.java similarity index 76% rename from src/main/java/org/montclairrobotics/alloy/update/Updatable.java rename to src/main/java/org/montclairrobotics/alloy/update/Updateable.java index bec0579..690cfec 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Updatable.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Updateable.java @@ -26,11 +26,18 @@ of this software and associated documentation files (the "Software"), to deal import java.lang.reflect.InvocationTargetException; import java.lang.reflect.Method; import java.lang.reflect.Parameter; +import java.util.ArrayList; + import org.montclairrobotics.alloy.components.Component; /** - * Created by MHS Robotics on 2/11/2018. + * A class used for creating objects that can be updated by the Updater + * + * An updateable conatins a method to be updates along with any + * extra information needed for it to be properly called and updated + * like the update rate, parameters and objects that it should be invoked on * + * @see Updater * @author Garrett Burroughs * @since 0.1 */ @@ -39,6 +46,7 @@ public class Updatable { private int updateRate; private Class clazz; private Parameter[] parameters; + private ArrayList objects; Updatable(Method update, int updateRate, Class clazz, Parameter[] parameters) { this.update = update; @@ -47,15 +55,21 @@ public class Updatable { this.parameters = parameters; } + public void getReferences(){ + for(Component c : Component.getComponents()){ + if(c.getClass().equals(clazz)){ + objects.add(c); + } + } + } + public void run() { if (parameters.length != 0) { throw new RuntimeException("UPDATED METHODS CAN NOT HAVE PARAMETERS"); } try { - for (Component component : Component.getComponents()) { - if (component.getClass().equals(clazz)) { - update.invoke(component, (Object[]) parameters); - } + for(Object o : objects){ + update.invoke(o, (Object[]) parameters); } } catch (IllegalAccessException e) { e.printStackTrace(); diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java new file mode 100644 index 0000000..be22c9e --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java @@ -0,0 +1,4 @@ +package org.montclairrobotics.alloy.utils; + +public class BangBang { +} From 3a75a0dd5a660f4c1b21a77af5b2edaa3a21b388 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Tue, 15 May 2018 16:17:41 -0400 Subject: [PATCH 13/54] Added more utils --- .classpath | 12 +++ .project | 23 ++++++ .settings/org.eclipse.buildship.core.prefs | 2 + SpotlessLicense | 2 +- .../alloy/motor/MotorModule.java | 20 +++-- .../alloy/update/Updateable.java | 30 +++++--- .../alloy/update/Updater.java | 62 +++++++++++----- .../alloy/utils/BangBang.java | 73 ++++++++++++++++++- .../alloy/utils/Differential.java | 37 +++++++--- .../alloy/utils/ErrorCorrection.java | 33 +++++++++ .../montclairrobotics/alloy/utils/PID.java | 1 + .../alloy/utils/TuneablePID.java | 40 +++++++++- .../montclairrobotics/alloy/utils/Utils.java | 41 +++++++++++ 13 files changed, 329 insertions(+), 47 deletions(-) create mode 100644 .classpath create mode 100644 .project create mode 100644 .settings/org.eclipse.buildship.core.prefs diff --git a/.classpath b/.classpath new file mode 100644 index 0000000..4857be4 --- /dev/null +++ b/.classpath @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/.project b/.project new file mode 100644 index 0000000..2744906 --- /dev/null +++ b/.project @@ -0,0 +1,23 @@ + + + Alloy + Project Alloy created by Buildship. + + + + + org.eclipse.jdt.core.javabuilder + + + + + org.eclipse.buildship.core.gradleprojectbuilder + + + + + + org.eclipse.jdt.core.javanature + org.eclipse.buildship.core.gradleprojectnature + + diff --git a/.settings/org.eclipse.buildship.core.prefs b/.settings/org.eclipse.buildship.core.prefs new file mode 100644 index 0000000..654fdc2 --- /dev/null +++ b/.settings/org.eclipse.buildship.core.prefs @@ -0,0 +1,2 @@ +#Tue May 08 17:04:10 EDT 2018 +connection.project.dir= diff --git a/SpotlessLicense b/SpotlessLicense index 31878a2..88d4450 100644 --- a/SpotlessLicense +++ b/SpotlessLicense @@ -20,4 +20,4 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. -*/ \ No newline at end of file +*/ diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java index f43b511..59698d1 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java @@ -30,7 +30,7 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.core.Motor; import org.montclairrobotics.alloy.update.Update; import org.montclairrobotics.alloy.utils.ConstantInput; -import org.montclairrobotics.alloy.utils.PID; +import org.montclairrobotics.alloy.utils.ErrorCorrection; import org.montclairrobotics.alloy.vector.Vector; /** @@ -38,8 +38,8 @@ of this software and associated documentation files (the "Software"), to deal * *

A motor module consists of multiple motors that run together in the same direction. Modules * are aware of what direction the run in so they can be used in MoroGroups to be run together with - * other modules. Modules can also be controlled with an encoder and a PID to ensure that the are - * going the right speed. @Author Garrett Burroughs @Version 0.1 @Since 0.1 + * other modules. Modules can also be controlled with an encoder and a ErrorCorrection to ensure + * that the are going the right speed. @Author Garrett Burroughs @Version 0.1 @Since 0.1 */ public class MotorModule extends Component { /** The motors that the module will control */ @@ -51,13 +51,17 @@ public class MotorModule extends Component { */ public Vector direction; - /** A PID controller that will control the */ - public PID powerControl; + /** An error correction that will control the power */ + public ErrorCorrection powerControl; public Encoder encoder; public double targetPower; - public MotorModule(Vector direction, Encoder encoder, PID powerControl, Motor... motors) { + public MotorModule( + Vector direction, + Encoder encoder, + ErrorCorrection powerControl, + Motor... motors) { this.direction = direction; this.motors = new ArrayList<>(Arrays.asList(motors)); this.powerControl = powerControl; @@ -78,7 +82,7 @@ public MotorModule setEncoder(Encoder encoder) { return this; } - public MotorModule setPID(PID powerControl) { + public MotorModule setErrorCorrection(ErrorCorrection powerControl) { this.powerControl = powerControl; return this; } @@ -88,7 +92,7 @@ public void powerCorrection() { if (status.booleanValue()) { // Check if its enabled for (Motor m : motors) { if (powerControl != null) { - m.setMotorPower(targetPower + powerControl.get()); + m.setMotorPower(targetPower + powerControl.getCorrection()); } else { m.setMotorPower(targetPower); } diff --git a/src/main/java/org/montclairrobotics/alloy/update/Updateable.java b/src/main/java/org/montclairrobotics/alloy/update/Updateable.java index 690cfec..fbd6e30 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Updateable.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Updateable.java @@ -27,37 +27,47 @@ of this software and associated documentation files (the "Software"), to deal import java.lang.reflect.Method; import java.lang.reflect.Parameter; import java.util.ArrayList; - import org.montclairrobotics.alloy.components.Component; /** * A class used for creating objects that can be updated by the Updater * - * An updateable conatins a method to be updates along with any - * extra information needed for it to be properly called and updated - * like the update rate, parameters and objects that it should be invoked on + *

An updateable conatins a method to be updates along with any extra information needed for it + * to be properly called and updated like the update rate, parameters and objects that it should be + * invoked on * * @see Updater * @author Garrett Burroughs * @since 0.1 */ -public class Updatable { +public class Updateable { + + /** The method that will be called when it is updated */ private Method update; + + /** How often the updateable should be updated */ private int updateRate; + + /** The class that contains the method */ private Class clazz; + + /** Any parameters for the method (This should be empty) */ private Parameter[] parameters; + + /** All objects that the method needs to be called on */ private ArrayList objects; - Updatable(Method update, int updateRate, Class clazz, Parameter[] parameters) { + Updateable(Method update, int updateRate, Class clazz, Parameter[] parameters) { this.update = update; this.updateRate = updateRate; this.clazz = clazz; this.parameters = parameters; } - public void getReferences(){ - for(Component c : Component.getComponents()){ - if(c.getClass().equals(clazz)){ + /** Gets references to all of the object that the update method should be called on */ + public void getReferences() { + for (Component c : Component.getComponents()) { + if (c.getClass().equals(clazz)) { objects.add(c); } } @@ -68,7 +78,7 @@ public void run() { throw new RuntimeException("UPDATED METHODS CAN NOT HAVE PARAMETERS"); } try { - for(Object o : objects){ + for (Object o : objects) { update.invoke(o, (Object[]) parameters); } } catch (IllegalAccessException e) { diff --git a/src/main/java/org/montclairrobotics/alloy/update/Updater.java b/src/main/java/org/montclairrobotics/alloy/update/Updater.java index acb5aa6..405e93c 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Updater.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Updater.java @@ -25,9 +25,8 @@ of this software and associated documentation files (the "Software"), to deal import java.lang.annotation.Annotation; import java.lang.reflect.Method; -import java.util.Comparator; -import java.util.Set; -import java.util.TreeMap; +import java.util.*; +import org.montclairrobotics.alloy.components.Component; import org.reflections.Reflections; import org.reflections.scanners.MethodAnnotationsScanner; import org.reflections.scanners.SubTypesScanner; @@ -40,9 +39,13 @@ of this software and associated documentation files (the "Software"), to deal */ public class Updater { + /** + * Keeps track of the number of times the updater has run Used in diagnostics and calculating + * when to update methods + */ private static int counter; - private static TreeMap updateables = + private static TreeMap updateables = new TreeMap<>( new Comparator() { @Override @@ -52,16 +55,33 @@ public int compare(Integer o1, Integer o2) { }); public static void registerUpdatables() { - String userFiles = ""; - Reflections alloyReflections = - new Reflections( - "org.montclairrobotics", - new MethodAnnotationsScanner(), - new SubTypesScanner()); - // Reflections userRefelecitons = new Reflections(userFiles); - System.out.println(alloyReflections.getMethodsAnnotatedWith(Update.class)); + // Create an arraylist to store all package names + ArrayList packageReferences = new ArrayList<>(); + // Create an arraylist of all the reflections that will later be used to get annotated methods + ArrayList reflections = new ArrayList<>(); + // Create a set of all the methods + Set methods = new HashSet<>(); - Set methods = alloyReflections.getMethodsAnnotatedWith(Update.class); + // Iterate through all of the components to get the package + for (Object o : Component.getComponents()) { + System.out.println(o.getClass().getPackage().getName()); + // Check if the package has already been added + if (!packageReferences.contains(o.getClass().getPackage().getName())) { + packageReferences.add(o.getClass().getPackage().getName()); // add the package + } + } + + // Iterate through all of the package referneces to create a reflections object + for (String p : packageReferences) { + reflections.add( + new Reflections(p, new MethodAnnotationsScanner(), new SubTypesScanner())); + } + + // Get all update methods + for (Reflections r : reflections) { + methods.addAll(r.getMethodsAnnotatedWith(Update.class)); + } + // Loop through all methods and create Updateable objects for (Method method : methods) { int updateRate = 1; int priority = 0; @@ -73,18 +93,26 @@ public static void registerUpdatables() { } updateables.put( priority, - new Updatable( + new Updateable( method, updateRate, method.getDeclaringClass(), method.getParameters())); } + for (Updateable u : updateables.values()) { + u.getReferences(); + } } + /** + * The update method takes care of updating all of the methods in the project that are within a + * component and are annotated with @Update It will also check the Update rate and decide + * weather to update the method accordingly + */ public static void update() { - for (Updatable updatable : updateables.values()) { - if (counter % updatable.getUpdateRate() == 0) { - updatable.run(); + for (Updateable updateable : updateables.values()) { + if (counter % updateable.getUpdateRate() == 0) { + updateable.run(); } } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java index be22c9e..362c394 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java @@ -1,4 +1,75 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.utils; -public class BangBang { +import java.lang.Double; +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.update.Update; + +public class BangBang extends InputComponent implements ErrorCorrection { + + public double target; + public double lowOut; + public double highOut; + + public BangBang(double lowOut, double highOut) { + this.lowOut = lowOut; + this.highOut = highOut; + } + + public BangBang(double correction) { + this(-correction, correction); + } + + /** + * Set the target for the correction When the input is equal to the target the error is 0 + * + * @param target the goal of the error correction + */ + @Override + public void setTarget(Double target) { + this.target = target; + } + + /** + * Get the value to apply the correction + * + * @return the correction + */ + @Override + public Double getCorrection() { + return output; + } + + @Update + public void calculateCorrection() { + if (input.get() > target) { + output = highOut; + } else if (input.get() < target) { + output = lowOut; + } else { + output = 0d; + } + } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Differential.java b/src/main/java/org/montclairrobotics/alloy/utils/Differential.java index 028a891..3f8c5a9 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Differential.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Differential.java @@ -26,11 +26,26 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.components.InputComponent; import org.montclairrobotics.alloy.update.Update; +/** + * A class to calculate how an input varies with time + * + *

A differential is the rate of change of a certain variable with respect to another one. In + * simplper terms is is the slope. The Differential class takes an input and calculates the average + * rate of change over a very small interval of the input with respect to time + * + *

This concept is a calculus concept when and can be most easily understood when looking at a + * graph where time is the independent variable and the input is dependant on the time + * + *

For example, a time differential of position would be velocity because velocity is how much + * the position changes over time (eg. meters per second) @Author Garrett Burroughs @Since + * 0.1 @Version 0.1 + */ public class Differential extends InputComponent { - Input input; + /** The dependant variable in the situation */ + public Input input; - double prevTime; - double prevIn; + private double prevTime; + private double prevIn; public Differential(Input in) { input = in; @@ -38,14 +53,18 @@ public Differential(Input in) { @Update public void calculateDifferential() { - double elapsedTime = System.nanoTime() - prevTime; - double elapsedIn = input.get() - prevIn; - if (System.nanoTime() != 0) { - output = elapsedIn / elapsedTime; + double elapsedTime = System.nanoTime() - prevTime; // Calculate how much time has passed + double elapsedIn = input.get() - prevIn; // Caclulate how much the input has changed + if (System.nanoTime() != 0) { // Avoid a divide by zero error + output = elapsedIn / elapsedTime; // Return the slope (Delta Input / Delta time) } else { output = 0.0; } - prevIn = input.get(); - prevTime = System.nanoTime(); + prevIn = input.get(); // set previous input to current input for next calculation + prevTime = System.nanoTime(); // Set previous time to current time for next calculation + } + + public Double getInput() { + return input.get(); } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java index aacd43f..eb5d471 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java @@ -23,10 +23,43 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.utils; +/** + * A interface that defines the process of correcting an error + * + *

Error correction can be implemented in different ways but is very important in creating a + * funcitonal robot. The most common + * + *

Most error corrections calculate the error based on the difference of the input and the target + * and then return an output correction based on that. + * + *

Some common examples of error corrections are - PID Loop - Bang Bang control + * + * @see PID + * @param the type of error that will be corrected + * @version 0.1 + * @since 0.1 + */ public interface ErrorCorrection { + + /** + * Set the input of the error correction the input should be the source of what correction is + * correcting. For example in a motor the input would be the encoder + * + * @param input the input to the error correction + */ public void setInput(Input input); + /** + * Set the target for the correction When the input is equal to the target the error is 0 + * + * @param target the goal of the error correction + */ public void setTarget(T target); + /** + * Get the value to apply the correction + * + * @return the correction + */ public T getCorrection(); } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/PID.java b/src/main/java/org/montclairrobotics/alloy/utils/PID.java index e53a614..8c5749b 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/PID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/PID.java @@ -43,6 +43,7 @@ of this software and associated documentation files (the "Software"), to deal * * @author Garrett Burroughs * @since 0.1 + * @version 0.1 */ public class PID extends InputComponent implements ErrorCorrection { private double p; diff --git a/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java b/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java index 419fb23..d709d9c 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java @@ -23,4 +23,42 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.utils; -public class TuneablePID {} +import org.montclairrobotics.alloy.components.InputComponent; + +/** + * A PID class that takes in tunable inputs to make PID tuning easier + * + *

Using a standard PID model, the user would have to re-deploy an test code which can end up + * becoming a very long and drawn out process. By making them inputs, it is able to change these + * values at runtime This could be done easily in FRC using smartdashboard or in FTC by using + * buttons or joysticks to change values + */ +public class TuneablePID extends InputComponent implements ErrorCorrection { + + /** + * Set the input of the error correction the input should be the source of what correction is + * correcting. For example in a motor the input would be the encoder + * + * @param input the input to the error correction + */ + @Override + public void setInput(Input input) {} + + /** + * Set the target for the correction When the input is equal to the target the error is 0 + * + * @param target the goal of the error correction + */ + @Override + public void setTarget(Object target) {} + + /** + * Get the value to apply the correction + * + * @return the correction + */ + @Override + public Object getCorrection() { + return null; + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Utils.java b/src/main/java/org/montclairrobotics/alloy/utils/Utils.java index 963dafd..27e7f8e 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Utils.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Utils.java @@ -23,7 +23,27 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.utils; +/** + * A set of common methods that are useful in writing robot code + * + *

The Utils class contains static methods that can perform basic functions that can be useful + * + * @author garrettburroughs + * @version 0.1 + * @since 0.1 + */ public class Utils { + /** + * Makes sure that a value is between 2 different values + * + *

The constrain method will return the passed in value if it is between the boundaries (min + * & max), amd will return the min or the max depending on which side it runs out on + * + * @param in the value being passed in + * @param min minimum the value can be + * @param max maximum the value can be + * @return a value between the maximum and minimum value + */ public static double constrain(double in, double min, double max) { if (in > max) { return max; @@ -32,4 +52,25 @@ public static double constrain(double in, double min, double max) { } return in; } + + /** + * The map function takes an input value that can be between a certain range and maps it to a + * specified output range + * + * @param in the value being passed in + * @param inputMin the minimum value the input can be + * @param inputMax the maximum value the input can be + * @param outputMin the minimum value the output can be + * @param outputMax the maximum value the output can be + * @return a mapped value from the input range to the output range + */ + public static double map( + double in, double inputMin, double inputMax, double outputMin, double outputMax) { + double scaled = + (in - inputMin) / (inputMax - inputMin); // scale the input to a value from 0-1 + double output = + (outputMax - outputMin) * scaled + + outputMin; // adjust the scaled value to fit the output + return output; + } } From bc0b26ef92078d6c1b1a2a471808d5da05c01b78 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Mon, 21 May 2018 12:02:47 -0400 Subject: [PATCH 14/54] quick readability change --- .idea/modules/Alloy_main.iml | 20 +++++++++++++++++++ .idea/modules/Alloy_test.iml | 20 +++++++++++++++++++ .../montclairrobotics/alloy/ftc/FTCMotor.java | 2 +- 3 files changed, 41 insertions(+), 1 deletion(-) diff --git a/.idea/modules/Alloy_main.iml b/.idea/modules/Alloy_main.iml index 795b244..ff3d097 100644 --- a/.idea/modules/Alloy_main.iml +++ b/.idea/modules/Alloy_main.iml @@ -1,4 +1,24 @@ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.idea/modules/Alloy_test.iml b/.idea/modules/Alloy_test.iml index 6b3eb10..2fc9ec6 100644 --- a/.idea/modules/Alloy_test.iml +++ b/.idea/modules/Alloy_test.iml @@ -1,5 +1,25 @@ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java index 16fcbb1..079e705 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java @@ -87,6 +87,6 @@ public void setInverted(boolean inverted) { * @return true if the motor is inverted */ public boolean getInverted() { - return motor.getDirection() == DcMotorSimple.Direction.REVERSE ? true : false; + return motor.getDirection() == DcMotorSimple.Direction.REVERSE; } } From cc5c746754534dbe854602ad5058f54bce646c0e Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Wed, 23 May 2018 11:25:39 -0400 Subject: [PATCH 15/54] Implemented motor group and test example for intake --- .../alloy/components/InputComponent.java | 7 +- .../montclairrobotics/alloy/core/Alloy.java | 10 ++ .../alloy/drive/DTInput.java | 9 ++ .../alloy/drive/DTMapper.java | 8 +- .../alloy/drive/DriveModule.java | 25 ++++ .../alloy/drive/DriveTrain.java | 4 +- .../alloy/ftc/FTCJoystick.java | 10 +- .../montclairrobotics/alloy/ftc/FTCMotor.java | 12 ++ .../alloy/ftc/FTCTargetMotor.java | 22 +-- .../alloy/motor/DefaultMapper.java | 18 +++ .../montclairrobotics/alloy/motor/Mapper.java | 4 +- .../alloy/motor/MotorGroup.java | 42 +++++- .../alloy/motor/MotorModule.java | 126 +++++++++++++++++- .../alloy/motor/steps/Deadzone.java | 21 +++ .../alloy/motor/steps/VectorDeadzone.java | 17 +++ .../montclairrobotics/alloy/test/Control.java | 5 + .../alloy/test/Hardware.java | 40 ++++++ .../montclairrobotics/alloy/test/Shooter.java | 49 ------- .../alloy/test/ShooterMapper.java | 20 +++ .../alloy/test/TestRobot.java | 47 +++++-- .../alloy/utils/BangBang.java | 17 ++- .../alloy/utils/BooleanToggle.java | 22 +++ .../alloy/utils/ErrorCorrection.java | 9 +- .../alloy/utils/Initializeable.java | 12 ++ .../montclairrobotics/alloy/utils/PID.java | 14 +- .../montclairrobotics/alloy/utils/Utils.java | 22 +++ .../alloy/vector/Vector.java | 5 +- 27 files changed, 504 insertions(+), 93 deletions(-) create mode 100644 src/main/java/org/montclairrobotics/alloy/drive/DTInput.java create mode 100644 src/main/java/org/montclairrobotics/alloy/drive/DriveModule.java create mode 100644 src/main/java/org/montclairrobotics/alloy/motor/DefaultMapper.java create mode 100644 src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java create mode 100644 src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java create mode 100644 src/main/java/org/montclairrobotics/alloy/test/Control.java create mode 100644 src/main/java/org/montclairrobotics/alloy/test/Hardware.java delete mode 100644 src/main/java/org/montclairrobotics/alloy/test/Shooter.java create mode 100644 src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java create mode 100644 src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java create mode 100644 src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java diff --git a/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java b/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java index 03b7f45..4115b3b 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java +++ b/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java @@ -49,7 +49,12 @@ public void applySteps() { output = calculation; } - public void setInput(Input input) { + public InputComponent addStep(Step s){ + steps.add(s); + return this; + } + public InputComponent setInput(Input input) { this.input = input; + return this; } } diff --git a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java index f351778..8729cfe 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java @@ -27,6 +27,9 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.components.Component; import org.montclairrobotics.alloy.ftc.FTCDebugger; import org.montclairrobotics.alloy.update.Updater; +import org.montclairrobotics.alloy.utils.Initializeable; + +import java.util.ArrayList; /** * Created by MHS Robotics on 11/13/2017. @@ -40,6 +43,8 @@ of this software and associated documentation files (the "Software"), to deal */ public abstract class Alloy extends OpMode { + public static ArrayList initObjects = new ArrayList<>(); + /** * The robotSetup is where all code specific to robot setup is placed If you only have one * teleop this can be done in the initialization Method. robotSetup is called right after the @@ -65,6 +70,11 @@ public void init() { // Set Up the core robot components, This allows them to be accessed throughout the project new RobotCore(telemetry, hardwareMap, gamepad1, gamepad2); Component.debugger = new FTCDebugger(); + + for(Initializeable i : initObjects){ + i.init(); + } + robotSetup(); initialization(); } diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java b/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java new file mode 100644 index 0000000..d3eec8d --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java @@ -0,0 +1,9 @@ +package org.montclairrobotics.alloy.drive; + +import org.montclairrobotics.alloy.vector.Angle; +import org.montclairrobotics.alloy.vector.Vector; + +public class DTInput { + public Vector translation; + public Angle rotation; +} diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java b/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java index babe125..65872f6 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java @@ -23,12 +23,16 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.drive; +import org.montclairrobotics.alloy.motor.Mapper; +import org.montclairrobotics.alloy.motor.MotorModule; +import org.montclairrobotics.alloy.utils.Input; + /** * Created by MHS Robotics on 12/16/2017. * * @author Garrett Burroughs * @since 0.1 */ -public interface DTMapper { - public void map(); +public interface DTMapper extends Mapper { + public void map(Input input, MotorModule ... modules); } diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DriveModule.java b/src/main/java/org/montclairrobotics/alloy/drive/DriveModule.java new file mode 100644 index 0000000..8b5ee0a --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/drive/DriveModule.java @@ -0,0 +1,25 @@ +package org.montclairrobotics.alloy.drive; + +import org.montclairrobotics.alloy.core.Encoder; +import org.montclairrobotics.alloy.core.Motor; +import org.montclairrobotics.alloy.motor.MotorModule; +import org.montclairrobotics.alloy.utils.ErrorCorrection; +import org.montclairrobotics.alloy.vector.Vector; + +public class DriveModule extends MotorModule { + /** + * Create a fully functioning motor module + *

+ * Modules created like this will be able to adjust + * their speed based on an error correction to + * maintain a more accurate speed. + * + * @param direction the direction that the module runs (for use in motor groups) + * @param encoder the encoder that keeps track of the motors position + * @param powerControl an error correction to adjust the speed of the module + * @param motors the motors that the module controls + */ + public DriveModule(Vector direction, Encoder encoder, ErrorCorrection powerControl, Motor... motors) { + super(direction, encoder, powerControl, motors); + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java index d71e835..c8694f1 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java @@ -29,4 +29,6 @@ of this software and associated documentation files (the "Software"), to deal * @author Garrett Burroughs * @since 0.1 */ -public class DriveTrain {} +public class DriveTrain { + +} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java index 8ae8819..c6c45c1 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java @@ -24,7 +24,9 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.ftc; import com.qualcomm.robotcore.hardware.Gamepad; +import org.montclairrobotics.alloy.components.InputComponent; import org.montclairrobotics.alloy.core.Joystick; +import org.montclairrobotics.alloy.update.Update; import org.montclairrobotics.alloy.utils.Input; import org.montclairrobotics.alloy.vector.Vector; import org.montclairrobotics.alloy.vector.XY; @@ -41,7 +43,7 @@ of this software and associated documentation files (the "Software"), to deal * @author Garrett Burroughs * @since 0.1 */ -public class FTCJoystick implements Joystick, Input { +public class FTCJoystick extends InputComponent implements Joystick { /** * The side in a FTCJoystick is referring to the side of the controller is on, there are 2 @@ -91,8 +93,8 @@ public Vector getValue() { } } - @Override - public Vector get() { - return getValue(); + @Update + public void updateControls(){ + output = getValue(); } } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java index 9835694..8cf86c0 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java @@ -99,6 +99,16 @@ public boolean getInverted() { return motor.getDirection() == DcMotorSimple.Direction.REVERSE ? true : false; } + public Encoder getEncoder(){ + return new Encoder() { + @Override + public int getTicks() { + return motor.getCurrentPosition(); + } + }; + } + + @Update public void updateMotor() { @@ -114,4 +124,6 @@ public void updateMotor() { public void disableAction() { motor.setPower(0); } + + } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index ceac7cc..e67d9f3 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -28,8 +28,8 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.core.Encoder; import org.montclairrobotics.alloy.core.TargetMotor; import org.montclairrobotics.alloy.update.Update; +import org.montclairrobotics.alloy.utils.ErrorCorrection; import org.montclairrobotics.alloy.utils.Input; -import org.montclairrobotics.alloy.utils.PID; /** * Created by MHS Robotics on 2/24/2018. @@ -76,7 +76,7 @@ enum Mode { } /** PID being used to control the motor in custom mode */ - private PID pid; + private ErrorCorrection correction; /** Current target motor runmode NOTE: not equal to the DCMotor runmode */ private Mode runmode = Mode.DEFAULT; @@ -92,7 +92,7 @@ public void setPosition(int position) { motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); motor.setTargetPosition(position); } else { - pid.setTarget((double) position); + correction.setTarget((double) position); } } @@ -130,16 +130,16 @@ public double getTargetPower() { /** * Set the motor to run using a custom PID * - * @param pid the PID that the motor will be controlled with + * @param correction the PID that the motor will be controlled with */ - public void setPID(PID pid) { - this.pid = pid; + public void setErrorCorrection(ErrorCorrection correction) { + this.correction = correction.copy(); runmode = runmode.CUSTOM; } /** Stop using the custom PID and return to using the default mode */ - public void disablePID() { - this.pid = null; + public void disableErrorCorrection() { + this.correction = null; runmode = Mode.DEFAULT; } @@ -152,7 +152,7 @@ public void update() { if (motor.getMode() == DcMotor.RunMode.RUN_TO_POSITION) { if (runmode == Mode.CUSTOM) { setTargetPower( - pid.get()); // If running using custom PID mode, set power to PID output + correction.getCorrection()); // If running using custom PID mode, set power to PID output } else { motor.setPower( targetPower); // If running in default target mode, set the target power @@ -166,8 +166,8 @@ public void update() { } /** @return the PID being used to control the motor */ - public PID getPid() { - return pid; + public ErrorCorrection getErrorCorrection() { + return correction; } /** @return the motor being controlled */ diff --git a/src/main/java/org/montclairrobotics/alloy/motor/DefaultMapper.java b/src/main/java/org/montclairrobotics/alloy/motor/DefaultMapper.java new file mode 100644 index 0000000..047ce40 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/motor/DefaultMapper.java @@ -0,0 +1,18 @@ +package org.montclairrobotics.alloy.motor; + +import org.montclairrobotics.alloy.utils.Input; +import org.montclairrobotics.alloy.utils.Utils; + +/** + * A simple default mapper + * + * This mapper will run all of the motors in the group in the same direction + */ +public class DefaultMapper implements Mapper> { + @Override + public void map(Input input, MotorModule... modules) { + for(MotorModule m : modules){ + m.setPower(input.get() * Utils.sign(m.getDirection().getManitude())); + } + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java b/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java index 1f844df..53650cc 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java @@ -23,6 +23,8 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.motor; +import org.montclairrobotics.alloy.components.InputComponent; + public interface Mapper { - public void map(T input, MotorModule modules); + public void map(T input, MotorModule ... modules); } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java index 71154fd..56cb514 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java @@ -24,7 +24,14 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.motor; import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; + import org.montclairrobotics.alloy.components.Component; +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.core.Motor; +import org.montclairrobotics.alloy.update.Update; +import org.montclairrobotics.alloy.utils.Input; /** * A motor group is a group of motor modules that run together @@ -37,8 +44,41 @@ of this software and associated documentation files (the "Software"), to deal * lift. This could work with other things like an intake, shooter or other manipulator that * requires multiple motors running together from one input */ -public class MotorGroup extends Component { +public class MotorGroup extends Component { + /** + * The mapper that will be used for power assignment and calculation + */ public Mapper mapper; + + /** + * The modules contained in the motor group + */ public ArrayList modules; + + /** + * The control input for the motor group + */ + public InputComponent input; + + public MotorGroup(InputComponent input, Mapper mapper, MotorModule ... modules){ + this.input = input; + this.mapper = mapper; + this.modules = (ArrayList)Arrays.asList(modules); + } + + /** + * Creates a motor group with a default mapper that simply + * @param input + * @param modules + */ + public MotorGroup(InputComponent input, MotorModule ... modules){ + this(input, new DefaultMapper(), modules); + } + + @Update + public void controlPower(){ + mapper.map(input, modules.toArray(new MotorModule[modules.size()])); + } + } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java index 59698d1..630b5e5 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java @@ -26,6 +26,8 @@ of this software and associated documentation files (the "Software"), to deal import java.util.ArrayList; import java.util.Arrays; import org.montclairrobotics.alloy.components.Component; +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.components.Step; import org.montclairrobotics.alloy.core.Encoder; import org.montclairrobotics.alloy.core.Motor; import org.montclairrobotics.alloy.update.Update; @@ -39,24 +41,55 @@ of this software and associated documentation files (the "Software"), to deal *

A motor module consists of multiple motors that run together in the same direction. Modules * are aware of what direction the run in so they can be used in MoroGroups to be run together with * other modules. Modules can also be controlled with an encoder and a ErrorCorrection to ensure - * that the are going the right speed. @Author Garrett Burroughs @Version 0.1 @Since 0.1 + * that the are going the right speed. + * + * You can also add steps to the Module that can alter the amount of power that the + * module will receive. This can be useful for modules that are being controlled by + * a separate entity such as a motor group. + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 */ public class MotorModule extends Component { /** The motors that the module will control */ public ArrayList motors; /** - * The direction that the modules run This is for use in a motor group running with different - * modules + * The direction that the modules run for use in a motor group */ public Vector direction; + public Vector offset; + /** An error correction that will control the power */ public ErrorCorrection powerControl; + /** + * The encoder that keeps track of the position and controls the motors + */ public Encoder encoder; + + /** + * how fast the module should be running + */ public double targetPower; + + public InputComponent modifier; + + /** + * Create a fully functioning motor module + * + * Modules created like this will be able to adjust + * their speed based on an error correction to + * maintain a more accurate speed. + * + * @param direction the direction that the module runs (for use in motor groups) + * @param encoder the encoder that keeps track of the motors position + * @param powerControl an error correction to adjust the speed of the module + * @param motors the motors that the module controls + */ public MotorModule( Vector direction, Encoder encoder, @@ -69,19 +102,41 @@ public MotorModule( try { powerControl.setInput(() -> encoder.getScaledVelocity()); } catch (NullPointerException e) { - powerControl.setInput(new ConstantInput(0.0)); + powerControl.setInput(new ConstantInput<>(0.0)); } + + modifier = new InputComponent(){}; } + /** + * Create motor module without the use of an encoder + * + * Modules created like this will not be abe to monitor or + * adjust their speed to maintain a constant and more exact + * speed. + * + * @param direction what direction the module runs + * @param motors the motors the module controls + */ public MotorModule(Vector direction, Motor... motors) { this(direction, null, null, motors); } + /** + * Set an encoder for the module + * + * @param encoder the encoder that keeps track of the position of the module + */ public MotorModule setEncoder(Encoder encoder) { this.encoder = encoder; return this; } + /** + * set the power control for the module + * + * @param powerControl an error correction to adjust the speed of the module + */ public MotorModule setErrorCorrection(ErrorCorrection powerControl) { this.powerControl = powerControl; return this; @@ -104,9 +159,26 @@ public void powerCorrection() { } } + /** + * Set the target power of the module + * + * @param power how fast the module will go (-1 to 1) + */ public void setPower(double power) { - targetPower = power; - powerControl.setTarget(power); + modifier.setInput(new ConstantInput<>(power)); + modifier.applySteps(); + targetPower = modifier.get(); + powerControl.setTarget(modifier.get()); + } + + public MotorModule setPowerModifier(InputComponent modifier){ + this.modifier = modifier; + return this; + } + + public MotorModule addStep(Step s){ + modifier.addStep(s); + return this; } /** Method to be called when the toggleable is disabled */ @@ -116,4 +188,46 @@ public void disableAction() { m.setMotorPower(0); } } + + /** + * @return the motor arraylist in the module + */ + public ArrayList getMotors() { + return motors; + } + + /** + * @return the direction the module runs in + */ + public Vector getDirection() { + return direction; + } + + /** + * @return the error correction used for the module + */ + public ErrorCorrection getPowerControl() { + return powerControl; + } + + /** + * @return the encoder that monitors the position of the monitor + */ + public Encoder getEncoder() { + return encoder; + } + + /** + * @return the current target power of the module + */ + public double getTargetPower() { + return targetPower; + } + + /** + * @return the power modifier of the motor + */ + public InputComponent getModifier() { + return modifier; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java b/src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java new file mode 100644 index 0000000..4ec022a --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java @@ -0,0 +1,21 @@ +package org.montclairrobotics.alloy.motor.steps; + +import org.montclairrobotics.alloy.components.Step; +import org.montclairrobotics.alloy.vector.Vector; + +public class Deadzone implements Step { + double tolerance; + + public Deadzone(double tolerance){ + this.tolerance = tolerance; + } + + public Deadzone(){ + this(0.05); + } + + @Override + public Double getOutput(Double input) { + return (double)input < tolerance ? 0 : input; + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java b/src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java new file mode 100644 index 0000000..6fcfa9a --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java @@ -0,0 +1,17 @@ +package org.montclairrobotics.alloy.motor.steps; + +import org.montclairrobotics.alloy.components.Step; +import org.montclairrobotics.alloy.vector.Vector; + +public class VectorDeadzone implements Step { + double tolerance; + + public VectorDeadzone(double tolerance){ + this.tolerance = tolerance; + } + + @Override + public Vector getOutput(Vector input) { + return input.getManitude() < tolerance ? Vector.ZERO : input; + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/test/Control.java b/src/main/java/org/montclairrobotics/alloy/test/Control.java new file mode 100644 index 0000000..40849d9 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/test/Control.java @@ -0,0 +1,5 @@ +package org.montclairrobotics.alloy.test; + +public class Control { + +} diff --git a/src/main/java/org/montclairrobotics/alloy/test/Hardware.java b/src/main/java/org/montclairrobotics/alloy/test/Hardware.java new file mode 100644 index 0000000..e09a3a9 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/test/Hardware.java @@ -0,0 +1,40 @@ +package org.montclairrobotics.alloy.test; + +import com.qualcomm.robotcore.hardware.DcMotor; +import org.montclairrobotics.alloy.core.RobotCore; +import org.montclairrobotics.alloy.utils.Initializeable; + +public class Hardware { + + // ============ + // IDS + // ============ + + static class DeviceID{ + public static final String shooterMotorRight = "shoot_right"; + public static final String shooterMotorLeft = "shoot_left"; + + public static final String intakeMotorRight = "intake_right"; + public static final String intakeMotorLeft = "intake_left"; + } + + // ============ + // Devices + // ============ + + // Shooter + static DcMotor shooterMotorRight; + static DcMotor shooterMotorLeft; + + // Intake + static DcMotor intakeMotorRight; + static DcMotor intakeMotorLeft; + + public static void init() { + shooterMotorRight = RobotCore.getHardwareMap().dcMotor.get(DeviceID.shooterMotorRight); + shooterMotorLeft = RobotCore.getHardwareMap().dcMotor.get(DeviceID.shooterMotorLeft); + + intakeMotorRight = RobotCore.getHardwareMap().dcMotor.get(DeviceID.intakeMotorRight); + intakeMotorLeft = RobotCore.getHardwareMap().dcMotor.get(DeviceID.intakeMotorLeft); + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/test/Shooter.java b/src/main/java/org/montclairrobotics/alloy/test/Shooter.java deleted file mode 100644 index e5278e2..0000000 --- a/src/main/java/org/montclairrobotics/alloy/test/Shooter.java +++ /dev/null @@ -1,49 +0,0 @@ -/* -MIT License - -Copyright (c) 2018 Garrett Burroughs - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. -*/ -package org.montclairrobotics.alloy.test; - -import org.montclairrobotics.alloy.components.Component; -import org.montclairrobotics.alloy.core.Motor; -import org.montclairrobotics.alloy.ftc.FTCMotor; - -public class Shooter extends Component { - Motor motorR = new FTCMotor("Right Motor"); - Motor motorL = new FTCMotor("Left Motor"); - - public Shooter() { - super(); - } - - @Override - public void enableAction() { - motorR.setMotorPower(1); - motorL.setMotorPower(1); - } - - @Override - public void disableAction() { - motorR.setMotorPower(0); - motorL.setMotorPower(0); - } -} diff --git a/src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java b/src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java new file mode 100644 index 0000000..055092a --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java @@ -0,0 +1,20 @@ +package org.montclairrobotics.alloy.test; + +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.motor.Mapper; +import org.montclairrobotics.alloy.motor.MotorModule; +import org.montclairrobotics.alloy.utils.Utils; +import org.montclairrobotics.alloy.vector.Vector; + +public class ShooterMapper implements Mapper { + @Override + public void map(Vector input, MotorModule... modules) { + for(MotorModule m : modules){ + if(m.offset.getX() > 0){ + m.setPower((input.getY() + input.getX()) * Utils.sign(m.direction.getY())); + }else{ + m.setPower((input.getY() - input.getX()) * Utils.sign(m.direction.getY())); + } + } + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java index e52ba87..e0e6152 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java +++ b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java @@ -26,17 +26,50 @@ of this software and associated documentation files (the "Software"), to deal import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import org.montclairrobotics.alloy.control.ToggleButton; import org.montclairrobotics.alloy.core.Alloy; +import org.montclairrobotics.alloy.core.Button; +import org.montclairrobotics.alloy.core.Motor; import org.montclairrobotics.alloy.ftc.FTCButton; +import org.montclairrobotics.alloy.ftc.FTCJoystick; +import org.montclairrobotics.alloy.ftc.FTCMotor; +import org.montclairrobotics.alloy.motor.MotorGroup; +import org.montclairrobotics.alloy.motor.MotorModule; +import org.montclairrobotics.alloy.motor.steps.Deadzone; import org.montclairrobotics.alloy.utils.Input; +import org.montclairrobotics.alloy.utils.PID; +import org.montclairrobotics.alloy.vector.Vector; +import org.montclairrobotics.alloy.vector.XY; @TeleOp public class TestRobot extends Alloy { + // Lower level hardware abstractions + FTCMotor rightIntakeMotor; + FTCMotor leftIntakeMotor; - Shooter shooter; + // High Level Hardware abstractions + MotorGroup shooter; + MotorGroup intake; + + PID motorCorrection; @Override public void robotSetup() { - shooter = new Shooter(); + + rightIntakeMotor = new FTCMotor(Hardware.DeviceID.intakeMotorRight); + leftIntakeMotor = new FTCMotor(Hardware.DeviceID.intakeMotorLeft); + + motorCorrection = new PID(1, 0, 0); + + intake = new MotorGroup( + new FTCJoystick(gamepad1, FTCJoystick.Side.RIGHT).addStep(new Deadzone()), + new ShooterMapper(), + new MotorModule(new XY(0, 1), + rightIntakeMotor.getEncoder().setMaxSpeed(100).setDistancePerTick(30), + motorCorrection, + rightIntakeMotor), + new MotorModule(new XY(0, -1), + leftIntakeMotor.getEncoder().setMaxSpeed(100).setDistancePerTick(30), + motorCorrection, + leftIntakeMotor)); } @Override @@ -44,14 +77,6 @@ public void initialization() {} @Override public void periodic() { - Input shooterButton = - new Input() { - @Override - public Boolean get() { - return gamepad1.a; - } - }; - - new ToggleButton(new FTCButton(shooterButton), shooter); + Button shooterButton = FTCButton.getAButton(gamepad1); } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java index 362c394..6e094f1 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java @@ -48,8 +48,15 @@ public BangBang(double correction) { * @param target the goal of the error correction */ @Override - public void setTarget(Double target) { + public BangBang setTarget(Double target) { this.target = target; + return this; + } + + @Override + public BangBang setInput(Input input){ + this.input = input; + return this; } /** @@ -62,6 +69,14 @@ public Double getCorrection() { return output; } + /** + * @return A copy of the error correction + */ + @Override + public BangBang copy() { + return new BangBang(lowOut, highOut).setTarget(target).setInput(input); + } + @Update public void calculateCorrection() { if (input.get() > target) { diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java new file mode 100644 index 0000000..6b71ae3 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java @@ -0,0 +1,22 @@ +package org.montclairrobotics.alloy.utils; + +public class BooleanToggle extends Toggleable implements Input{ + + + @Override + public Boolean get() { + return status.booleanValue(); + } + + /** + * Method to be called when the toggleable is enabled + */ + @Override + public void enableAction() {} + + /** + * Method to be called when the toggleable is disabled + */ + @Override + public void disableAction() {} +} diff --git a/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java index eb5d471..ea4a364 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java @@ -47,14 +47,14 @@ public interface ErrorCorrection { * * @param input the input to the error correction */ - public void setInput(Input input); + public ErrorCorrection setInput(Input input); /** * Set the target for the correction When the input is equal to the target the error is 0 * * @param target the goal of the error correction */ - public void setTarget(T target); + public ErrorCorrection setTarget(T target); /** * Get the value to apply the correction @@ -62,4 +62,9 @@ public interface ErrorCorrection { * @return the correction */ public T getCorrection(); + + /** + * @return A copy of the error correction + */ + public ErrorCorrection copy(); } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java b/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java new file mode 100644 index 0000000..50beacf --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java @@ -0,0 +1,12 @@ +package org.montclairrobotics.alloy.utils; + +import org.montclairrobotics.alloy.core.Alloy; + +public abstract class Initializeable { + + public Initializeable(){ + Alloy.initObjects.add(this); + } + + public abstract void init(); +} diff --git a/src/main/java/org/montclairrobotics/alloy/utils/PID.java b/src/main/java/org/montclairrobotics/alloy/utils/PID.java index 8c5749b..d78e2a7 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/PID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/PID.java @@ -103,13 +103,15 @@ public PID(double p, double i, double d, Input input, double target) { } @Override - public void setTarget(Double target) { + public PID setTarget(Double target) { this.target = target; + return this; } @Override - public void setInput(Input input) { + public PID setInput(Input input) { this.input = input; + return this; } @Update @@ -153,4 +155,12 @@ public void update() { public Double getCorrection() { return output; } + + /** + * @return A copy of the error correction + */ + @Override + public ErrorCorrection copy() { + return new PID(p, i, d).setTarget(target).setInput(input); + } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Utils.java b/src/main/java/org/montclairrobotics/alloy/utils/Utils.java index 27e7f8e..5fd7b64 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Utils.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Utils.java @@ -73,4 +73,26 @@ public static double map( + outputMin; // adjust the scaled value to fit the output return output; } + + /** + * Returns the sign of a number + * + * @param in the number whose sign will be calculated + * @return 1 if the number is positive and -1 if it is negative + */ + public static int sign(double in){ + return in > 0 ? 1 : -1; + } + + /** + * A modified power function that conserves the sign + * + * @param in the number to be raised to a power + * @param pow the power the number will be raised to + * @return in^pow while keeping the sign of in + */ + public static double pow2(double in, int pow){ + double regularResult = Math.pow(in, pow); + return pow % 2 == 0 ? regularResult * sign(in) : regularResult; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/vector/Vector.java b/src/main/java/org/montclairrobotics/alloy/vector/Vector.java index 28916cf..8352b8e 100644 --- a/src/main/java/org/montclairrobotics/alloy/vector/Vector.java +++ b/src/main/java/org/montclairrobotics/alloy/vector/Vector.java @@ -48,7 +48,10 @@ of this software and associated documentation files (the "Software"), to deal * @version 0.1 * @since 0.1 */ -public interface Vector { +public interface Vector extends Comparable{ + + Vector ZERO = new XY(0, 0); + /** * Gets the X component of the vector * From 93ac1e92b48ae7d09f941b19bd9b00778543afc3 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Mon, 28 May 2018 19:36:18 -0400 Subject: [PATCH 16/54] Updated hyperlinks --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 714b424..2cee1fa 100644 --- a/README.md +++ b/README.md @@ -17,11 +17,11 @@ with expandibility in mind. FRC implementation is possible and will be coming in Alloy is based off the FRC robot framework [Sprocket](https://github.com/MontclairRobotics/Sprocket), but redesigned to abstract away the more complex ideas but still allow for advanced robot functionality. Any information regarding Alloy, including how it works, project structure, as well as in-depth explanation on how to use all of the components -can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) as well as a [quick start guide](). +can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) as well as a [quick start guide](https://github.com/GarrettBurroughs/Alloy/wiki/Getting-Started). ## Formatting -Alloy uses the [Spotless]() code formatter to ensure that +Alloy uses the [Spotless](https://github.com/diffplug/spotless/tree/master/plugin-gradle) code formatter to ensure that all of the code follows a specific format. It is added as a build step for a gradle build so this means that all code in alloy must be compliant to be merged. Spotless allows for automatic code formatting, just run: From ee849c478aabd398159c92ca5d5b4f4e05721fac Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Mon, 6 Aug 2018 08:53:03 -0400 Subject: [PATCH 17/54] fixed formatting --- .../alloy/components/InputComponent.java | 3 +- .../montclairrobotics/alloy/core/Alloy.java | 5 +- .../alloy/drive/DTInput.java | 23 ++++++++ .../alloy/drive/DTMapper.java | 2 +- .../alloy/drive/DriveModule.java | 42 ++++++++++--- .../alloy/drive/DriveTrain.java | 4 +- .../alloy/ftc/FTCJoystick.java | 3 +- .../montclairrobotics/alloy/ftc/FTCMotor.java | 5 +- .../alloy/ftc/FTCTargetMotor.java | 3 +- .../alloy/motor/DefaultMapper.java | 27 ++++++++- .../montclairrobotics/alloy/motor/Mapper.java | 4 +- .../alloy/motor/MotorGroup.java | 26 +++----- .../alloy/motor/MotorModule.java | 59 ++++++------------- .../alloy/motor/steps/Deadzone.java | 30 ++++++++-- .../alloy/motor/steps/VectorDeadzone.java | 25 +++++++- .../montclairrobotics/alloy/test/Control.java | 27 ++++++++- .../alloy/test/Hardware.java | 26 +++++++- .../alloy/test/ShooterMapper.java | 30 ++++++++-- .../alloy/test/TestRobot.java | 39 ++++++------ .../alloy/utils/BangBang.java | 6 +- .../alloy/utils/BooleanToggle.java | 34 ++++++++--- .../alloy/utils/ErrorCorrection.java | 4 +- .../alloy/utils/Initializeable.java | 25 +++++++- .../montclairrobotics/alloy/utils/PID.java | 4 +- .../montclairrobotics/alloy/utils/Utils.java | 4 +- .../alloy/vector/Vector.java | 2 +- 26 files changed, 323 insertions(+), 139 deletions(-) diff --git a/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java b/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java index 4115b3b..35c3a98 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java +++ b/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java @@ -49,10 +49,11 @@ public void applySteps() { output = calculation; } - public InputComponent addStep(Step s){ + public InputComponent addStep(Step s) { steps.add(s); return this; } + public InputComponent setInput(Input input) { this.input = input; return this; diff --git a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java index 8729cfe..e997fba 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java @@ -24,13 +24,12 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.core; import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import java.util.ArrayList; import org.montclairrobotics.alloy.components.Component; import org.montclairrobotics.alloy.ftc.FTCDebugger; import org.montclairrobotics.alloy.update.Updater; import org.montclairrobotics.alloy.utils.Initializeable; -import java.util.ArrayList; - /** * Created by MHS Robotics on 11/13/2017. * @@ -71,7 +70,7 @@ public void init() { new RobotCore(telemetry, hardwareMap, gamepad1, gamepad2); Component.debugger = new FTCDebugger(); - for(Initializeable i : initObjects){ + for (Initializeable i : initObjects) { i.init(); } diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java b/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java index d3eec8d..ebd5c15 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.drive; import org.montclairrobotics.alloy.vector.Angle; diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java b/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java index 65872f6..097c843 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java @@ -34,5 +34,5 @@ of this software and associated documentation files (the "Software"), to deal * @since 0.1 */ public interface DTMapper extends Mapper { - public void map(Input input, MotorModule ... modules); + public void map(Input input, MotorModule... modules); } diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DriveModule.java b/src/main/java/org/montclairrobotics/alloy/drive/DriveModule.java index 8b5ee0a..b5dc42c 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DriveModule.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DriveModule.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.drive; import org.montclairrobotics.alloy.core.Encoder; @@ -9,17 +32,20 @@ public class DriveModule extends MotorModule { /** * Create a fully functioning motor module - *

- * Modules created like this will be able to adjust - * their speed based on an error correction to - * maintain a more accurate speed. * - * @param direction the direction that the module runs (for use in motor groups) - * @param encoder the encoder that keeps track of the motors position + *

Modules created like this will be able to adjust their speed based on an error correction + * to maintain a more accurate speed. + * + * @param direction the direction that the module runs (for use in motor groups) + * @param encoder the encoder that keeps track of the motors position * @param powerControl an error correction to adjust the speed of the module - * @param motors the motors that the module controls + * @param motors the motors that the module controls */ - public DriveModule(Vector direction, Encoder encoder, ErrorCorrection powerControl, Motor... motors) { + public DriveModule( + Vector direction, + Encoder encoder, + ErrorCorrection powerControl, + Motor... motors) { super(direction, encoder, powerControl, motors); } } diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java index c8694f1..d71e835 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java @@ -29,6 +29,4 @@ of this software and associated documentation files (the "Software"), to deal * @author Garrett Burroughs * @since 0.1 */ -public class DriveTrain { - -} +public class DriveTrain {} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java index c6c45c1..ebb2b03 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java @@ -27,7 +27,6 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.components.InputComponent; import org.montclairrobotics.alloy.core.Joystick; import org.montclairrobotics.alloy.update.Update; -import org.montclairrobotics.alloy.utils.Input; import org.montclairrobotics.alloy.vector.Vector; import org.montclairrobotics.alloy.vector.XY; @@ -94,7 +93,7 @@ public Vector getValue() { } @Update - public void updateControls(){ + public void updateControls() { output = getValue(); } } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java index 8cf86c0..690f7b9 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java @@ -99,7 +99,7 @@ public boolean getInverted() { return motor.getDirection() == DcMotorSimple.Direction.REVERSE ? true : false; } - public Encoder getEncoder(){ + public Encoder getEncoder() { return new Encoder() { @Override public int getTicks() { @@ -108,7 +108,6 @@ public int getTicks() { }; } - @Update public void updateMotor() { @@ -124,6 +123,4 @@ public void updateMotor() { public void disableAction() { motor.setPower(0); } - - } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index e67d9f3..1d25799 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -152,7 +152,8 @@ public void update() { if (motor.getMode() == DcMotor.RunMode.RUN_TO_POSITION) { if (runmode == Mode.CUSTOM) { setTargetPower( - correction.getCorrection()); // If running using custom PID mode, set power to PID output + correction + .getCorrection()); // If running using custom PID mode, set power to PID output } else { motor.setPower( targetPower); // If running in default target mode, set the target power diff --git a/src/main/java/org/montclairrobotics/alloy/motor/DefaultMapper.java b/src/main/java/org/montclairrobotics/alloy/motor/DefaultMapper.java index 047ce40..19ef8ed 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/DefaultMapper.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/DefaultMapper.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.motor; import org.montclairrobotics.alloy.utils.Input; @@ -6,12 +29,12 @@ /** * A simple default mapper * - * This mapper will run all of the motors in the group in the same direction + *

This mapper will run all of the motors in the group in the same direction */ public class DefaultMapper implements Mapper> { @Override public void map(Input input, MotorModule... modules) { - for(MotorModule m : modules){ + for (MotorModule m : modules) { m.setPower(input.get() * Utils.sign(m.getDirection().getManitude())); } } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java b/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java index 53650cc..e834700 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java @@ -23,8 +23,6 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.motor; -import org.montclairrobotics.alloy.components.InputComponent; - public interface Mapper { - public void map(T input, MotorModule ... modules); + public void map(T input, MotorModule... modules); } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java index 56cb514..840a5b1 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java @@ -25,13 +25,9 @@ of this software and associated documentation files (the "Software"), to deal import java.util.ArrayList; import java.util.Arrays; -import java.util.List; - import org.montclairrobotics.alloy.components.Component; import org.montclairrobotics.alloy.components.InputComponent; -import org.montclairrobotics.alloy.core.Motor; import org.montclairrobotics.alloy.update.Update; -import org.montclairrobotics.alloy.utils.Input; /** * A motor group is a group of motor modules that run together @@ -46,39 +42,33 @@ of this software and associated documentation files (the "Software"), to deal */ public class MotorGroup extends Component { - /** - * The mapper that will be used for power assignment and calculation - */ + /** The mapper that will be used for power assignment and calculation */ public Mapper mapper; - /** - * The modules contained in the motor group - */ + /** The modules contained in the motor group */ public ArrayList modules; - /** - * The control input for the motor group - */ + /** The control input for the motor group */ public InputComponent input; - public MotorGroup(InputComponent input, Mapper mapper, MotorModule ... modules){ + public MotorGroup(InputComponent input, Mapper mapper, MotorModule... modules) { this.input = input; this.mapper = mapper; - this.modules = (ArrayList)Arrays.asList(modules); + this.modules = (ArrayList) Arrays.asList(modules); } /** * Creates a motor group with a default mapper that simply + * * @param input * @param modules */ - public MotorGroup(InputComponent input, MotorModule ... modules){ + public MotorGroup(InputComponent input, MotorModule... modules) { this(input, new DefaultMapper(), modules); } @Update - public void controlPower(){ + public void controlPower() { mapper.map(input, modules.toArray(new MotorModule[modules.size()])); } - } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java index 630b5e5..8ac765d 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java @@ -43,9 +43,9 @@ of this software and associated documentation files (the "Software"), to deal * other modules. Modules can also be controlled with an encoder and a ErrorCorrection to ensure * that the are going the right speed. * - * You can also add steps to the Module that can alter the amount of power that the - * module will receive. This can be useful for modules that are being controlled by - * a separate entity such as a motor group. + *

You can also add steps to the Module that can alter the amount of power that the module will + * receive. This can be useful for modules that are being controlled by a separate entity such as a + * motor group. * * @author Garrett Burroughs * @version 0.1 @@ -55,9 +55,7 @@ public class MotorModule extends Component { /** The motors that the module will control */ public ArrayList motors; - /** - * The direction that the modules run for use in a motor group - */ + /** The direction that the modules run for use in a motor group */ public Vector direction; public Vector offset; @@ -65,25 +63,19 @@ public class MotorModule extends Component { /** An error correction that will control the power */ public ErrorCorrection powerControl; - /** - * The encoder that keeps track of the position and controls the motors - */ + /** The encoder that keeps track of the position and controls the motors */ public Encoder encoder; - /** - * how fast the module should be running - */ + /** how fast the module should be running */ public double targetPower; - public InputComponent modifier; /** * Create a fully functioning motor module * - * Modules created like this will be able to adjust - * their speed based on an error correction to - * maintain a more accurate speed. + *

Modules created like this will be able to adjust their speed based on an error correction + * to maintain a more accurate speed. * * @param direction the direction that the module runs (for use in motor groups) * @param encoder the encoder that keeps track of the motors position @@ -105,15 +97,14 @@ public MotorModule( powerControl.setInput(new ConstantInput<>(0.0)); } - modifier = new InputComponent(){}; + modifier = new InputComponent() {}; } /** * Create motor module without the use of an encoder * - * Modules created like this will not be abe to monitor or - * adjust their speed to maintain a constant and more exact - * speed. + *

Modules created like this will not be abe to monitor or adjust their speed to maintain a + * constant and more exact speed. * * @param direction what direction the module runs * @param motors the motors the module controls @@ -171,12 +162,12 @@ public void setPower(double power) { powerControl.setTarget(modifier.get()); } - public MotorModule setPowerModifier(InputComponent modifier){ + public MotorModule setPowerModifier(InputComponent modifier) { this.modifier = modifier; return this; } - public MotorModule addStep(Step s){ + public MotorModule addStep(Step s) { modifier.addStep(s); return this; } @@ -189,44 +180,32 @@ public void disableAction() { } } - /** - * @return the motor arraylist in the module - */ + /** @return the motor arraylist in the module */ public ArrayList getMotors() { return motors; } - /** - * @return the direction the module runs in - */ + /** @return the direction the module runs in */ public Vector getDirection() { return direction; } - /** - * @return the error correction used for the module - */ + /** @return the error correction used for the module */ public ErrorCorrection getPowerControl() { return powerControl; } - /** - * @return the encoder that monitors the position of the monitor - */ + /** @return the encoder that monitors the position of the monitor */ public Encoder getEncoder() { return encoder; } - /** - * @return the current target power of the module - */ + /** @return the current target power of the module */ public double getTargetPower() { return targetPower; } - /** - * @return the power modifier of the motor - */ + /** @return the power modifier of the motor */ public InputComponent getModifier() { return modifier; } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java b/src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java index 4ec022a..0dc40ae 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java @@ -1,21 +1,43 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.motor.steps; import org.montclairrobotics.alloy.components.Step; -import org.montclairrobotics.alloy.vector.Vector; public class Deadzone implements Step { double tolerance; - public Deadzone(double tolerance){ + public Deadzone(double tolerance) { this.tolerance = tolerance; } - public Deadzone(){ + public Deadzone() { this(0.05); } @Override public Double getOutput(Double input) { - return (double)input < tolerance ? 0 : input; + return (double) input < tolerance ? 0 : input; } } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java b/src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java index 6fcfa9a..619624c 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.motor.steps; import org.montclairrobotics.alloy.components.Step; @@ -6,7 +29,7 @@ public class VectorDeadzone implements Step { double tolerance; - public VectorDeadzone(double tolerance){ + public VectorDeadzone(double tolerance) { this.tolerance = tolerance; } diff --git a/src/main/java/org/montclairrobotics/alloy/test/Control.java b/src/main/java/org/montclairrobotics/alloy/test/Control.java index 40849d9..6611e1c 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/Control.java +++ b/src/main/java/org/montclairrobotics/alloy/test/Control.java @@ -1,5 +1,26 @@ -package org.montclairrobotics.alloy.test; +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: -public class Control { +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.test; -} +public class Control {} diff --git a/src/main/java/org/montclairrobotics/alloy/test/Hardware.java b/src/main/java/org/montclairrobotics/alloy/test/Hardware.java index e09a3a9..0068241 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/Hardware.java +++ b/src/main/java/org/montclairrobotics/alloy/test/Hardware.java @@ -1,8 +1,30 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.test; import com.qualcomm.robotcore.hardware.DcMotor; import org.montclairrobotics.alloy.core.RobotCore; -import org.montclairrobotics.alloy.utils.Initializeable; public class Hardware { @@ -10,7 +32,7 @@ public class Hardware { // IDS // ============ - static class DeviceID{ + static class DeviceID { public static final String shooterMotorRight = "shoot_right"; public static final String shooterMotorLeft = "shoot_left"; diff --git a/src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java b/src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java index 055092a..5ff71ea 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java +++ b/src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java @@ -1,6 +1,28 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.test; -import org.montclairrobotics.alloy.components.InputComponent; import org.montclairrobotics.alloy.motor.Mapper; import org.montclairrobotics.alloy.motor.MotorModule; import org.montclairrobotics.alloy.utils.Utils; @@ -9,10 +31,10 @@ public class ShooterMapper implements Mapper { @Override public void map(Vector input, MotorModule... modules) { - for(MotorModule m : modules){ - if(m.offset.getX() > 0){ + for (MotorModule m : modules) { + if (m.offset.getX() > 0) { m.setPower((input.getY() + input.getX()) * Utils.sign(m.direction.getY())); - }else{ + } else { m.setPower((input.getY() - input.getX()) * Utils.sign(m.direction.getY())); } } diff --git a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java index e0e6152..14112b7 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java +++ b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java @@ -24,19 +24,15 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.test; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import org.montclairrobotics.alloy.control.ToggleButton; import org.montclairrobotics.alloy.core.Alloy; import org.montclairrobotics.alloy.core.Button; -import org.montclairrobotics.alloy.core.Motor; import org.montclairrobotics.alloy.ftc.FTCButton; import org.montclairrobotics.alloy.ftc.FTCJoystick; import org.montclairrobotics.alloy.ftc.FTCMotor; import org.montclairrobotics.alloy.motor.MotorGroup; import org.montclairrobotics.alloy.motor.MotorModule; import org.montclairrobotics.alloy.motor.steps.Deadzone; -import org.montclairrobotics.alloy.utils.Input; import org.montclairrobotics.alloy.utils.PID; -import org.montclairrobotics.alloy.vector.Vector; import org.montclairrobotics.alloy.vector.XY; @TeleOp @@ -54,22 +50,31 @@ public class TestRobot extends Alloy { @Override public void robotSetup() { - rightIntakeMotor = new FTCMotor(Hardware.DeviceID.intakeMotorRight); - leftIntakeMotor = new FTCMotor(Hardware.DeviceID.intakeMotorLeft); + rightIntakeMotor = new FTCMotor(Hardware.DeviceID.intakeMotorRight); + leftIntakeMotor = new FTCMotor(Hardware.DeviceID.intakeMotorLeft); motorCorrection = new PID(1, 0, 0); - intake = new MotorGroup( - new FTCJoystick(gamepad1, FTCJoystick.Side.RIGHT).addStep(new Deadzone()), - new ShooterMapper(), - new MotorModule(new XY(0, 1), - rightIntakeMotor.getEncoder().setMaxSpeed(100).setDistancePerTick(30), - motorCorrection, - rightIntakeMotor), - new MotorModule(new XY(0, -1), - leftIntakeMotor.getEncoder().setMaxSpeed(100).setDistancePerTick(30), - motorCorrection, - leftIntakeMotor)); + intake = + new MotorGroup( + new FTCJoystick(gamepad1, FTCJoystick.Side.RIGHT).addStep(new Deadzone()), + new ShooterMapper(), + new MotorModule( + new XY(0, 1), + rightIntakeMotor + .getEncoder() + .setMaxSpeed(100) + .setDistancePerTick(30), + motorCorrection, + rightIntakeMotor), + new MotorModule( + new XY(0, -1), + leftIntakeMotor + .getEncoder() + .setMaxSpeed(100) + .setDistancePerTick(30), + motorCorrection, + leftIntakeMotor)); } @Override diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java index 6e094f1..0585405 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java @@ -54,7 +54,7 @@ public BangBang setTarget(Double target) { } @Override - public BangBang setInput(Input input){ + public BangBang setInput(Input input) { this.input = input; return this; } @@ -69,9 +69,7 @@ public Double getCorrection() { return output; } - /** - * @return A copy of the error correction - */ + /** @return A copy of the error correction */ @Override public BangBang copy() { return new BangBang(lowOut, highOut).setTarget(target).setInput(input); diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java index 6b71ae3..4e0cbaa 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java @@ -1,22 +1,40 @@ -package org.montclairrobotics.alloy.utils; +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: -public class BooleanToggle extends Toggleable implements Input{ +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.utils; +public class BooleanToggle extends Toggleable implements Input { @Override public Boolean get() { return status.booleanValue(); } - /** - * Method to be called when the toggleable is enabled - */ + /** Method to be called when the toggleable is enabled */ @Override public void enableAction() {} - /** - * Method to be called when the toggleable is disabled - */ + /** Method to be called when the toggleable is disabled */ @Override public void disableAction() {} } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java index ea4a364..8733651 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java @@ -63,8 +63,6 @@ public interface ErrorCorrection { */ public T getCorrection(); - /** - * @return A copy of the error correction - */ + /** @return A copy of the error correction */ public ErrorCorrection copy(); } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java b/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java index 50beacf..5517d3d 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java @@ -1,10 +1,33 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.utils; import org.montclairrobotics.alloy.core.Alloy; public abstract class Initializeable { - public Initializeable(){ + public Initializeable() { Alloy.initObjects.add(this); } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/PID.java b/src/main/java/org/montclairrobotics/alloy/utils/PID.java index d78e2a7..464420e 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/PID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/PID.java @@ -156,9 +156,7 @@ public Double getCorrection() { return output; } - /** - * @return A copy of the error correction - */ + /** @return A copy of the error correction */ @Override public ErrorCorrection copy() { return new PID(p, i, d).setTarget(target).setInput(input); diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Utils.java b/src/main/java/org/montclairrobotics/alloy/utils/Utils.java index 5fd7b64..56269cb 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Utils.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Utils.java @@ -80,7 +80,7 @@ public static double map( * @param in the number whose sign will be calculated * @return 1 if the number is positive and -1 if it is negative */ - public static int sign(double in){ + public static int sign(double in) { return in > 0 ? 1 : -1; } @@ -91,7 +91,7 @@ public static int sign(double in){ * @param pow the power the number will be raised to * @return in^pow while keeping the sign of in */ - public static double pow2(double in, int pow){ + public static double pow2(double in, int pow) { double regularResult = Math.pow(in, pow); return pow % 2 == 0 ? regularResult * sign(in) : regularResult; } diff --git a/src/main/java/org/montclairrobotics/alloy/vector/Vector.java b/src/main/java/org/montclairrobotics/alloy/vector/Vector.java index 8352b8e..f6cbdd6 100644 --- a/src/main/java/org/montclairrobotics/alloy/vector/Vector.java +++ b/src/main/java/org/montclairrobotics/alloy/vector/Vector.java @@ -48,7 +48,7 @@ of this software and associated documentation files (the "Software"), to deal * @version 0.1 * @since 0.1 */ -public interface Vector extends Comparable{ +public interface Vector extends Comparable { Vector ZERO = new XY(0, 0); From bf1aa380cb31fbec26361af523f0b9694d980e78 Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Mon, 6 Aug 2018 17:06:56 -0400 Subject: [PATCH 18/54] updated docs --- .idea/misc.xml | 14 +- .idea/modules/Alloy_main.iml | 20 - .idea/modules/Alloy_test.iml | 21 - docs/javadoc/allclasses-frame.html | 52 ++ docs/javadoc/allclasses-noframe.html | 52 ++ docs/javadoc/constant-values.html | 124 +++ docs/javadoc/deprecated-list.html | 124 +++ docs/javadoc/help-doc.html | 229 ++++++ docs/javadoc/index-files/index-1.html | 177 +++++ docs/javadoc/index-files/index-10.html | 131 ++++ docs/javadoc/index-files/index-11.html | 137 ++++ docs/javadoc/index-files/index-12.html | 143 ++++ docs/javadoc/index-files/index-13.html | 139 ++++ docs/javadoc/index-files/index-14.html | 161 ++++ docs/javadoc/index-files/index-15.html | 153 ++++ docs/javadoc/index-files/index-16.html | 162 ++++ docs/javadoc/index-files/index-17.html | 279 +++++++ docs/javadoc/index-files/index-18.html | 165 ++++ docs/javadoc/index-files/index-19.html | 152 ++++ docs/javadoc/index-files/index-2.html | 139 ++++ docs/javadoc/index-files/index-20.html | 149 ++++ docs/javadoc/index-files/index-21.html | 145 ++++ docs/javadoc/index-files/index-22.html | 135 ++++ docs/javadoc/index-files/index-23.html | 129 +++ docs/javadoc/index-files/index-3.html | 155 ++++ docs/javadoc/index-files/index-4.html | 167 ++++ docs/javadoc/index-files/index-5.html | 137 ++++ docs/javadoc/index-files/index-6.html | 161 ++++ docs/javadoc/index-files/index-7.html | 291 +++++++ docs/javadoc/index-files/index-8.html | 132 ++++ docs/javadoc/index-files/index-9.html | 147 ++++ docs/javadoc/index.html | 75 ++ .../alloy/auto/AlloyAutonomous.html | 324 ++++++++ .../montclairrobotics/alloy/auto/State.html | 358 +++++++++ .../alloy/auto/StateMachine.html | 382 +++++++++ .../alloy/auto/class-use/AlloyAutonomous.html | 124 +++ .../alloy/auto/class-use/State.html | 190 +++++ .../alloy/auto/class-use/StateMachine.html | 124 +++ .../alloy/auto/package-frame.html | 22 + .../alloy/auto/package-summary.html | 156 ++++ .../alloy/auto/package-tree.html | 146 ++++ .../alloy/auto/package-use.html | 159 ++++ .../alloy/control/ButtonAction.html | 398 ++++++++++ .../alloy/control/ToggleButton.html | 380 +++++++++ .../alloy/control/class-use/ButtonAction.html | 166 ++++ .../alloy/control/class-use/ToggleButton.html | 124 +++ .../alloy/control/package-frame.html | 21 + .../alloy/control/package-summary.html | 150 ++++ .../alloy/control/package-tree.html | 141 ++++ .../alloy/control/package-use.html | 159 ++++ .../montclairrobotics/alloy/core/Alloy.html | 391 +++++++++ .../montclairrobotics/alloy/core/Button.html | 244 ++++++ .../montclairrobotics/alloy/core/Debug.html | 268 +++++++ .../alloy/core/Joystick.html | 243 ++++++ .../montclairrobotics/alloy/core/Mode.html | 358 +++++++++ .../montclairrobotics/alloy/core/Motor.html | 305 +++++++ .../alloy/core/RobotCore.html | 458 +++++++++++ .../alloy/core/TargetMotor.html | 306 ++++++++ .../alloy/core/class-use/Alloy.html | 164 ++++ .../alloy/core/class-use/Button.html | 203 +++++ .../alloy/core/class-use/Debug.html | 166 ++++ .../alloy/core/class-use/Joystick.html | 166 ++++ .../alloy/core/class-use/Mode.html | 173 ++++ .../alloy/core/class-use/Motor.html | 196 +++++ .../alloy/core/class-use/RobotCore.html | 124 +++ .../alloy/core/class-use/TargetMotor.html | 166 ++++ .../alloy/core/package-frame.html | 33 + .../alloy/core/package-summary.html | 208 +++++ .../alloy/core/package-tree.html | 165 ++++ .../alloy/core/package-use.html | 247 ++++++ .../alloy/drive/DTMapper.html | 228 ++++++ .../alloy/drive/DriveTrain.html | 244 ++++++ .../alloy/drive/class-use/DTMapper.html | 124 +++ .../alloy/drive/class-use/DriveTrain.html | 124 +++ .../alloy/drive/package-frame.html | 24 + .../alloy/drive/package-summary.html | 161 ++++ .../alloy/drive/package-tree.html | 141 ++++ .../alloy/drive/package-use.html | 124 +++ .../alloy/ftc/FTCButton.html | 465 +++++++++++ .../montclairrobotics/alloy/ftc/FTCDebug.html | 322 ++++++++ .../alloy/ftc/FTCJoystick.Side.html | 345 ++++++++ .../alloy/ftc/FTCJoystick.html | 314 ++++++++ .../montclairrobotics/alloy/ftc/FTCMotor.html | 368 +++++++++ .../alloy/ftc/FTCTargetMotor.html | 489 ++++++++++++ .../alloy/ftc/class-use/FTCButton.html | 208 +++++ .../alloy/ftc/class-use/FTCDebug.html | 124 +++ .../alloy/ftc/class-use/FTCJoystick.Side.html | 185 +++++ .../alloy/ftc/class-use/FTCJoystick.html | 124 +++ .../alloy/ftc/class-use/FTCMotor.html | 166 ++++ .../alloy/ftc/class-use/FTCTargetMotor.html | 124 +++ .../alloy/ftc/package-frame.html | 28 + .../alloy/ftc/package-summary.html | 183 +++++ .../alloy/ftc/package-tree.html | 156 ++++ .../alloy/ftc/package-use.html | 167 ++++ .../montclairrobotics/alloy/test/Shooter.html | 312 ++++++++ .../alloy/test/TestRobot.html | 369 +++++++++ .../alloy/test/class-use/Shooter.html | 124 +++ .../alloy/test/class-use/TestRobot.html | 124 +++ .../alloy/test/package-frame.html | 21 + .../alloy/test/package-summary.html | 146 ++++ .../alloy/test/package-tree.html | 150 ++++ .../alloy/test/package-use.html | 124 +++ .../alloy/update/Updatable.html | 257 ++++++ .../alloy/update/Update.html | 237 ++++++ .../alloy/update/Updater.html | 291 +++++++ .../alloy/update/class-use/Updatable.html | 124 +++ .../alloy/update/class-use/Update.html | 213 +++++ .../alloy/update/class-use/Updater.html | 124 +++ .../alloy/update/package-frame.html | 25 + .../alloy/update/package-summary.html | 165 ++++ .../alloy/update/package-tree.html | 142 ++++ .../alloy/update/package-use.html | 195 +++++ .../montclairrobotics/alloy/utils/Input.html | 232 ++++++ .../montclairrobotics/alloy/utils/PID.html | 387 +++++++++ .../alloy/utils/Toggleable.html | 357 +++++++++ .../alloy/utils/TuneablePID.html | 237 ++++++ .../alloy/utils/class-use/Input.html | 220 ++++++ .../alloy/utils/class-use/PID.html | 205 +++++ .../alloy/utils/class-use/Toggleable.html | 185 +++++ .../alloy/utils/class-use/TuneablePID.html | 124 +++ .../alloy/utils/package-frame.html | 26 + .../alloy/utils/package-summary.html | 171 ++++ .../alloy/utils/package-tree.html | 143 ++++ .../alloy/utils/package-use.html | 232 ++++++ .../montclairrobotics/alloy/vector/Angle.html | 476 +++++++++++ .../montclairrobotics/alloy/vector/Polar.html | 729 +++++++++++++++++ .../alloy/vector/Vector.html | 641 +++++++++++++++ .../montclairrobotics/alloy/vector/XY.html | 741 ++++++++++++++++++ .../alloy/vector/class-use/Angle.html | 266 +++++++ .../alloy/vector/class-use/Polar.html | 124 +++ .../alloy/vector/class-use/Vector.html | 434 ++++++++++ .../alloy/vector/class-use/XY.html | 162 ++++ .../alloy/vector/package-frame.html | 26 + .../alloy/vector/package-summary.html | 173 ++++ .../alloy/vector/package-tree.html | 143 ++++ .../alloy/vector/package-use.html | 211 +++++ docs/javadoc/overview-frame.html | 29 + docs/javadoc/overview-summary.html | 167 ++++ docs/javadoc/overview-tree.html | 217 +++++ docs/javadoc/package-list | 9 + docs/javadoc/script.js | 30 + docs/javadoc/stylesheet.css | 574 ++++++++++++++ docs/readme.md | 21 + 143 files changed, 28224 insertions(+), 54 deletions(-) create mode 100644 docs/javadoc/allclasses-frame.html create mode 100644 docs/javadoc/allclasses-noframe.html create mode 100644 docs/javadoc/constant-values.html create mode 100644 docs/javadoc/deprecated-list.html create mode 100644 docs/javadoc/help-doc.html create mode 100644 docs/javadoc/index-files/index-1.html create mode 100644 docs/javadoc/index-files/index-10.html create mode 100644 docs/javadoc/index-files/index-11.html create mode 100644 docs/javadoc/index-files/index-12.html create mode 100644 docs/javadoc/index-files/index-13.html create mode 100644 docs/javadoc/index-files/index-14.html create mode 100644 docs/javadoc/index-files/index-15.html create mode 100644 docs/javadoc/index-files/index-16.html create mode 100644 docs/javadoc/index-files/index-17.html create mode 100644 docs/javadoc/index-files/index-18.html create mode 100644 docs/javadoc/index-files/index-19.html create mode 100644 docs/javadoc/index-files/index-2.html create mode 100644 docs/javadoc/index-files/index-20.html create mode 100644 docs/javadoc/index-files/index-21.html create mode 100644 docs/javadoc/index-files/index-22.html create mode 100644 docs/javadoc/index-files/index-23.html create mode 100644 docs/javadoc/index-files/index-3.html create mode 100644 docs/javadoc/index-files/index-4.html create mode 100644 docs/javadoc/index-files/index-5.html create mode 100644 docs/javadoc/index-files/index-6.html create mode 100644 docs/javadoc/index-files/index-7.html create mode 100644 docs/javadoc/index-files/index-8.html create mode 100644 docs/javadoc/index-files/index-9.html create mode 100644 docs/javadoc/index.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/AlloyAutonomous.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/State.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/control/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/Button.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/Debug.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/Mode.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/Motor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebug.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebug.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/Shooter.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/class-use/Shooter.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/Updatable.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/Update.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/Updater.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updatable.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/Input.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/PID.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/XY.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html create mode 100644 docs/javadoc/overview-frame.html create mode 100644 docs/javadoc/overview-summary.html create mode 100644 docs/javadoc/overview-tree.html create mode 100644 docs/javadoc/package-list create mode 100644 docs/javadoc/script.js create mode 100644 docs/javadoc/stylesheet.css create mode 100644 docs/readme.md diff --git a/.idea/misc.xml b/.idea/misc.xml index 2a6099a..65dab8f 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -1,22 +1,10 @@ - diff --git a/.idea/modules/Alloy_main.iml b/.idea/modules/Alloy_main.iml index ff3d097..795b244 100644 --- a/.idea/modules/Alloy_main.iml +++ b/.idea/modules/Alloy_main.iml @@ -1,24 +1,4 @@ - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/.idea/modules/Alloy_test.iml b/.idea/modules/Alloy_test.iml index 2fc9ec6..cae3221 100644 --- a/.idea/modules/Alloy_test.iml +++ b/.idea/modules/Alloy_test.iml @@ -1,25 +1,4 @@ - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/docs/javadoc/allclasses-frame.html b/docs/javadoc/allclasses-frame.html new file mode 100644 index 0000000..9719412 --- /dev/null +++ b/docs/javadoc/allclasses-frame.html @@ -0,0 +1,52 @@ + + + + + +All Classes + + + + + +

All Classes

+
+ +
+ + diff --git a/docs/javadoc/allclasses-noframe.html b/docs/javadoc/allclasses-noframe.html new file mode 100644 index 0000000..3dfc0de --- /dev/null +++ b/docs/javadoc/allclasses-noframe.html @@ -0,0 +1,52 @@ + + + + + +All Classes + + + + + +

All Classes

+
+ +
+ + diff --git a/docs/javadoc/constant-values.html b/docs/javadoc/constant-values.html new file mode 100644 index 0000000..85e7268 --- /dev/null +++ b/docs/javadoc/constant-values.html @@ -0,0 +1,124 @@ + + + + + +Constant Field Values + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Constant Field Values

+

Contents

+
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/deprecated-list.html b/docs/javadoc/deprecated-list.html new file mode 100644 index 0000000..a64be8f --- /dev/null +++ b/docs/javadoc/deprecated-list.html @@ -0,0 +1,124 @@ + + + + + +Deprecated List + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Deprecated API

+

Contents

+
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/help-doc.html b/docs/javadoc/help-doc.html new file mode 100644 index 0000000..8b75052 --- /dev/null +++ b/docs/javadoc/help-doc.html @@ -0,0 +1,229 @@ + + + + + +API Help + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

How This API Document Is Organized

+
This API (Application Programming Interface) document has pages corresponding to the items in the navigation bar, described as follows.
+
+
+
    +
  • +

    Overview

    +

    The Overview page is the front page of this API document and provides a list of all packages with a summary for each. This page can also contain an overall description of the set of packages.

    +
    • +
  • +

    Package

    +

    Each package has a page that contains a list of its classes and interfaces, with a summary for each. This page can contain six categories:

    +
      +
    • Interfaces (italic)
      • +
    • Classes
      • +
    • Enums
      • +
    • Exceptions
      • +
    • Errors
      • +
    • Annotation Types
      • +
    +
    • +
  • +

    Class/Interface

    +

    Each class, interface, nested class and nested interface has its own separate page. Each of these pages has three sections consisting of a class/interface description, summary tables, and detailed member descriptions:

    +
      +
    • Class inheritance diagram
      • +
    • Direct Subclasses
      • +
    • All Known Subinterfaces
      • +
    • All Known Implementing Classes
      • +
    • Class/interface declaration
      • +
    • Class/interface description
      • +
    +
      +
    • Nested Class Summary
      • +
    • Field Summary
      • +
    • Constructor Summary
      • +
    • Method Summary
      • +
    +
      +
    • Field Detail
      • +
    • Constructor Detail
      • +
    • Method Detail
      • +
    +

    Each summary entry contains the first sentence from the detailed description for that item. The summary entries are alphabetical, while the detailed descriptions are in the order they appear in the source code. This preserves the logical groupings established by the programmer.

    +
    • +
  • +

    Annotation Type

    +

    Each annotation type has its own separate page with the following sections:

    +
      +
    • Annotation Type declaration
      • +
    • Annotation Type description
      • +
    • Required Element Summary
      • +
    • Optional Element Summary
      • +
    • Element Detail
      • +
    +
    • +
  • +

    Enum

    +

    Each enum has its own separate page with the following sections:

    +
      +
    • Enum declaration
      • +
    • Enum description
      • +
    • Enum Constant Summary
      • +
    • Enum Constant Detail
      • +
    +
    • +
  • +

    Use

    +

    Each documented package, class and interface has its own Use page. This page describes what packages, classes, methods, constructors and fields use any part of the given class or package. Given a class or interface A, its Use page includes subclasses of A, fields declared as A, methods that return A, and methods and constructors with parameters of type A. You can access this page by first going to the package, class or interface, then clicking on the "Use" link in the navigation bar.

    +
    • +
  • +

    Tree (Class Hierarchy)

    +

    There is a Class Hierarchy page for all packages, plus a hierarchy for each package. Each hierarchy page contains a list of classes and a list of interfaces. The classes are organized by inheritance structure starting with java.lang.Object. The interfaces do not inherit from java.lang.Object.

    +
      +
    • When viewing the Overview page, clicking on "Tree" displays the hierarchy for all packages.
      • +
    • When viewing a particular package, class or interface page, clicking "Tree" displays the hierarchy for only that package.
      • +
    +
    • +
  • +

    Deprecated API

    +

    The Deprecated API page lists all of the API that have been deprecated. A deprecated API is not recommended for use, generally due to improvements, and a replacement API is usually given. Deprecated APIs may be removed in future implementations.

    +
    • +
  • +

    Index

    +

    The Index contains an alphabetic list of all classes, interfaces, constructors, methods, and fields.

    +
    • +
  • +

    Prev/Next

    +

    These links take you to the next or previous class, interface, package, or related page.

    +
    • +
  • +

    Frames/No Frames

    +

    These links show and hide the HTML frames. All pages are available with or without frames.

    +
    • +
  • +

    All Classes

    +

    The All Classes link shows all classes and interfaces except non-static nested types.

    +
    • +
  • +

    Serialized Form

    +

    Each serializable or externalizable class has a description of its serialization fields and methods. This information is of interest to re-implementors, not to developers using the API. While there is no link in the navigation bar, you can get to this information by going to any serialized class and clicking "Serialized Form" in the "See also" section of the class description.

    +
    • +
  • +

    Constant Field Values

    +

    The Constant Field Values page lists the static final fields and their values.

    +
    • +
+This help file applies to API documentation generated using the standard doclet.
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-1.html b/docs/javadoc/index-files/index-1.html new file mode 100644 index 0000000..ef83dbf --- /dev/null +++ b/docs/javadoc/index-files/index-1.html @@ -0,0 +1,177 @@ + + + + + +A-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

A

+
+
add(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Adds two vectors together and returns the result
+
+
add(Vector) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Adds two vectors together and returns the result
+
+
add(Vector) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Adds two vectors together and returns the result
+
+
addState(State) - Method in class org.montclairrobotics.alloy.auto.StateMachine
+
 
+
Alloy - Class in org.montclairrobotics.alloy.core
+
+
Created by MHS Robotics on 11/13/2017.
+
+
Alloy() - Constructor for class org.montclairrobotics.alloy.core.Alloy
+
 
+
AlloyAutonomous - Class in org.montclairrobotics.alloy.auto
+
+
Created by MHS Robotics on 12/5/2017.
+
+
AlloyAutonomous() - Constructor for class org.montclairrobotics.alloy.auto.AlloyAutonomous
+
 
+
Angle - Class in org.montclairrobotics.alloy.vector
+
+
Created by MHS Robotics on 11/13/2017.
+
+
Angle(Angle.AngleMeasure, double) - Constructor for class org.montclairrobotics.alloy.vector.Angle
+
+
Creating a new angle with an angle measure unit and the measure of the angle itself
+
+
Angle(double) - Constructor for class org.montclairrobotics.alloy.vector.Angle
+
+
Creating an angle with degrees
+
+
angleBetween(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
gets the angle between two vectors
+
+
angleBetween(Vector) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
gets the angle between two vectors
+
+
angleBetween(Vector) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
gets the angle between two vectors
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-10.html b/docs/javadoc/index-files/index-10.html new file mode 100644 index 0000000..0d83334 --- /dev/null +++ b/docs/javadoc/index-files/index-10.html @@ -0,0 +1,131 @@ + + + + + +J-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

J

+
+
Joystick - Interface in org.montclairrobotics.alloy.core
+
+
Created by MHS Robotics on 11/14/2017.
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-11.html b/docs/javadoc/index-files/index-11.html new file mode 100644 index 0000000..a7d06d6 --- /dev/null +++ b/docs/javadoc/index-files/index-11.html @@ -0,0 +1,137 @@ + + + + + +L-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

L

+
+
log(String, Object) - Method in interface org.montclairrobotics.alloy.core.Debug
+
+
Debugs a value with a Key(Identifier)
+
+
log(String, Object) - Method in class org.montclairrobotics.alloy.ftc.FTCDebug
+
 
+
loop() - Method in class org.montclairrobotics.alloy.auto.AlloyAutonomous
+
 
+
loop() - Method in class org.montclairrobotics.alloy.core.Alloy
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-12.html b/docs/javadoc/index-files/index-12.html new file mode 100644 index 0000000..eee2391 --- /dev/null +++ b/docs/javadoc/index-files/index-12.html @@ -0,0 +1,143 @@ + + + + + +M-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

M

+
+
map() - Method in interface org.montclairrobotics.alloy.drive.DTMapper
+
 
+
Mode - Enum in org.montclairrobotics.alloy.core
+
+
Created by MHS Robotics on 11/14/2017.
+
+
Motor - Interface in org.montclairrobotics.alloy.core
+
+
Created by MHS Robotics on 11/13/2017.
+
+
msg(Object) - Method in interface org.montclairrobotics.alloy.core.Debug
+
+
Debugs any value or message(note) to the user with a default key
+
+
msg(Object) - Method in class org.montclairrobotics.alloy.ftc.FTCDebug
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-13.html b/docs/javadoc/index-files/index-13.html new file mode 100644 index 0000000..dab611d --- /dev/null +++ b/docs/javadoc/index-files/index-13.html @@ -0,0 +1,139 @@ + + + + + +N-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

N

+
+
normalize() - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Normalizes a vector and returns the result
+
+
normalize() - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Normalizes a vector and returns the result
+
+
normalize() - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Normalizes a vector and returns the result
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-14.html b/docs/javadoc/index-files/index-14.html new file mode 100644 index 0000000..4266be2 --- /dev/null +++ b/docs/javadoc/index-files/index-14.html @@ -0,0 +1,161 @@ + + + + + +O-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

O

+
+
onPressed() - Method in class org.montclairrobotics.alloy.control.ButtonAction
+
+
On pressed is called once, when the button goes from being unpressed, to pressed
+
+
onPressed() - Method in class org.montclairrobotics.alloy.control.ToggleButton
+
+
On pressed is called once, when the button goes from being unpressed, to pressed
+
+
onReleased() - Method in class org.montclairrobotics.alloy.control.ButtonAction
+
+
On released is called once, when the button goes from being pressed, to unpressed
+
+
onReleased() - Method in class org.montclairrobotics.alloy.control.ToggleButton
+
+
On released is called once, when the button goes from being pressed, to unpressed
+
+
org.montclairrobotics.alloy.auto - package org.montclairrobotics.alloy.auto
+
 
+
org.montclairrobotics.alloy.control - package org.montclairrobotics.alloy.control
+
 
+
org.montclairrobotics.alloy.core - package org.montclairrobotics.alloy.core
+
 
+
org.montclairrobotics.alloy.drive - package org.montclairrobotics.alloy.drive
+
 
+
org.montclairrobotics.alloy.ftc - package org.montclairrobotics.alloy.ftc
+
 
+
org.montclairrobotics.alloy.test - package org.montclairrobotics.alloy.test
+
 
+
org.montclairrobotics.alloy.update - package org.montclairrobotics.alloy.update
+
 
+
org.montclairrobotics.alloy.utils - package org.montclairrobotics.alloy.utils
+
 
+
org.montclairrobotics.alloy.vector - package org.montclairrobotics.alloy.vector
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-15.html b/docs/javadoc/index-files/index-15.html new file mode 100644 index 0000000..820e912 --- /dev/null +++ b/docs/javadoc/index-files/index-15.html @@ -0,0 +1,153 @@ + + + + + +P-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

P

+
+
periodic() - Method in class org.montclairrobotics.alloy.core.Alloy
+
+
Although most of the periodic actions are taken care by the updater, the user may want to add + their own methods and code that need to be updated or run periodically, this can be done in + the periodic() method periodic will be run every loop.
+
+
periodic() - Method in class org.montclairrobotics.alloy.test.TestRobot
+
 
+
PID - Class in org.montclairrobotics.alloy.utils
+
+
Created by Montclair robotics on 2/27/2018
+
+
PID(double, double, double) - Constructor for class org.montclairrobotics.alloy.utils.PID
+
+
Create a new PID
+
+
PID(double, double, double, Input<Double>, double) - Constructor for class org.montclairrobotics.alloy.utils.PID
+
+
Create a new PID with the input and target defined
+
+
Polar - Class in org.montclairrobotics.alloy.vector
+
+
Created by MHS Robotics on 11/14/2017.
+
+
Polar(double, Angle) - Constructor for class org.montclairrobotics.alloy.vector.Polar
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-16.html b/docs/javadoc/index-files/index-16.html new file mode 100644 index 0000000..b2c54a0 --- /dev/null +++ b/docs/javadoc/index-files/index-16.html @@ -0,0 +1,162 @@ + + + + + +R-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

R

+
+
registerUpdatables() - Static method in class org.montclairrobotics.alloy.update.Updater
+
 
+
RobotCore - Class in org.montclairrobotics.alloy.core
+
+
Created by MHS Robotics on 12/5/2017.
+
+
RobotCore(Telemetry, HardwareMap, Gamepad, Gamepad) - Constructor for class org.montclairrobotics.alloy.core.RobotCore
+
 
+
robotSetup() - Method in class org.montclairrobotics.alloy.core.Alloy
+
+
The robotSetup is where all code specific to robot setup is placed If you only have one + teleop this can be done in the initialization Method.
+
+
robotSetup() - Method in class org.montclairrobotics.alloy.test.TestRobot
+
 
+
rotate(Angle) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
returns a vector rotated by a given angle
+
+
rotate(Angle) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
returns a vector rotated by a given angle
+
+
rotate(Angle) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
returns a vector rotated by a given angle
+
+
run() - Method in class org.montclairrobotics.alloy.auto.State
+
+
The run method is called every loop while the state is running
+
+
run() - Method in class org.montclairrobotics.alloy.auto.StateMachine
+
 
+
run() - Method in class org.montclairrobotics.alloy.update.Updatable
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-17.html b/docs/javadoc/index-files/index-17.html new file mode 100644 index 0000000..07e4c9f --- /dev/null +++ b/docs/javadoc/index-files/index-17.html @@ -0,0 +1,279 @@ + + + + + +S-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

S

+
+
scale(double) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Scales the vectors magnitude by a scalar value
+
+
scale(double) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Scales the vectors magnitude by a scalar value
+
+
scale(double) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Scales the vectors magnitude by a scalar value
+
+
setAngle(Angle) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Sets the angle in standard position of the vector
+
+
setAngle(Angle) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Sets the angle in standard position of the vector
+
+
setAngle(Angle) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Sets the angle in standard position of the vector
+
+
setDegrees(double) - Method in class org.montclairrobotics.alloy.vector.Angle
+
+
set the angle in degrees
+
+
setInput(Input<Double>) - Method in class org.montclairrobotics.alloy.utils.PID
+
 
+
setInverted(boolean) - Method in interface org.montclairrobotics.alloy.core.Motor
+
+
Sets weather the motor runs the default way , or inverted
+
+
setInverted(boolean) - Method in class org.montclairrobotics.alloy.ftc.FTCMotor
+
+
Sets weather the motor runs the default way , or inverted
+
+
setMagnitude(double) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Sets the magnitude of the vector
+
+
setMagnitude(double) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Sets the magnitude of the vector
+
+
setMagnitude(double) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Sets the magnitude of the vector
+
+
setMotorPower(double) - Method in interface org.montclairrobotics.alloy.core.Motor
+
+
Sets the motor Power
+
+
setMotorPower(double) - Method in class org.montclairrobotics.alloy.ftc.FTCMotor
+
+
Sets the motor Power
+
+
setPID(PID) - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
+
Set the motor to run using a custom PID
+
+
setPosition(int) - Method in interface org.montclairrobotics.alloy.core.TargetMotor
+
+
Sets the motor position
+
+
setPosition(int) - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
+
Sets the motor position
+
+
setRadians(double) - Method in class org.montclairrobotics.alloy.vector.Angle
+
+
set the angle in radians
+
+
setTarget(double) - Method in class org.montclairrobotics.alloy.utils.PID
+
 
+
setTargetPower(double) - Method in interface org.montclairrobotics.alloy.core.TargetMotor
+
+
Sets the motor Power
+
+
setTargetPower(double) - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
+
Sets the motor Power
+
+
setX(double) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Sets the x component of the vector
+
+
setX(double) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Sets the x component of the vector
+
+
setX(double) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Sets the x component of the vector
+
+
setY(double) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Sets the y component of the vector
+
+
setY(double) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Sets the y component of the vector
+
+
setY(double) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Sets the y component of the vector
+
+
Shooter - Class in org.montclairrobotics.alloy.test
+
 
+
Shooter() - Constructor for class org.montclairrobotics.alloy.test.Shooter
+
 
+
sin() - Method in class org.montclairrobotics.alloy.vector.Angle
+
+
get the sine of the angle
+
+
start() - Method in class org.montclairrobotics.alloy.auto.State
+
+
The start method is the first thing called when the state is run
+
+
start() - Method in class org.montclairrobotics.alloy.auto.StateMachine
+
 
+
State - Class in org.montclairrobotics.alloy.auto
+
+
Created by MHS Robotics on 12/16/2017.
+
+
State() - Constructor for class org.montclairrobotics.alloy.auto.State
+
 
+
StateMachine - Class in org.montclairrobotics.alloy.auto
+
+
Created by MHS Robotics on 12/16/2017.
+
+
StateMachine(State...) - Constructor for class org.montclairrobotics.alloy.auto.StateMachine
+
 
+
stop() - Method in class org.montclairrobotics.alloy.auto.State
+
+
The Stop method is the last thing called once the state is done
+
+
stop() - Method in class org.montclairrobotics.alloy.auto.StateMachine
+
 
+
subtract(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Subtracts a vector and returns the result
+
+
subtract(Vector) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Subtracts a vector and returns the result
+
+
subtract(Vector) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Subtracts a vector and returns the result
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-18.html b/docs/javadoc/index-files/index-18.html new file mode 100644 index 0000000..3a38f81 --- /dev/null +++ b/docs/javadoc/index-files/index-18.html @@ -0,0 +1,165 @@ + + + + + +T-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

T

+
+
tan() - Method in class org.montclairrobotics.alloy.vector.Angle
+
+
get the tangent of the angle
+
+
TargetMotor - Interface in org.montclairrobotics.alloy.core
+
+
Target motor is a motor interface for motors that have encoders.
+
+
telemetry - Static variable in class org.montclairrobotics.alloy.core.RobotCore
+
+
Telemetry is used for reading out information on the phones and is useful for debugging, The + telemetry is also used in Debug
+
+
TestRobot - Class in org.montclairrobotics.alloy.test
+
 
+
TestRobot() - Constructor for class org.montclairrobotics.alloy.test.TestRobot
+
 
+
toggle() - Method in class org.montclairrobotics.alloy.utils.Toggleable
+
+
Switches(Toggles), between the two states, If the toggleable is disabled, enable it If the + toggleable is enabled, disable it
+
+
Toggleable - Class in org.montclairrobotics.alloy.utils
+
+
Created by MHS Robotics on 2/11/2018.
+
+
Toggleable() - Constructor for class org.montclairrobotics.alloy.utils.Toggleable
+
 
+
ToggleButton - Class in org.montclairrobotics.alloy.control
+
+
Created by MHS Robotics on 2/11/2018.
+
+
ToggleButton(Button, Toggleable) - Constructor for class org.montclairrobotics.alloy.control.ToggleButton
+
 
+
TuneablePID - Class in org.montclairrobotics.alloy.utils
+
 
+
TuneablePID() - Constructor for class org.montclairrobotics.alloy.utils.TuneablePID
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-19.html b/docs/javadoc/index-files/index-19.html new file mode 100644 index 0000000..9ffa376 --- /dev/null +++ b/docs/javadoc/index-files/index-19.html @@ -0,0 +1,152 @@ + + + + + +U-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

U

+
+
Updatable - Class in org.montclairrobotics.alloy.update
+
+
Created by MHS Robotics on 2/11/2018.
+
+
update() - Method in class org.montclairrobotics.alloy.control.ButtonAction
+
 
+
update() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
+
If the mode is custom, then the update method will set the motor power using the custom PID
+
+
Update - Annotation Type in org.montclairrobotics.alloy.update
+
 
+
update() - Static method in class org.montclairrobotics.alloy.update.Updater
+
 
+
update() - Method in class org.montclairrobotics.alloy.utils.PID
+
+
The update method should be defined for every updatable, and is called every loop if added to + the updater
+
+
Updater - Class in org.montclairrobotics.alloy.update
+
+
Created by MHS Robotics on 12/5/2017.
+
+
Updater() - Constructor for class org.montclairrobotics.alloy.update.Updater
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-2.html b/docs/javadoc/index-files/index-2.html new file mode 100644 index 0000000..b9da2ff --- /dev/null +++ b/docs/javadoc/index-files/index-2.html @@ -0,0 +1,139 @@ + + + + + +B-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

B

+
+
button - Variable in class org.montclairrobotics.alloy.control.ButtonAction
+
 
+
Button - Interface in org.montclairrobotics.alloy.core
+
+
Created by MHS Robotics on 11/13/2017.
+
+
ButtonAction - Class in org.montclairrobotics.alloy.control
+
+
Created by MHS Robotics on 2/11/2018.
+
+
ButtonAction(Button) - Constructor for class org.montclairrobotics.alloy.control.ButtonAction
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-20.html b/docs/javadoc/index-files/index-20.html new file mode 100644 index 0000000..b66554d --- /dev/null +++ b/docs/javadoc/index-files/index-20.html @@ -0,0 +1,149 @@ + + + + + +V-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

V

+
+
valueOf(String) - Static method in enum org.montclairrobotics.alloy.core.Mode
+
+
Returns the enum constant of this type with the specified name.
+
+
valueOf(String) - Static method in enum org.montclairrobotics.alloy.ftc.FTCJoystick.Side
+
+
Returns the enum constant of this type with the specified name.
+
+
values() - Static method in enum org.montclairrobotics.alloy.core.Mode
+
+
Returns an array containing the constants of this enum type, in +the order they are declared.
+
+
values() - Static method in enum org.montclairrobotics.alloy.ftc.FTCJoystick.Side
+
+
Returns an array containing the constants of this enum type, in +the order they are declared.
+
+
Vector - Interface in org.montclairrobotics.alloy.vector
+
+
Created by MHS Robotics on 11/14/2017.
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-21.html b/docs/javadoc/index-files/index-21.html new file mode 100644 index 0000000..d0910e9 --- /dev/null +++ b/docs/javadoc/index-files/index-21.html @@ -0,0 +1,145 @@ + + + + + +W-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

W

+
+
wasPressed - Variable in class org.montclairrobotics.alloy.control.ButtonAction
+
 
+
whilePressed() - Method in class org.montclairrobotics.alloy.control.ButtonAction
+
+
While pressed is called every loop while the button is pressed
+
+
whilePressed() - Method in class org.montclairrobotics.alloy.control.ToggleButton
+
+
While pressed is called every loop while the button is pressed
+
+
whileReleased() - Method in class org.montclairrobotics.alloy.control.ButtonAction
+
+
While released is called every loop while the button is unpressed
+
+
whileReleased() - Method in class org.montclairrobotics.alloy.control.ToggleButton
+
+
While released is called every loop while the button is unpressed
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-22.html b/docs/javadoc/index-files/index-22.html new file mode 100644 index 0000000..d06f0d8 --- /dev/null +++ b/docs/javadoc/index-files/index-22.html @@ -0,0 +1,135 @@ + + + + + +X-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

X

+
+
XY - Class in org.montclairrobotics.alloy.vector
+
+
Created by MHS Robotics on 11/14/2017.
+
+
XY(double, double) - Constructor for class org.montclairrobotics.alloy.vector.XY
+
 
+
XY(XY) - Constructor for class org.montclairrobotics.alloy.vector.XY
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-23.html b/docs/javadoc/index-files/index-23.html new file mode 100644 index 0000000..eaf7977 --- /dev/null +++ b/docs/javadoc/index-files/index-23.html @@ -0,0 +1,129 @@ + + + + + +Z-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

Z

+
+
ZERO - Variable in class org.montclairrobotics.alloy.vector.Angle
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-3.html b/docs/javadoc/index-files/index-3.html new file mode 100644 index 0000000..2af8faf --- /dev/null +++ b/docs/javadoc/index-files/index-3.html @@ -0,0 +1,155 @@ + + + + + +C-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

C

+
+
copy() - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Creates a copy of the vector
+
+
copy() - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Creates a copy of the vector
+
+
copy() - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Creates a copy of the vector
+
+
cos() - Method in class org.montclairrobotics.alloy.vector.Angle
+
+
get the cosine of the angle
+
+
cross(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Returns the product of two vectors that have been crossed
+
+
cross(Vector) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Returns the product of two vectors that have been crossed
+
+
cross(Vector) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Returns the product of two vectors that have been crossed
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-4.html b/docs/javadoc/index-files/index-4.html new file mode 100644 index 0000000..6ae4e43 --- /dev/null +++ b/docs/javadoc/index-files/index-4.html @@ -0,0 +1,167 @@ + + + + + +D-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

D

+
+
Debug - Interface in org.montclairrobotics.alloy.core
+
+
Created by MHS Robotics on 11/13/2017.
+
+
disable() - Method in class org.montclairrobotics.alloy.utils.Toggleable
+
+
Disables the toggleable
+
+
disableAction() - Method in class org.montclairrobotics.alloy.test.Shooter
+
 
+
disableAction() - Method in class org.montclairrobotics.alloy.utils.Toggleable
+
+
Method to be called when the toggleable is disabled
+
+
disablePID() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
+
Stop using the custom PID and return to using the default mode
+
+
dot(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Returns the dot product of two vectors
+
+
dot(Vector) - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Returns the dot product of two vectors
+
+
dot(Vector) - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Returns the dot product of two vectors
+
+
DriveTrain - Class in org.montclairrobotics.alloy.drive
+
+
Created by MHS Robotics on 12/16/2017.
+
+
DriveTrain() - Constructor for class org.montclairrobotics.alloy.drive.DriveTrain
+
 
+
DTMapper - Interface in org.montclairrobotics.alloy.drive
+
+
Created by MHS Robotics on 12/16/2017.
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-5.html b/docs/javadoc/index-files/index-5.html new file mode 100644 index 0000000..d56f1d0 --- /dev/null +++ b/docs/javadoc/index-files/index-5.html @@ -0,0 +1,137 @@ + + + + + +E-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

E

+
+
enable() - Method in class org.montclairrobotics.alloy.utils.Toggleable
+
+
Enables the toggleable
+
+
enableAction() - Method in class org.montclairrobotics.alloy.test.Shooter
+
 
+
enableAction() - Method in class org.montclairrobotics.alloy.utils.Toggleable
+
+
Method to be called when the toggleable is enabled
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-6.html b/docs/javadoc/index-files/index-6.html new file mode 100644 index 0000000..b52beef --- /dev/null +++ b/docs/javadoc/index-files/index-6.html @@ -0,0 +1,161 @@ + + + + + +F-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

F

+
+
FTCButton - Class in org.montclairrobotics.alloy.ftc
+
+
Created by MHS Robotics on 11/14/2017.
+
+
FTCButton(Input<Boolean>) - Constructor for class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
FTCButton(Input<Boolean>, boolean) - Constructor for class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
FTCDebug - Class in org.montclairrobotics.alloy.ftc
+
+
Created by MHS Robotics on 11/14/2017.
+
+
FTCDebug() - Constructor for class org.montclairrobotics.alloy.ftc.FTCDebug
+
 
+
FTCJoystick - Class in org.montclairrobotics.alloy.ftc
+
+
Created by MHS Robotics on 11/14/2017.
+
+
FTCJoystick(Gamepad, FTCJoystick.Side) - Constructor for class org.montclairrobotics.alloy.ftc.FTCJoystick
+
 
+
FTCJoystick.Side - Enum in org.montclairrobotics.alloy.ftc
+
 
+
FTCMotor - Class in org.montclairrobotics.alloy.ftc
+
+
Created by MHS Robotics on 11/14/2017.
+
+
FTCMotor(String) - Constructor for class org.montclairrobotics.alloy.ftc.FTCMotor
+
 
+
FTCTargetMotor - Class in org.montclairrobotics.alloy.ftc
+
+
Created by MHS Robotics on 2/24/2018.
+
+
FTCTargetMotor(String) - Constructor for class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-7.html b/docs/javadoc/index-files/index-7.html new file mode 100644 index 0000000..1869dee --- /dev/null +++ b/docs/javadoc/index-files/index-7.html @@ -0,0 +1,291 @@ + + + + + +G-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

G

+
+
gamepad1 - Static variable in class org.montclairrobotics.alloy.core.RobotCore
+
+
The first gamepad, generated by pressing start + 'a' on the controller
+
+
gamepad2 - Static variable in class org.montclairrobotics.alloy.core.RobotCore
+
+
The second gamepad, generated by pressing start + 'b' on the controller
+
+
get() - Method in interface org.montclairrobotics.alloy.utils.Input
+
 
+
get() - Method in class org.montclairrobotics.alloy.utils.PID
+
 
+
getAButton(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getAngle() - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Gets the angle in standard position that the vector makes
+
+
getAngle() - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Gets the angle in standard position that the vector makes
+
+
getAngle() - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Gets the angle in standard position that the vector makes
+
+
getBButton(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getDegrees() - Method in class org.montclairrobotics.alloy.vector.Angle
+
+
Get the angle measure in degrees
+
+
getDPADDown(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getDPADLeft(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getDPADUp(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getGamepad1() - Static method in class org.montclairrobotics.alloy.core.RobotCore
+
+
Gets the first gamepad
+
+
getGamepad2() - Static method in class org.montclairrobotics.alloy.core.RobotCore
+
+
Gets the second gamepad
+
+
getHardwareMap() - Static method in class org.montclairrobotics.alloy.core.RobotCore
+
+
Gets the hardware map of the robot
+
+
getInverted() - Method in interface org.montclairrobotics.alloy.core.Motor
+
+
Gets weather the motor is inverted
+
+
getInverted() - Method in class org.montclairrobotics.alloy.ftc.FTCMotor
+
+
Gets weather the motor is inverted
+
+
getLeftBumper(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getLeftTrigger(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getManitude() - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Gets the magnitude of the vector
+
+
getManitude() - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Gets the magnitude of the vector
+
+
getManitude() - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Gets the magnitude of the vector
+
+
getMotor() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
 
+
getMotorPower() - Method in interface org.montclairrobotics.alloy.core.Motor
+
+
Gets the motor power
+
+
getMotorPower() - Method in class org.montclairrobotics.alloy.ftc.FTCMotor
+
+
Gets the motor power
+
+
getNextState(int) - Method in class org.montclairrobotics.alloy.auto.State
+
 
+
getPid() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
 
+
getPosition() - Method in interface org.montclairrobotics.alloy.core.TargetMotor
+
+
Gets the motors position
+
+
getPosition() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
+
Gets the motors position
+
+
getRadians() - Method in class org.montclairrobotics.alloy.vector.Angle
+
+
Get the angle measure in radians
+
+
getRightBumper(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getRightTrigger(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getRunmode() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
+
NOTE: this is not the same as the DCMotor runmode
+
+
getTargetPower() - Method in interface org.montclairrobotics.alloy.core.TargetMotor
+
+
Gets the motor power
+
+
getTargetPower() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
+
Gets the motor power
+
+
getTelemetry() - Static method in class org.montclairrobotics.alloy.core.RobotCore
+
+
Gets the telemetry object of the robot
+
+
getUpdateRate() - Method in class org.montclairrobotics.alloy.update.Updatable
+
 
+
getValue() - Method in interface org.montclairrobotics.alloy.core.Button
+
+
Gets the value of a button
+
+
getValue() - Method in interface org.montclairrobotics.alloy.core.Joystick
+
+
Gets the position of the joystick
+
+
getValue() - Method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getValue() - Method in class org.montclairrobotics.alloy.ftc.FTCJoystick
+
 
+
getX() - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Gets the X component of the vector
+
+
getX() - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Gets the X component of the vector
+
+
getX() - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Gets the X component of the vector
+
+
getXButton(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getY() - Method in class org.montclairrobotics.alloy.vector.Polar
+
+
Gets the Y component of the vector
+
+
getY() - Method in interface org.montclairrobotics.alloy.vector.Vector
+
+
Gets the Y component of the vector
+
+
getY() - Method in class org.montclairrobotics.alloy.vector.XY
+
+
Gets the Y component of the vector
+
+
getYButton(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
getYDPADRight(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-8.html b/docs/javadoc/index-files/index-8.html new file mode 100644 index 0000000..22d2ebe --- /dev/null +++ b/docs/javadoc/index-files/index-8.html @@ -0,0 +1,132 @@ + + + + + +H-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

H

+
+
hardwareMap - Static variable in class org.montclairrobotics.alloy.core.RobotCore
+
+
The hardware map is essential to any robot and is how the ftc core interacts with the + hardware devices on the phones
+
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-9.html b/docs/javadoc/index-files/index-9.html new file mode 100644 index 0000000..92ac158 --- /dev/null +++ b/docs/javadoc/index-files/index-9.html @@ -0,0 +1,147 @@ + + + + + +I-Index + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J L M N O P R S T U V W X Z  + + +

I

+
+
init() - Method in class org.montclairrobotics.alloy.auto.AlloyAutonomous
+
 
+
init() - Method in class org.montclairrobotics.alloy.core.Alloy
+
 
+
initialization() - Method in class org.montclairrobotics.alloy.core.Alloy
+
+
The initialization method is were everything specific to the OpMode Should be set up.
+
+
initialization() - Method in class org.montclairrobotics.alloy.test.TestRobot
+
 
+
Input<T> - Interface in org.montclairrobotics.alloy.utils
+
+
Created by MHS Robotics on 2/2/2018.
+
+
isDone() - Method in class org.montclairrobotics.alloy.auto.State
+
+
IsDone should return true when the state is finished
+
+
isDone() - Method in class org.montclairrobotics.alloy.auto.StateMachine
+
 
+
+A B C D E F G H I J L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index.html b/docs/javadoc/index.html new file mode 100644 index 0000000..02909bb --- /dev/null +++ b/docs/javadoc/index.html @@ -0,0 +1,75 @@ + + + + + +Generated Documentation (Untitled) + + + + + + + + + +<noscript> +<div>JavaScript is disabled on your browser.</div> +</noscript> +<h2>Frame Alert</h2> +<p>This document is designed to be viewed using the frames feature. If you see this message, you are using a non-frame-capable web client. Link to <a href="overview-summary.html">Non-frame version</a>.</p> + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/AlloyAutonomous.html b/docs/javadoc/org/montclairrobotics/alloy/auto/AlloyAutonomous.html new file mode 100644 index 0000000..9b4d666 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/AlloyAutonomous.html @@ -0,0 +1,324 @@ + + + + + +AlloyAutonomous + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.auto
+

Class AlloyAutonomous

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • com.qualcomm.robotcore.eventloop.opmode.OpMode
      • +
    • +
        +
      • org.montclairrobotics.alloy.auto.AlloyAutonomous
        • +
      +
      • +
    +
    • +
+
+
    +
  • +
    +
    +
    public abstract class AlloyAutonomous
+extends com.qualcomm.robotcore.eventloop.opmode.OpMode
    +
    Created by MHS Robotics on 12/5/2017.
    +
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Field Summary

      +
        +
      • + + +

        Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

        +gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry, time
        • +
      +
      • +
    + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      AlloyAutonomous() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voidinit() 
      voidloop() 
      +
        +
      • + + +

        Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

        +getRuntime, init_loop, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, start, stop, updateTelemetry
        • +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        AlloyAutonomous

        +
        public AlloyAutonomous()
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        init

        +
        public void init()
        +
        +
        Specified by:
        +
        init in class com.qualcomm.robotcore.eventloop.opmode.OpMode
        +
        +
        • +
      + + + +
        +
      • +

        loop

        +
        public void loop()
        +
        +
        Specified by:
        +
        loop in class com.qualcomm.robotcore.eventloop.opmode.OpMode
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/State.html b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html new file mode 100644 index 0000000..13a8028 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html @@ -0,0 +1,358 @@ + + + + + +State + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.auto
+

Class State

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.auto.State
      • +
    +
    • +
+
+
    +
  • +
    +
    Direct Known Subclasses:
    +
    StateMachine
    +
    +
    +
    +
    public abstract class State
+extends java.lang.Object
    +
    Created by MHS Robotics on 12/16/2017. + +

    States are designed to be passed in and run in a state machine. States can be used for + Autonomous modes as well as autonomously doing actions in teleop.

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    See Also:
    +
    StateMachine, +AlloyAutonomous
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      State() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and TypeMethod and Description
      intgetNextState(int currentState) 
      abstract booleanisDone() +
      IsDone should return true when the state is finished
      +
      abstract voidrun() +
      The run method is called every loop while the state is running
      +
      abstract voidstart() +
      The start method is the first thing called when the state is run
      +
      abstract voidstop() +
      The Stop method is the last thing called once the state is done
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        State

        +
        public State()
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        start

        +
        public abstract void start()
        +
        The start method is the first thing called when the state is run
        +
        • +
      + + + +
        +
      • +

        run

        +
        public abstract void run()
        +
        The run method is called every loop while the state is running
        +
        • +
      + + + +
        +
      • +

        stop

        +
        public abstract void stop()
        +
        The Stop method is the last thing called once the state is done
        +
        • +
      + + + +
        +
      • +

        isDone

        +
        public abstract boolean isDone()
        +
        IsDone should return true when the state is finished
        +
        +
        Returns:
        +
        true if the state is done
        +
        +
        • +
      + + + +
        +
      • +

        getNextState

        +
        public int getNextState(int currentState)
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html new file mode 100644 index 0000000..c2d926b --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html @@ -0,0 +1,382 @@ + + + + + +StateMachine + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.auto
+

Class StateMachine

+
+
+ +
+
    +
  • +
    +
    +
    public class StateMachine
+extends State
    +
    Created by MHS Robotics on 12/16/2017. + +

    A state machine takes in states and runs them in a controlled order.
    + By default the states will run in a linear fashion and the next state will start when the + previous state has finished.
    +
    + State machines can be used for controlling auto modes, but can also be ran in teleop modes for + pre coded instructions that make driving easier.

    +
    +
    Since:
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      StateMachine(State... states) 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voidaddState(State state) 
      booleanisDone() +
      IsDone should return true when the state is finished
      +
      voidrun() +
      The run method is called every loop while the state is running
      +
      voidstart() +
      The start method is the first thing called when the state is run
      +
      voidstop() +
      The Stop method is the last thing called once the state is done
      +
      + +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        StateMachine

        +
        public StateMachine(State... states)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        start

        +
        public void start()
        +
        Description copied from class: State
        +
        The start method is the first thing called when the state is run
        +
        +
        Specified by:
        +
        start in class State
        +
        +
        • +
      + + + +
        +
      • +

        run

        +
        public void run()
        +
        Description copied from class: State
        +
        The run method is called every loop while the state is running
        +
        +
        Specified by:
        +
        run in class State
        +
        +
        • +
      + + + +
        +
      • +

        stop

        +
        public void stop()
        +
        Description copied from class: State
        +
        The Stop method is the last thing called once the state is done
        +
        +
        Specified by:
        +
        stop in class State
        +
        +
        • +
      + + + +
        +
      • +

        isDone

        +
        public boolean isDone()
        +
        Description copied from class: State
        +
        IsDone should return true when the state is finished
        +
        +
        Specified by:
        +
        isDone in class State
        +
        Returns:
        +
        true if the state is done
        +
        +
        • +
      + + + +
        +
      • +

        addState

        +
        public void addState(State state)
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html new file mode 100644 index 0000000..03b7bf4 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.auto.AlloyAutonomous + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.auto.AlloyAutonomous

+
+
No usage of org.montclairrobotics.alloy.auto.AlloyAutonomous
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html new file mode 100644 index 0000000..73834b9 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html @@ -0,0 +1,190 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.auto.State + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.auto.State

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html new file mode 100644 index 0000000..14222a9 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.auto.StateMachine + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.auto.StateMachine

+
+
No usage of org.montclairrobotics.alloy.auto.StateMachine
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html new file mode 100644 index 0000000..5cb0502 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html @@ -0,0 +1,22 @@ + + + + + +org.montclairrobotics.alloy.auto + + + + + +

org.montclairrobotics.alloy.auto

+
+

Classes

+ +
+ + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html new file mode 100644 index 0000000..aacbc03 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html @@ -0,0 +1,156 @@ + + + + + +org.montclairrobotics.alloy.auto + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Package org.montclairrobotics.alloy.auto

+
+
+
    +
  • + + + + + + + + + + + + + + + + + + + + +
    Class Summary 
    ClassDescription
    AlloyAutonomous +
    Created by MHS Robotics on 12/5/2017.
    +
    State +
    Created by MHS Robotics on 12/16/2017.
    +
    StateMachine +
    Created by MHS Robotics on 12/16/2017.
    +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html new file mode 100644 index 0000000..0749515 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html @@ -0,0 +1,146 @@ + + + + + +org.montclairrobotics.alloy.auto Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Hierarchy For Package org.montclairrobotics.alloy.auto

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object +
      +
    • com.qualcomm.robotcore.eventloop.opmode.OpMode + +
      • +
    • org.montclairrobotics.alloy.auto.State + +
      • +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html new file mode 100644 index 0000000..1324ed2 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html @@ -0,0 +1,159 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.auto + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Package
org.montclairrobotics.alloy.auto

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html b/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html new file mode 100644 index 0000000..82bb76c --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html @@ -0,0 +1,398 @@ + + + + + +ButtonAction + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.control
+

Class ButtonAction

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.control.ButtonAction
      • +
    +
    • +
+
+
    +
  • +
    +
    Direct Known Subclasses:
    +
    ToggleButton
    +
    +
    +
    +
    public abstract class ButtonAction
+extends java.lang.Object
    +
    Created by MHS Robotics on 2/11/2018. + +

    Every Button action is tied to a button, and controls what happens when the button is pressed, + held, unpressed, and released

    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Field Summary

      + + + + + + + + + + + + + + +
      Fields 
      Modifier and TypeField and Description
      Buttonbutton 
      booleanwasPressed 
      +
      • +
    + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      ButtonAction(Button button) 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and TypeMethod and Description
      abstract voidonPressed() +
      On pressed is called once, when the button goes from being unpressed, to pressed
      +
      abstract voidonReleased() +
      On released is called once, when the button goes from being pressed, to unpressed
      +
      voidupdate() 
      abstract voidwhilePressed() +
      While pressed is called every loop while the button is pressed
      +
      abstract voidwhileReleased() +
      While released is called every loop while the button is unpressed
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Field Detail

      + + + +
        +
      • +

        button

        +
        public Button button
        +
        • +
      + + + +
        +
      • +

        wasPressed

        +
        public boolean wasPressed
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        ButtonAction

        +
        public ButtonAction(Button button)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        onPressed

        +
        public abstract void onPressed()
        +
        On pressed is called once, when the button goes from being unpressed, to pressed
        +
        • +
      + + + +
        +
      • +

        onReleased

        +
        public abstract void onReleased()
        +
        On released is called once, when the button goes from being pressed, to unpressed
        +
        • +
      + + + +
        +
      • +

        whilePressed

        +
        public abstract void whilePressed()
        +
        While pressed is called every loop while the button is pressed
        +
        • +
      + + + +
        +
      • +

        whileReleased

        +
        public abstract void whileReleased()
        +
        While released is called every loop while the button is unpressed
        +
        • +
      + + + +
        +
      • +

        update

        +
        public void update()
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html b/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html new file mode 100644 index 0000000..926e752 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html @@ -0,0 +1,380 @@ + + + + + +ToggleButton + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.control
+

Class ToggleButton

+
+
+ +
+
    +
  • +
    +
    +
    public class ToggleButton
+extends ButtonAction
    +
    Created by MHS Robotics on 2/11/2018. + +

    A ToggleButton is tied to a button and a toggleable, when the button is pressed the toggleable + will toggle between states

    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    See Also:
    +
    Toggleable, +ButtonAction
    +
    +
    • +
+
+
+
    +
  • + + + + + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voidonPressed() +
      On pressed is called once, when the button goes from being unpressed, to pressed
      +
      voidonReleased() +
      On released is called once, when the button goes from being pressed, to unpressed
      +
      voidwhilePressed() +
      While pressed is called every loop while the button is pressed
      +
      voidwhileReleased() +
      While released is called every loop while the button is unpressed
      +
      + +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        ToggleButton

        +
        public ToggleButton(Button button,
+                    Toggleable toggleable)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        onPressed

        +
        public void onPressed()
        +
        On pressed is called once, when the button goes from being unpressed, to pressed
        +
        +
        Specified by:
        +
        onPressed in class ButtonAction
        +
        +
        • +
      + + + +
        +
      • +

        onReleased

        +
        public void onReleased()
        +
        On released is called once, when the button goes from being pressed, to unpressed
        +
        +
        Specified by:
        +
        onReleased in class ButtonAction
        +
        +
        • +
      + + + +
        +
      • +

        whilePressed

        +
        public void whilePressed()
        +
        While pressed is called every loop while the button is pressed
        +
        +
        Specified by:
        +
        whilePressed in class ButtonAction
        +
        +
        • +
      + + + +
        +
      • +

        whileReleased

        +
        public void whileReleased()
        +
        While released is called every loop while the button is unpressed
        +
        +
        Specified by:
        +
        whileReleased in class ButtonAction
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html new file mode 100644 index 0000000..956c80a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html @@ -0,0 +1,166 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.control.ButtonAction + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.control.ButtonAction

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html new file mode 100644 index 0000000..15465b3 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.control.ToggleButton + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.control.ToggleButton

+
+
No usage of org.montclairrobotics.alloy.control.ToggleButton
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html new file mode 100644 index 0000000..af5056b --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html @@ -0,0 +1,21 @@ + + + + + +org.montclairrobotics.alloy.control + + + + + +

org.montclairrobotics.alloy.control

+
+

Classes

+ +
+ + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html new file mode 100644 index 0000000..56e39d6 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html @@ -0,0 +1,150 @@ + + + + + +org.montclairrobotics.alloy.control + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Package org.montclairrobotics.alloy.control

+
+
+
    +
  • + + + + + + + + + + + + + + + + +
    Class Summary 
    ClassDescription
    ButtonAction +
    Created by MHS Robotics on 2/11/2018.
    +
    ToggleButton +
    Created by MHS Robotics on 2/11/2018.
    +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html new file mode 100644 index 0000000..77391b5 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html @@ -0,0 +1,141 @@ + + + + + +org.montclairrobotics.alloy.control Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Hierarchy For Package org.montclairrobotics.alloy.control

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object + +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html new file mode 100644 index 0000000..d36a84e --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html @@ -0,0 +1,159 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.control + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Package
org.montclairrobotics.alloy.control

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html new file mode 100644 index 0000000..7347fe6 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html @@ -0,0 +1,391 @@ + + + + + +Alloy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.core
+

Class Alloy

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • com.qualcomm.robotcore.eventloop.opmode.OpMode
      • +
    • +
        +
      • org.montclairrobotics.alloy.core.Alloy
        • +
      +
      • +
    +
    • +
+
+
    +
  • +
    +
    Direct Known Subclasses:
    +
    TestRobot
    +
    +
    +
    +
    public abstract class Alloy
+extends com.qualcomm.robotcore.eventloop.opmode.OpMode
    +
    Created by MHS Robotics on 11/13/2017. + +

    The main purpose behind the alloy class is to controll how and when all of the mehotds in + Robot are run as well as initialize all global variables

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Field Summary

      +
        +
      • + + +

        Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

        +gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry, time
        • +
      +
      • +
    + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      Alloy() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voidinit() 
      abstract voidinitialization() +
      The initialization method is were everything specific to the OpMode Should be set up.
      +
      voidloop() 
      abstract voidperiodic() +
      Although most of the periodic actions are taken care by the updater, the user may want to add + their own methods and code that need to be updated or run periodically, this can be done in + the periodic() method periodic will be run every loop.
      +
      abstract voidrobotSetup() +
      The robotSetup is where all code specific to robot setup is placed If you only have one + teleop this can be done in the initialization Method.
      +
      +
        +
      • + + +

        Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

        +getRuntime, init_loop, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, start, stop, updateTelemetry
        • +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        Alloy

        +
        public Alloy()
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        robotSetup

        +
        public abstract void robotSetup()
        +
        The robotSetup is where all code specific to robot setup is placed If you only have one + teleop this can be done in the initialization Method. robotSetup is called right after the + robot core is initialized
        +
        • +
      + + + +
        +
      • +

        initialization

        +
        public abstract void initialization()
        +
        The initialization method is were everything specific to the OpMode Should be set up. + Initialization will be the first thing called after The robot setup.
        +
        • +
      + + + +
        +
      • +

        periodic

        +
        public abstract void periodic()
        +
        Although most of the periodic actions are taken care by the updater, the user may want to add + their own methods and code that need to be updated or run periodically, this can be done in + the periodic() method periodic will be run every loop.
        +
        • +
      + + + +
        +
      • +

        init

        +
        public void init()
        +
        +
        Specified by:
        +
        init in class com.qualcomm.robotcore.eventloop.opmode.OpMode
        +
        +
        • +
      + + + +
        +
      • +

        loop

        +
        public void loop()
        +
        +
        Specified by:
        +
        loop in class com.qualcomm.robotcore.eventloop.opmode.OpMode
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Button.html b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html new file mode 100644 index 0000000..8866232 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html @@ -0,0 +1,244 @@ + + + + + +Button + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.core
+

Interface Button

+
+
+
+
    +
  • +
    +
    All Known Implementing Classes:
    +
    FTCButton
    +
    +
    +
    +
    public interface Button
    +
    Created by MHS Robotics on 11/13/2017. + +

    The button interface is implemented in ftc button The user can get the value of the button, In + most cases this will be a Boolean (True if pressed, false if not),

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+ +
+
+
    +
  • + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        getValue

        +
        boolean getValue()
        +
        Gets the value of a button
        +
        +
        Returns:
        +
        returns the value of the button, in most case True(pressed) or False(unpressed)
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html new file mode 100644 index 0000000..b540542 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html @@ -0,0 +1,268 @@ + + + + + +Debug + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.core
+

Interface Debug

+
+
+
+
    +
  • +
    +
    All Known Implementing Classes:
    +
    FTCDebug
    +
    +
    +
    +
    public interface Debug
    +
    Created by MHS Robotics on 11/13/2017. + +

    Debugs are used for debugging information to the user In ftc the debugs use Telemetry to read + an output to the phone The debug allows for easier usage of the telemetry methods That are most + used for debugging.

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + +
      All Methods Instance Methods Abstract Methods 
      Modifier and TypeMethod and Description
      voidlog(java.lang.String key, + java.lang.Object value) +
      Debugs a value with a Key(Identifier)
      +
      voidmsg(java.lang.Object value) +
      Debugs any value or message(note) to the user with a default key
      +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        log

        +
        void log(java.lang.String key,
+         java.lang.Object value)
        +
        Debugs a value with a Key(Identifier)
        +
        +
        Parameters:
        +
        key - Name of the value
        +
        value - Value to be debugged
        +
        +
        • +
      + + + +
        +
      • +

        msg

        +
        void msg(java.lang.Object value)
        +
        Debugs any value or message(note) to the user with a default key
        +
        +
        Parameters:
        +
        value - Value to be debugged
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html b/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html new file mode 100644 index 0000000..16aeb55 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html @@ -0,0 +1,243 @@ + + + + + +Joystick + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.core
+

Interface Joystick

+
+
+
+
    +
  • +
    +
    All Known Implementing Classes:
    +
    FTCJoystick
    +
    +
    +
    +
    public interface Joystick
    +
    Created by MHS Robotics on 11/14/2017. + +

    Joysticks should return a vector made up of the X and Y values of their position

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+ +
+
+
    +
  • + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        getValue

        +
        Vector getValue()
        +
        Gets the position of the joystick
        +
        +
        Returns:
        +
        a vector made up of the X and Y values of the Joysticks Position
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html b/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html new file mode 100644 index 0000000..04acd87 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html @@ -0,0 +1,358 @@ + + + + + +Mode + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.core
+

Enum Mode

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • java.lang.Enum<Mode>
      • +
    • +
        +
      • org.montclairrobotics.alloy.core.Mode
        • +
      +
      • +
    +
    • +
+
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    java.io.Serializable, java.lang.Comparable<Mode>
    +
    +
    +
    +
    public enum Mode
+extends java.lang.Enum<Mode>
    +
    Created by MHS Robotics on 11/14/2017. + +

    Mode stores all the different run modes that a robot can run in

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Enum Constant Summary

      + + + + + + + + + + + +
      Enum Constants 
      Enum Constant and Description
      FTCAUTONOMOUS +
      ftc autonomous mode
      +
      FTCTELEOP +
      ftc Telemetry Operated Mode
      +
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + +
      All Methods Static Methods Concrete Methods 
      Modifier and TypeMethod and Description
      static ModevalueOf(java.lang.String name) +
      Returns the enum constant of this type with the specified name.
      +
      static Mode[]values() +
      Returns an array containing the constants of this enum type, in +the order they are declared.
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Enum

        +clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
        • +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +getClass, notify, notifyAll, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Enum Constant Detail

      + + + +
        +
      • +

        FTCTELEOP

        +
        public static final Mode FTCTELEOP
        +
        ftc Telemetry Operated Mode
        +
        • +
      + + + +
        +
      • +

        FTCAUTONOMOUS

        +
        public static final Mode FTCAUTONOMOUS
        +
        ftc autonomous mode
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        values

        +
        public static Mode[] values()
        +
        Returns an array containing the constants of this enum type, in +the order they are declared. This method may be used to iterate +over the constants as follows: +
        +for (Mode c : Mode.values())
+    System.out.println(c);
+
        +
        +
        Returns:
        +
        an array containing the constants of this enum type, in the order they are declared
        +
        +
        • +
      + + + +
        +
      • +

        valueOf

        +
        public static Mode valueOf(java.lang.String name)
        +
        Returns the enum constant of this type with the specified name. +The string must match exactly an identifier used to declare an +enum constant in this type. (Extraneous whitespace characters are +not permitted.)
        +
        +
        Parameters:
        +
        name - the name of the enum constant to be returned.
        +
        Returns:
        +
        the enum constant with the specified name
        +
        Throws:
        +
        java.lang.IllegalArgumentException - if this enum type has no constant with the specified name
        +
        java.lang.NullPointerException - if the argument is null
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html b/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html new file mode 100644 index 0000000..638fa35 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html @@ -0,0 +1,305 @@ + + + + + +Motor + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.core
+

Interface Motor

+
+
+
+
    +
  • +
    +
    All Known Subinterfaces:
    +
    TargetMotor
    +
    +
    +
    All Known Implementing Classes:
    +
    FTCMotor, FTCTargetMotor
    +
    +
    +
    +
    public interface Motor
    +
    Created by MHS Robotics on 11/13/2017.
    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + + +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        setMotorPower

        +
        void setMotorPower(double power)
        +
        Sets the motor Power
        +
        +
        Parameters:
        +
        power - the power that the motor will be set to (0-1 inclusive )
        +
        +
        • +
      + + + +
        +
      • +

        getMotorPower

        +
        double getMotorPower()
        +
        Gets the motor power
        +
        +
        Returns:
        +
        the current motor power, a value between (0-1)
        +
        +
        • +
      + + + +
        +
      • +

        setInverted

        +
        void setInverted(boolean inverted)
        +
        Sets weather the motor runs the default way , or inverted
        +
        +
        Parameters:
        +
        inverted - true for inverted, false for normal
        +
        +
        • +
      + + + +
        +
      • +

        getInverted

        +
        boolean getInverted()
        +
        Gets weather the motor is inverted
        +
        +
        Returns:
        +
        true if the motor is inverted
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html b/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html new file mode 100644 index 0000000..4d2a412 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html @@ -0,0 +1,458 @@ + + + + + +RobotCore + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.core
+

Class RobotCore

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.core.RobotCore
      • +
    +
    • +
+
+
    +
  • +
    +
    +
    public class RobotCore
+extends java.lang.Object
    +
    Created by MHS Robotics on 12/5/2017. + +

    Since essential parts to the robots operation are stored in OpMode

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    See Also:
    +
    The robot core class creates static instances + of all of the essentail objects on initialization The actual objects are passed in in the + alloy class, +With this, the user can acess all of the objects throughout the project.
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Field Summary

      + + + + + + + + + + + + + + + + + + + + + + +
      Fields 
      Modifier and TypeField and Description
      static com.qualcomm.robotcore.hardware.Gamepadgamepad1 +
      The first gamepad, generated by pressing start + 'a' on the controller
      +
      static com.qualcomm.robotcore.hardware.Gamepadgamepad2 +
      The second gamepad, generated by pressing start + 'b' on the controller
      +
      static com.qualcomm.robotcore.hardware.HardwareMaphardwareMap +
      The hardware map is essential to any robot and is how the ftc core interacts with the + hardware devices on the phones
      +
      static org.firstinspires.ftc.robotcore.external.Telemetrytelemetry +
      Telemetry is used for reading out information on the phones and is useful for debugging, The + telemetry is also used in Debug
      +
      +
      • +
    + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      RobotCore(org.firstinspires.ftc.robotcore.external.Telemetry telemetry, + com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, + com.qualcomm.robotcore.hardware.Gamepad gamepad1, + com.qualcomm.robotcore.hardware.Gamepad gamepad2) 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Static Methods Concrete Methods 
      Modifier and TypeMethod and Description
      static com.qualcomm.robotcore.hardware.GamepadgetGamepad1() +
      Gets the first gamepad
      +
      static com.qualcomm.robotcore.hardware.GamepadgetGamepad2() +
      Gets the second gamepad
      +
      static com.qualcomm.robotcore.hardware.HardwareMapgetHardwareMap() +
      Gets the hardware map of the robot
      +
      static org.firstinspires.ftc.robotcore.external.TelemetrygetTelemetry() +
      Gets the telemetry object of the robot
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Field Detail

      + + + +
        +
      • +

        telemetry

        +
        public static org.firstinspires.ftc.robotcore.external.Telemetry telemetry
        +
        Telemetry is used for reading out information on the phones and is useful for debugging, The + telemetry is also used in Debug
        +
        +
        See Also:
        +
        Debug
        +
        +
        • +
      + + + +
        +
      • +

        hardwareMap

        +
        public static com.qualcomm.robotcore.hardware.HardwareMap hardwareMap
        +
        The hardware map is essential to any robot and is how the ftc core interacts with the + hardware devices on the phones
        +
        • +
      + + + +
        +
      • +

        gamepad1

        +
        public static com.qualcomm.robotcore.hardware.Gamepad gamepad1
        +
        The first gamepad, generated by pressing start + 'a' on the controller
        +
        • +
      + + + +
        +
      • +

        gamepad2

        +
        public static com.qualcomm.robotcore.hardware.Gamepad gamepad2
        +
        The second gamepad, generated by pressing start + 'b' on the controller
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        RobotCore

        +
        public RobotCore(org.firstinspires.ftc.robotcore.external.Telemetry telemetry,
+                 com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
+                 com.qualcomm.robotcore.hardware.Gamepad gamepad1,
+                 com.qualcomm.robotcore.hardware.Gamepad gamepad2)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        getHardwareMap

        +
        public static com.qualcomm.robotcore.hardware.HardwareMap getHardwareMap()
        +
        Gets the hardware map of the robot
        +
        +
        Returns:
        +
        the hardware map
        +
        +
        • +
      + + + +
        +
      • +

        getTelemetry

        +
        public static org.firstinspires.ftc.robotcore.external.Telemetry getTelemetry()
+                                                                       throws java.lang.NullPointerException
        +
        Gets the telemetry object of the robot
        +
        +
        Returns:
        +
        telemetry
        +
        Throws:
        +
        java.lang.NullPointerException
        +
        +
        • +
      + + + +
        +
      • +

        getGamepad1

        +
        public static com.qualcomm.robotcore.hardware.Gamepad getGamepad1()
        +
        Gets the first gamepad
        +
        +
        Returns:
        +
        gamepad1
        +
        +
        • +
      + + + +
        +
      • +

        getGamepad2

        +
        public static com.qualcomm.robotcore.hardware.Gamepad getGamepad2()
        +
        Gets the second gamepad
        +
        +
        Returns:
        +
        gamepad1
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html new file mode 100644 index 0000000..566465e --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html @@ -0,0 +1,306 @@ + + + + + +TargetMotor + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.core
+

Interface TargetMotor

+
+
+
+
    +
  • +
    +
    All Superinterfaces:
    +
    Motor
    +
    +
    +
    All Known Implementing Classes:
    +
    FTCTargetMotor
    +
    +
    +
    +
    public interface TargetMotor
+extends Motor
    +
    Target motor is a motor interface for motors that have encoders. Target motors can set encoder + positions using PID control
    +
    • +
+
+
+ +
+
+
    +
  • + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        setTargetPower

        +
        void setTargetPower(double power)
        +
        Sets the motor Power
        +
        +
        Parameters:
        +
        power - the power that the motor will be set to (0-1 inclusive )
        +
        +
        • +
      + + + +
        +
      • +

        getTargetPower

        +
        double getTargetPower()
        +
        Gets the motor power
        +
        +
        Returns:
        +
        the current motor power, a value between (0-1)
        +
        +
        • +
      + + + +
        +
      • +

        setPosition

        +
        void setPosition(int position)
        +
        Sets the motor position
        +
        +
        Parameters:
        +
        position - the position the motor will be set to (in encoder ticks)
        +
        +
        • +
      + + + +
        +
      • +

        getPosition

        +
        double getPosition()
        +
        Gets the motors position
        +
        +
        Returns:
        +
        the position that the motor is at (in encoder ticks)
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html new file mode 100644 index 0000000..bb50b54 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html @@ -0,0 +1,164 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.core.Alloy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.core.Alloy

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html new file mode 100644 index 0000000..e1484d6 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html @@ -0,0 +1,203 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.core.Button + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Interface
org.montclairrobotics.alloy.core.Button

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html new file mode 100644 index 0000000..16de1f5 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html @@ -0,0 +1,166 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.core.Debug + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Interface
org.montclairrobotics.alloy.core.Debug

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html new file mode 100644 index 0000000..7df6b9c --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html @@ -0,0 +1,166 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.core.Joystick + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Interface
org.montclairrobotics.alloy.core.Joystick

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html new file mode 100644 index 0000000..c1a6819 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html @@ -0,0 +1,173 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.core.Mode + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.core.Mode

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html new file mode 100644 index 0000000..740e47a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html @@ -0,0 +1,196 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.core.Motor + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Interface
org.montclairrobotics.alloy.core.Motor

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html new file mode 100644 index 0000000..708e812 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.core.RobotCore + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.core.RobotCore

+
+
No usage of org.montclairrobotics.alloy.core.RobotCore
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html new file mode 100644 index 0000000..cfbdadc --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html @@ -0,0 +1,166 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.core.TargetMotor + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Interface
org.montclairrobotics.alloy.core.TargetMotor

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html new file mode 100644 index 0000000..0954609 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html @@ -0,0 +1,33 @@ + + + + + +org.montclairrobotics.alloy.core + + + + + +

org.montclairrobotics.alloy.core

+
+

Interfaces

+ +

Classes

+ +

Enums

+ +
+ + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html new file mode 100644 index 0000000..7d8c746 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html @@ -0,0 +1,208 @@ + + + + + +org.montclairrobotics.alloy.core + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Package org.montclairrobotics.alloy.core

+
+
+
    +
  • + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Interface Summary 
    InterfaceDescription
    Button +
    Created by MHS Robotics on 11/13/2017.
    +
    Debug +
    Created by MHS Robotics on 11/13/2017.
    +
    Joystick +
    Created by MHS Robotics on 11/14/2017.
    +
    Motor +
    Created by MHS Robotics on 11/13/2017.
    +
    TargetMotor +
    Target motor is a motor interface for motors that have encoders.
    +
    +
    • +
  • + + + + + + + + + + + + + + + + +
    Class Summary 
    ClassDescription
    Alloy +
    Created by MHS Robotics on 11/13/2017.
    +
    RobotCore +
    Created by MHS Robotics on 12/5/2017.
    +
    +
    • +
  • + + + + + + + + + + + + +
    Enum Summary 
    EnumDescription
    Mode +
    Created by MHS Robotics on 11/14/2017.
    +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html new file mode 100644 index 0000000..bcf56d5 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html @@ -0,0 +1,165 @@ + + + + + +org.montclairrobotics.alloy.core Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Hierarchy For Package org.montclairrobotics.alloy.core

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object +
      +
    • com.qualcomm.robotcore.eventloop.opmode.OpMode +
        +
      • org.montclairrobotics.alloy.core.Alloy
        • +
      +
      • +
    • org.montclairrobotics.alloy.core.RobotCore
      • +
    +
    • +
+

Interface Hierarchy

+
    +
  • org.montclairrobotics.alloy.core.Button
    • +
  • org.montclairrobotics.alloy.core.Debug
    • +
  • org.montclairrobotics.alloy.core.Joystick
    • +
  • org.montclairrobotics.alloy.core.Motor + +
    • +
+

Enum Hierarchy

+
    +
  • java.lang.Object +
      +
    • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable) +
        +
      • org.montclairrobotics.alloy.core.Mode
        • +
      +
      • +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html new file mode 100644 index 0000000..45d588a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html @@ -0,0 +1,247 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.core + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Package
org.montclairrobotics.alloy.core

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html new file mode 100644 index 0000000..8aaf1d5 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html @@ -0,0 +1,228 @@ + + + + + +DTMapper + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.drive
+

Interface DTMapper

+
+
+
+
    +
  • +
    +
    +
    public interface DTMapper
    +
    Created by MHS Robotics on 12/16/2017.
    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+ +
+
+
    +
  • + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        map

        +
        void map()
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html new file mode 100644 index 0000000..2520af4 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html @@ -0,0 +1,244 @@ + + + + + +DriveTrain + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.drive
+

Class DriveTrain

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.drive.DriveTrain
      • +
    +
    • +
+
+
    +
  • +
    +
    +
    public class DriveTrain
+extends java.lang.Object
    +
    Created by MHS Robotics on 12/16/2017.
    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      DriveTrain() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        DriveTrain

        +
        public DriveTrain()
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html new file mode 100644 index 0000000..bf1e29a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html @@ -0,0 +1,124 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.drive.DTMapper + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Interface
org.montclairrobotics.alloy.drive.DTMapper

+
+
No usage of org.montclairrobotics.alloy.drive.DTMapper
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html new file mode 100644 index 0000000..ac82334 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.drive.DriveTrain + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.drive.DriveTrain

+
+
No usage of org.montclairrobotics.alloy.drive.DriveTrain
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html new file mode 100644 index 0000000..58e5062 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html @@ -0,0 +1,24 @@ + + + + + +org.montclairrobotics.alloy.drive + + + + + +

org.montclairrobotics.alloy.drive

+
+

Interfaces

+ +

Classes

+ +
+ + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html new file mode 100644 index 0000000..3782031 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html @@ -0,0 +1,161 @@ + + + + + +org.montclairrobotics.alloy.drive + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Package org.montclairrobotics.alloy.drive

+
+
+
    +
  • + + + + + + + + + + + + +
    Interface Summary 
    InterfaceDescription
    DTMapper +
    Created by MHS Robotics on 12/16/2017.
    +
    +
    • +
  • + + + + + + + + + + + + +
    Class Summary 
    ClassDescription
    DriveTrain +
    Created by MHS Robotics on 12/16/2017.
    +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html new file mode 100644 index 0000000..2a2bf12 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html @@ -0,0 +1,141 @@ + + + + + +org.montclairrobotics.alloy.drive Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Hierarchy For Package org.montclairrobotics.alloy.drive

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object + +
    • +
+

Interface Hierarchy

+
    +
  • org.montclairrobotics.alloy.drive.DTMapper
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html new file mode 100644 index 0000000..7204afb --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html @@ -0,0 +1,124 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.drive + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Package
org.montclairrobotics.alloy.drive

+
+
No usage of org.montclairrobotics.alloy.drive
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html new file mode 100644 index 0000000..85a5479 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html @@ -0,0 +1,465 @@ + + + + + +FTCButton + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.ftc
+

Class FTCButton

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.ftc.FTCButton
      • +
    +
    • +
+
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    Button
    +
    +
    +
    +
    public class FTCButton
+extends java.lang.Object
+implements Button
    +
    Created by MHS Robotics on 11/14/2017. + +

    An FTC button provides implementation for a button used in the FTC competition

    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+ +
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        FTCButton

        +
        public FTCButton(Input<java.lang.Boolean> buttonInput)
        +
        • +
      + + + +
        +
      • +

        FTCButton

        +
        public FTCButton(Input<java.lang.Boolean> buttonInput,
+                 boolean invert)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        getValue

        +
        public boolean getValue()
        +
        Description copied from interface: Button
        +
        Gets the value of a button
        +
        +
        Specified by:
        +
        getValue in interface Button
        +
        Returns:
        +
        returns the value of the button, in most case True(pressed) or False(unpressed)
        +
        +
        • +
      + + + +
        +
      • +

        getAButton

        +
        public static FTCButton getAButton(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getBButton

        +
        public static FTCButton getBButton(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getXButton

        +
        public static FTCButton getXButton(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getYButton

        +
        public static FTCButton getYButton(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getDPADUp

        +
        public static FTCButton getDPADUp(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getDPADDown

        +
        public static FTCButton getDPADDown(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getYDPADRight

        +
        public static FTCButton getYDPADRight(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getDPADLeft

        +
        public static FTCButton getDPADLeft(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getRightBumper

        +
        public static FTCButton getRightBumper(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getLeftBumper

        +
        public static FTCButton getLeftBumper(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getRightTrigger

        +
        public static FTCButton getRightTrigger(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      + + + +
        +
      • +

        getLeftTrigger

        +
        public static FTCButton getLeftTrigger(com.qualcomm.robotcore.hardware.Gamepad gamepad)
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebug.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebug.html new file mode 100644 index 0000000..60f869d --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebug.html @@ -0,0 +1,322 @@ + + + + + +FTCDebug + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.ftc
+

Class FTCDebug

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.ftc.FTCDebug
      • +
    +
    • +
+
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    Debug
    +
    +
    +
    +
    public class FTCDebug
+extends java.lang.Object
+implements Debug
    +
    Created by MHS Robotics on 11/14/2017. + +

    The FTCDebug class is a basic wrapper around the ftc telemetry framework and allows telemetry + to be used in any class as well as making debugging information easier

    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      FTCDebug() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voidlog(java.lang.String key, + java.lang.Object value) +
      Debugs a value with a Key(Identifier)
      +
      voidmsg(java.lang.Object value) +
      Debugs any value or message(note) to the user with a default key
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        FTCDebug

        +
        public FTCDebug()
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        log

        +
        public void log(java.lang.String key,
+                java.lang.Object value)
        +
        Description copied from interface: Debug
        +
        Debugs a value with a Key(Identifier)
        +
        +
        Specified by:
        +
        log in interface Debug
        +
        Parameters:
        +
        key - Name of the value
        +
        value - Value to be debugged
        +
        +
        • +
      + + + +
        +
      • +

        msg

        +
        public void msg(java.lang.Object value)
        +
        Description copied from interface: Debug
        +
        Debugs any value or message(note) to the user with a default key
        +
        +
        Specified by:
        +
        msg in interface Debug
        +
        Parameters:
        +
        value - Value to be debugged
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html new file mode 100644 index 0000000..8873b17 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html @@ -0,0 +1,345 @@ + + + + + +FTCJoystick.Side + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.ftc
+

Enum FTCJoystick.Side

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • java.lang.Enum<FTCJoystick.Side>
      • +
    • +
        +
      • org.montclairrobotics.alloy.ftc.FTCJoystick.Side
        • +
      +
      • +
    +
    • +
+
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    java.io.Serializable, java.lang.Comparable<FTCJoystick.Side>
    +
    +
    +
    Enclosing class:
    +
    FTCJoystick
    +
    +
    +
    +
    public static enum FTCJoystick.Side
+extends java.lang.Enum<FTCJoystick.Side>
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Enum Constant Summary

      + + + + + + + + + + + +
      Enum Constants 
      Enum Constant and Description
      LEFT 
      RIGHT 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + +
      All Methods Static Methods Concrete Methods 
      Modifier and TypeMethod and Description
      static FTCJoystick.SidevalueOf(java.lang.String name) +
      Returns the enum constant of this type with the specified name.
      +
      static FTCJoystick.Side[]values() +
      Returns an array containing the constants of this enum type, in +the order they are declared.
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Enum

        +clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
        • +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +getClass, notify, notifyAll, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + + + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        values

        +
        public static FTCJoystick.Side[] values()
        +
        Returns an array containing the constants of this enum type, in +the order they are declared. This method may be used to iterate +over the constants as follows: +
        +for (FTCJoystick.Side c : FTCJoystick.Side.values())
+    System.out.println(c);
+
        +
        +
        Returns:
        +
        an array containing the constants of this enum type, in the order they are declared
        +
        +
        • +
      + + + +
        +
      • +

        valueOf

        +
        public static FTCJoystick.Side valueOf(java.lang.String name)
        +
        Returns the enum constant of this type with the specified name. +The string must match exactly an identifier used to declare an +enum constant in this type. (Extraneous whitespace characters are +not permitted.)
        +
        +
        Parameters:
        +
        name - the name of the enum constant to be returned.
        +
        Returns:
        +
        the enum constant with the specified name
        +
        Throws:
        +
        java.lang.IllegalArgumentException - if this enum type has no constant with the specified name
        +
        java.lang.NullPointerException - if the argument is null
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html new file mode 100644 index 0000000..ee4a71b --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html @@ -0,0 +1,314 @@ + + + + + +FTCJoystick + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.ftc
+

Class FTCJoystick

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.ftc.FTCJoystick
      • +
    +
    • +
+
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    Joystick
    +
    +
    +
    +
    public class FTCJoystick
+extends java.lang.Object
+implements Joystick
    +
    Created by MHS Robotics on 11/14/2017.
    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Nested Class Summary

      + + + + + + + + + + +
      Nested Classes 
      Modifier and TypeClass and Description
      static class FTCJoystick.Side 
      +
      • +
    + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      FTCJoystick(com.qualcomm.robotcore.hardware.Gamepad gamepad, + FTCJoystick.Side side) 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      VectorgetValue() +
      Gets the position of the joystick
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        FTCJoystick

        +
        public FTCJoystick(com.qualcomm.robotcore.hardware.Gamepad gamepad,
+                   FTCJoystick.Side side)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        getValue

        +
        public Vector getValue()
        +
        Description copied from interface: Joystick
        +
        Gets the position of the joystick
        +
        +
        Specified by:
        +
        getValue in interface Joystick
        +
        Returns:
        +
        a vector made up of the X and Y values of the Joysticks Position
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html new file mode 100644 index 0000000..d0fabc0 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html @@ -0,0 +1,368 @@ + + + + + +FTCMotor + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.ftc
+

Class FTCMotor

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.ftc.FTCMotor
      • +
    +
    • +
+
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    Motor
    +
    +
    +
    Direct Known Subclasses:
    +
    FTCTargetMotor
    +
    +
    +
    +
    public class FTCMotor
+extends java.lang.Object
+implements Motor
    +
    Created by MHS Robotics on 11/14/2017. + +

    FTCMotor is a basic implementation of a motor used for FTC. Basic FTC motors can be controlled + using motor power but can not have their positions set using encoders. If you wish to set a + motors position

    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    See Also:
    +
    FTCTargetMotor
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      FTCMotor(java.lang.String motorConfiguration) 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      booleangetInverted() +
      Gets weather the motor is inverted
      +
      doublegetMotorPower() +
      Gets the motor power
      +
      voidsetInverted(boolean inverted) +
      Sets weather the motor runs the default way , or inverted
      +
      voidsetMotorPower(double power) +
      Sets the motor Power
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        FTCMotor

        +
        public FTCMotor(java.lang.String motorConfiguration)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        setMotorPower

        +
        public void setMotorPower(double power)
        +
        Sets the motor Power
        +
        +
        Specified by:
        +
        setMotorPower in interface Motor
        +
        Parameters:
        +
        power - the power that the motor will be set to (0-1 inclusive )
        +
        +
        • +
      + + + +
        +
      • +

        getMotorPower

        +
        public double getMotorPower()
        +
        Gets the motor power
        +
        +
        Specified by:
        +
        getMotorPower in interface Motor
        +
        Returns:
        +
        the current motor power, a value between (0-1)
        +
        +
        • +
      + + + +
        +
      • +

        setInverted

        +
        public void setInverted(boolean inverted)
        +
        Sets weather the motor runs the default way , or inverted
        +
        +
        Specified by:
        +
        setInverted in interface Motor
        +
        Parameters:
        +
        inverted - true for inverted, false for normal
        +
        +
        • +
      + + + +
        +
      • +

        getInverted

        +
        public boolean getInverted()
        +
        Gets weather the motor is inverted
        +
        +
        Specified by:
        +
        getInverted in interface Motor
        +
        Returns:
        +
        true if the motor is inverted
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html new file mode 100644 index 0000000..43f8411 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html @@ -0,0 +1,489 @@ + + + + + +FTCTargetMotor + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.ftc
+

Class FTCTargetMotor

+
+
+ +
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    Motor, TargetMotor
    +
    +
    +
    +
    public class FTCTargetMotor
+extends FTCMotor
+implements TargetMotor
    +
    Created by MHS Robotics on 2/24/2018. + +

    A target motor is a motor that can use encoders to be set to a certain position Since FTC + motors have their own PIDs that they are controlled with by default, the user has the ability to + override this and use custom PIDs if need be. By default, the user does not have to worry about + any of this. Do not attempt to change the PID if you do not know what you are doing You can read + more about PIDs here https://en.wikipedia.org/wiki/PID_controller

    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      FTCTargetMotor(java.lang.String motorConfiguration) 
      +
      • +
    + + +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        FTCTargetMotor

        +
        public FTCTargetMotor(java.lang.String motorConfiguration)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        setPosition

        +
        public void setPosition(int position)
        +
        Sets the motor position
        +
        +
        Specified by:
        +
        setPosition in interface TargetMotor
        +
        Parameters:
        +
        position - the position the motor will be set to (in encoder ticks)
        +
        +
        • +
      + + + +
        +
      • +

        getPosition

        +
        public double getPosition()
        +
        Gets the motors position
        +
        +
        Specified by:
        +
        getPosition in interface TargetMotor
        +
        Returns:
        +
        the position that the motor is at (in encoder ticks)
        +
        +
        • +
      + + + +
        +
      • +

        setTargetPower

        +
        public void setTargetPower(double power)
        +
        Sets the motor Power
        +
        +
        Specified by:
        +
        setTargetPower in interface TargetMotor
        +
        Parameters:
        +
        power - the power that the motor will be set to (0-1 inclusive )
        +
        +
        • +
      + + + +
        +
      • +

        getTargetPower

        +
        public double getTargetPower()
        +
        Gets the motor power
        +
        +
        Specified by:
        +
        getTargetPower in interface TargetMotor
        +
        Returns:
        +
        the current motor power, a value between (0-1)
        +
        +
        • +
      + + + +
        +
      • +

        setPID

        +
        public void setPID(PID pid)
        +
        Set the motor to run using a custom PID
        +
        +
        Parameters:
        +
        pid - the PID that the motor will be controlled with
        +
        +
        • +
      + + + +
        +
      • +

        disablePID

        +
        public void disablePID()
        +
        Stop using the custom PID and return to using the default mode
        +
        • +
      + + + +
        +
      • +

        update

        +
        public void update()
        +
        If the mode is custom, then the update method will set the motor power using the custom PID
        +
        • +
      + + + +
        +
      • +

        getPid

        +
        public PID getPid()
        +
        +
        Returns:
        +
        the PID being used to control the motor
        +
        +
        • +
      + + + +
        +
      • +

        getMotor

        +
        public com.qualcomm.robotcore.hardware.DcMotor getMotor()
        +
        +
        Returns:
        +
        the motor being controlled
        +
        +
        • +
      + + + +
        +
      • +

        getRunmode

        +
        public org.montclairrobotics.alloy.ftc.FTCTargetMotor.Mode getRunmode()
        +
        NOTE: this is not the same as the DCMotor runmode
        +
        +
        Returns:
        +
        the current target motor runmode
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html new file mode 100644 index 0000000..cd19615 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html @@ -0,0 +1,208 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.ftc.FTCButton + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.ftc.FTCButton

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebug.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebug.html new file mode 100644 index 0000000..94b5bd2 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebug.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.ftc.FTCDebug + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.ftc.FTCDebug

+
+
No usage of org.montclairrobotics.alloy.ftc.FTCDebug
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html new file mode 100644 index 0000000..ce0cdcb --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html @@ -0,0 +1,185 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.ftc.FTCJoystick.Side + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.ftc.FTCJoystick.Side

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html new file mode 100644 index 0000000..88754f9 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.ftc.FTCJoystick + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.ftc.FTCJoystick

+
+
No usage of org.montclairrobotics.alloy.ftc.FTCJoystick
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html new file mode 100644 index 0000000..8dc3335 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html @@ -0,0 +1,166 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.ftc.FTCMotor + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.ftc.FTCMotor

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html new file mode 100644 index 0000000..1f9142f --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.ftc.FTCTargetMotor + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.ftc.FTCTargetMotor

+
+
No usage of org.montclairrobotics.alloy.ftc.FTCTargetMotor
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html new file mode 100644 index 0000000..2e12b66 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html @@ -0,0 +1,28 @@ + + + + + +org.montclairrobotics.alloy.ftc + + + + + +

org.montclairrobotics.alloy.ftc

+
+

Classes

+ +

Enums

+ +
+ + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html new file mode 100644 index 0000000..f7a2c07 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html @@ -0,0 +1,183 @@ + + + + + +org.montclairrobotics.alloy.ftc + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Package org.montclairrobotics.alloy.ftc

+
+
+
    +
  • + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Class Summary 
    ClassDescription
    FTCButton +
    Created by MHS Robotics on 11/14/2017.
    +
    FTCDebug +
    Created by MHS Robotics on 11/14/2017.
    +
    FTCJoystick +
    Created by MHS Robotics on 11/14/2017.
    +
    FTCMotor +
    Created by MHS Robotics on 11/14/2017.
    +
    FTCTargetMotor +
    Created by MHS Robotics on 2/24/2018.
    +
    +
    • +
  • + + + + + + + + + + + + +
    Enum Summary 
    EnumDescription
    FTCJoystick.Side 
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html new file mode 100644 index 0000000..0f30054 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html @@ -0,0 +1,156 @@ + + + + + +org.montclairrobotics.alloy.ftc Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Hierarchy For Package org.montclairrobotics.alloy.ftc

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object +
      +
    • org.montclairrobotics.alloy.ftc.FTCButton (implements org.montclairrobotics.alloy.core.Button)
      • +
    • org.montclairrobotics.alloy.ftc.FTCDebug (implements org.montclairrobotics.alloy.core.Debug)
      • +
    • org.montclairrobotics.alloy.ftc.FTCJoystick (implements org.montclairrobotics.alloy.core.Joystick)
      • +
    • org.montclairrobotics.alloy.ftc.FTCMotor (implements org.montclairrobotics.alloy.core.Motor) + +
      • +
    +
    • +
+

Enum Hierarchy

+
    +
  • java.lang.Object +
      +
    • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable) + +
      • +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html new file mode 100644 index 0000000..b86b5de --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html @@ -0,0 +1,167 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.ftc + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Package
org.montclairrobotics.alloy.ftc

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/Shooter.html b/docs/javadoc/org/montclairrobotics/alloy/test/Shooter.html new file mode 100644 index 0000000..80025ab --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/Shooter.html @@ -0,0 +1,312 @@ + + + + + +Shooter + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.test
+

Class Shooter

+
+
+ +
+
    +
  • +
    +
    +
    public class Shooter
+extends Toggleable
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      Shooter() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voiddisableAction() +
      Method to be called when the toggleable is disabled
      +
      voidenableAction() +
      Method to be called when the toggleable is enabled
      +
      + +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        Shooter

        +
        public Shooter()
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        enableAction

        +
        public void enableAction()
        +
        Description copied from class: Toggleable
        +
        Method to be called when the toggleable is enabled
        +
        +
        Specified by:
        +
        enableAction in class Toggleable
        +
        +
        • +
      + + + +
        +
      • +

        disableAction

        +
        public void disableAction()
        +
        Description copied from class: Toggleable
        +
        Method to be called when the toggleable is disabled
        +
        +
        Specified by:
        +
        disableAction in class Toggleable
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html new file mode 100644 index 0000000..78ac494 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html @@ -0,0 +1,369 @@ + + + + + +TestRobot + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.test
+

Class TestRobot

+
+
+ +
+
    +
  • +
    +
    +
    @TeleOp
+public class TestRobot
+extends Alloy
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Field Summary

      +
        +
      • + + +

        Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

        +gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry, time
        • +
      +
      • +
    + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      TestRobot() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voidinitialization() +
      The initialization method is were everything specific to the OpMode Should be set up.
      +
      voidperiodic() +
      Although most of the periodic actions are taken care by the updater, the user may want to add + their own methods and code that need to be updated or run periodically, this can be done in + the periodic() method periodic will be run every loop.
      +
      voidrobotSetup() +
      The robotSetup is where all code specific to robot setup is placed If you only have one + teleop this can be done in the initialization Method.
      +
      +
        +
      • + + +

        Methods inherited from class org.montclairrobotics.alloy.core.Alloy

        +init, loop
        • +
      +
        +
      • + + +

        Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

        +getRuntime, init_loop, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, start, stop, updateTelemetry
        • +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        TestRobot

        +
        public TestRobot()
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        robotSetup

        +
        public void robotSetup()
        +
        Description copied from class: Alloy
        +
        The robotSetup is where all code specific to robot setup is placed If you only have one + teleop this can be done in the initialization Method. robotSetup is called right after the + robot core is initialized
        +
        +
        Specified by:
        +
        robotSetup in class Alloy
        +
        +
        • +
      + + + +
        +
      • +

        initialization

        +
        public void initialization()
        +
        Description copied from class: Alloy
        +
        The initialization method is were everything specific to the OpMode Should be set up. + Initialization will be the first thing called after The robot setup.
        +
        +
        Specified by:
        +
        initialization in class Alloy
        +
        +
        • +
      + + + +
        +
      • +

        periodic

        +
        public void periodic()
        +
        Description copied from class: Alloy
        +
        Although most of the periodic actions are taken care by the updater, the user may want to add + their own methods and code that need to be updated or run periodically, this can be done in + the periodic() method periodic will be run every loop.
        +
        +
        Specified by:
        +
        periodic in class Alloy
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Shooter.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Shooter.html new file mode 100644 index 0000000..3d6d004 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Shooter.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.test.Shooter + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.test.Shooter

+
+
No usage of org.montclairrobotics.alloy.test.Shooter
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html new file mode 100644 index 0000000..47f5509 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.test.TestRobot + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.test.TestRobot

+
+
No usage of org.montclairrobotics.alloy.test.TestRobot
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html new file mode 100644 index 0000000..0062311 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html @@ -0,0 +1,21 @@ + + + + + +org.montclairrobotics.alloy.test + + + + + +

org.montclairrobotics.alloy.test

+
+

Classes

+ +
+ + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html new file mode 100644 index 0000000..40f5a1a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html @@ -0,0 +1,146 @@ + + + + + +org.montclairrobotics.alloy.test + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Package org.montclairrobotics.alloy.test

+
+
+
    +
  • + + + + + + + + + + + + + + + + +
    Class Summary 
    ClassDescription
    Shooter 
    TestRobot 
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html new file mode 100644 index 0000000..9b09786 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html @@ -0,0 +1,150 @@ + + + + + +org.montclairrobotics.alloy.test Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Hierarchy For Package org.montclairrobotics.alloy.test

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object +
      +
    • com.qualcomm.robotcore.eventloop.opmode.OpMode +
        +
      • org.montclairrobotics.alloy.core.Alloy +
          +
        • org.montclairrobotics.alloy.test.TestRobot
          • +
        +
        • +
      +
      • +
    • org.montclairrobotics.alloy.utils.Toggleable +
        +
      • org.montclairrobotics.alloy.test.Shooter
        • +
      +
      • +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html new file mode 100644 index 0000000..7d9f726 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html @@ -0,0 +1,124 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.test + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Package
org.montclairrobotics.alloy.test

+
+
No usage of org.montclairrobotics.alloy.test
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updatable.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updatable.html new file mode 100644 index 0000000..3a7449b --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updatable.html @@ -0,0 +1,257 @@ + + + + + +Updatable + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.update
+

Class Updatable

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.update.Updatable
      • +
    +
    • +
+
+
    +
  • +
    +
    +
    public class Updatable
+extends java.lang.Object
    +
    Created by MHS Robotics on 2/11/2018.
    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      intgetUpdateRate() 
      voidrun() 
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        run

        +
        public void run()
        +
        • +
      + + + +
        +
      • +

        getUpdateRate

        +
        public int getUpdateRate()
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Update.html b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html new file mode 100644 index 0000000..efa5ee1 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html @@ -0,0 +1,237 @@ + + + + + +Update + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Field | 
    • +
  • Required | 
    • +
  • Optional
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.update
+

Annotation Type Update

+
+
+
+
    +
  • +
    +
    +
    @Retention(value=RUNTIME)
+ @Target(value=METHOD)
+public @interface Update
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Optional Element Summary

      + + + + + + + + + + + + + + +
      Optional Elements 
      Modifier and TypeOptional Element and Description
      intpriority 
      intupdateRate 
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Element Detail

      + + + +
        +
      • +

        updateRate

        +
        public abstract int updateRate
        +
        +
        Default:
        +
        1
        +
        +
        • +
      +
      • +
    +
      +
    • + + +
        +
      • +

        priority

        +
        public abstract int priority
        +
        +
        Default:
        +
        0
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Field | 
    • +
  • Required | 
    • +
  • Optional
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html new file mode 100644 index 0000000..3388f70 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html @@ -0,0 +1,291 @@ + + + + + +Updater + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.update
+

Class Updater

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.update.Updater
      • +
    +
    • +
+
+
    +
  • +
    +
    +
    public class Updater
+extends java.lang.Object
    +
    Created by MHS Robotics on 12/5/2017.
    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      Updater() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + +
      All Methods Static Methods Concrete Methods 
      Modifier and TypeMethod and Description
      static voidregisterUpdatables() 
      static voidupdate() 
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        Updater

        +
        public Updater()
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        registerUpdatables

        +
        public static void registerUpdatables()
        +
        • +
      + + + +
        +
      • +

        update

        +
        public static void update()
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updatable.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updatable.html new file mode 100644 index 0000000..4a8955d --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updatable.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.update.Updatable + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.update.Updatable

+
+
No usage of org.montclairrobotics.alloy.update.Updatable
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html new file mode 100644 index 0000000..f70cd4d --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html @@ -0,0 +1,213 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.update.Update + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.update.Update

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html new file mode 100644 index 0000000..61fba53 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.update.Updater + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.update.Updater

+
+
No usage of org.montclairrobotics.alloy.update.Updater
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html new file mode 100644 index 0000000..d04ccb0 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html @@ -0,0 +1,25 @@ + + + + + +org.montclairrobotics.alloy.update + + + + + +

org.montclairrobotics.alloy.update

+
+

Classes

+ +

Annotation Types

+ +
+ + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html new file mode 100644 index 0000000..2b1fa0a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html @@ -0,0 +1,165 @@ + + + + + +org.montclairrobotics.alloy.update + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Package org.montclairrobotics.alloy.update

+
+
+
    +
  • + + + + + + + + + + + + + + + + +
    Class Summary 
    ClassDescription
    Updatable +
    Created by MHS Robotics on 2/11/2018.
    +
    Updater +
    Created by MHS Robotics on 12/5/2017.
    +
    +
    • +
  • + + + + + + + + + + + + +
    Annotation Types Summary 
    Annotation TypeDescription
    Update 
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html new file mode 100644 index 0000000..d06c2f3 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html @@ -0,0 +1,142 @@ + + + + + +org.montclairrobotics.alloy.update Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Hierarchy For Package org.montclairrobotics.alloy.update

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object +
      +
    • org.montclairrobotics.alloy.update.Updatable
      • +
    • org.montclairrobotics.alloy.update.Updater
      • +
    +
    • +
+

Annotation Type Hierarchy

+
    +
  • org.montclairrobotics.alloy.update.Update (implements java.lang.annotation.Annotation)
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html new file mode 100644 index 0000000..fd742cf --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html @@ -0,0 +1,195 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.update + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Package
org.montclairrobotics.alloy.update

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html new file mode 100644 index 0000000..b44d481 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html @@ -0,0 +1,232 @@ + + + + + +Input + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.utils
+

Interface Input<T>

+
+
+
+
    +
  • +
    +
    All Known Implementing Classes:
    +
    PID
    +
    +
    +
    +
    public interface Input<T>
    +
    Created by MHS Robotics on 2/2/2018.
    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+ +
+
+
    +
  • + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        get

        +
        T get()
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html new file mode 100644 index 0000000..d0fbcf0 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html @@ -0,0 +1,387 @@ + + + + + +PID + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.utils
+

Class PID

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.utils.PID
      • +
    +
    • +
+
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    Input<java.lang.Double>
    +
    +
    +
    +
    public class PID
+extends java.lang.Object
+implements Input<java.lang.Double>
    +
    Created by Montclair robotics on 2/27/2018 + +

    A PID controller is able to control a component that has a target, current state, and can be + controlled for example: - A robots heading using a Gryo - A motors position using encoders + +

    PID stands for Proportion, Integral and Derivative control. It uses the error of a component + and then calculates the correction the PID values must be tuned in order to have a working PID + loop A properly tuned implementation of a PID controller should result in a correction that goes + fast, and accurate to its target, and does not overshoot it. + +

    You can read more about implementing PID control here + https://github.com/GarrettBurroughs/Alloy/wiki/Using-PID-control You can read more + about how PID works here https://en.wikipedia.org/wiki/PID_controller

    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + + + + +
      Constructors 
      Constructor and Description
      PID(double p, + double i, + double d) +
      Create a new PID
      +
      PID(double p, + double i, + double d, + Input<java.lang.Double> input, + double target) +
      Create a new PID with the input and target defined
      +
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      java.lang.Doubleget() 
      PIDsetInput(Input<java.lang.Double> input) 
      PIDsetTarget(double target) 
      voidupdate() +
      The update method should be defined for every updatable, and is called every loop if added to + the updater
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        PID

        +
        public PID(double p,
+           double i,
+           double d)
        +
        Create a new PID
        +
        +
        Parameters:
        +
        p - proportional constant
        +
        i - integral constant
        +
        d - derivative constant
        +
        +
        • +
      + + + +
        +
      • +

        PID

        +
        public PID(double p,
+           double i,
+           double d,
+           Input<java.lang.Double> input,
+           double target)
        +
        Create a new PID with the input and target defined
        +
        +
        Parameters:
        +
        p - proportional constan
        +
        i - integral constant
        +
        d - derivative constant
        +
        input - the input of the component being controlled (current status)
        +
        target - the desired target (status) of the component being controlled
        +
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        setTarget

        +
        public PID setTarget(double target)
        +
        • +
      + + + +
        +
      • +

        setInput

        +
        public PID setInput(Input<java.lang.Double> input)
        +
        • +
      + + + +
        +
      • +

        get

        +
        public java.lang.Double get()
        +
        +
        Specified by:
        +
        get in interface Input<java.lang.Double>
        +
        +
        • +
      + + + +
        +
      • +

        update

        +
        public void update()
        +
        The update method should be defined for every updatable, and is called every loop if added to + the updater
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html new file mode 100644 index 0000000..1f9a1e1 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html @@ -0,0 +1,357 @@ + + + + + +Toggleable + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.utils
+

Class Toggleable

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.utils.Toggleable
      • +
    +
    • +
+
+
    +
  • +
    +
    Direct Known Subclasses:
    +
    Shooter
    +
    +
    +
    +
    public abstract class Toggleable
+extends java.lang.Object
    +
    Created by MHS Robotics on 2/11/2018. + +

    Toggleables are used for objects of mechanisms that can either be on (Enabled), or off + toggleables can have actions defined for when they are enabled and disabled, as well as be tied + to different parts of alloy like buttons and auto states

    +
    +
    Since:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    See Also:
    +
    ToggleButton
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      Toggleable() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voiddisable() +
      Disables the toggleable
      +
      abstract voiddisableAction() +
      Method to be called when the toggleable is disabled
      +
      voidenable() +
      Enables the toggleable
      +
      abstract voidenableAction() +
      Method to be called when the toggleable is enabled
      +
      voidtoggle() +
      Switches(Toggles), between the two states, If the toggleable is disabled, enable it If the + toggleable is enabled, disable it
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        Toggleable

        +
        public Toggleable()
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        enableAction

        +
        public abstract void enableAction()
        +
        Method to be called when the toggleable is enabled
        +
        • +
      + + + +
        +
      • +

        disableAction

        +
        public abstract void disableAction()
        +
        Method to be called when the toggleable is disabled
        +
        • +
      + + + +
        +
      • +

        enable

        +
        public void enable()
        +
        Enables the toggleable
        +
        • +
      + + + +
        +
      • +

        disable

        +
        public void disable()
        +
        Disables the toggleable
        +
        • +
      + + + +
        +
      • +

        toggle

        +
        public void toggle()
        +
        Switches(Toggles), between the two states, If the toggleable is disabled, enable it If the + toggleable is enabled, disable it
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html new file mode 100644 index 0000000..0bc6c7a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html @@ -0,0 +1,237 @@ + + + + + +TuneablePID + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.utils
+

Class TuneablePID

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.utils.TuneablePID
      • +
    +
    • +
+
+
    +
  • +
    +
    +
    public class TuneablePID
+extends java.lang.Object
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      TuneablePID() 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        TuneablePID

        +
        public TuneablePID()
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html new file mode 100644 index 0000000..afa87c9 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html @@ -0,0 +1,220 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.utils.Input + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Interface
org.montclairrobotics.alloy.utils.Input

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html new file mode 100644 index 0000000..e2b4b77 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html @@ -0,0 +1,205 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.PID + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.utils.PID

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html new file mode 100644 index 0000000..4457077 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html @@ -0,0 +1,185 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.Toggleable + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.utils.Toggleable

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html new file mode 100644 index 0000000..52eef58 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.TuneablePID + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.utils.TuneablePID

+
+
No usage of org.montclairrobotics.alloy.utils.TuneablePID
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html new file mode 100644 index 0000000..cf78a75 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html @@ -0,0 +1,26 @@ + + + + + +org.montclairrobotics.alloy.utils + + + + + +

org.montclairrobotics.alloy.utils

+
+

Interfaces

+ +

Classes

+ +
+ + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html new file mode 100644 index 0000000..efcd9ab --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html @@ -0,0 +1,171 @@ + + + + + +org.montclairrobotics.alloy.utils + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Package org.montclairrobotics.alloy.utils

+
+
+
    +
  • + + + + + + + + + + + + +
    Interface Summary 
    InterfaceDescription
    Input<T> +
    Created by MHS Robotics on 2/2/2018.
    +
    +
    • +
  • + + + + + + + + + + + + + + + + + + + + +
    Class Summary 
    ClassDescription
    PID +
    Created by Montclair robotics on 2/27/2018
    +
    Toggleable +
    Created by MHS Robotics on 2/11/2018.
    +
    TuneablePID 
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html new file mode 100644 index 0000000..1cfc4ee --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html @@ -0,0 +1,143 @@ + + + + + +org.montclairrobotics.alloy.utils Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Hierarchy For Package org.montclairrobotics.alloy.utils

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object +
      +
    • org.montclairrobotics.alloy.utils.PID (implements org.montclairrobotics.alloy.utils.Input<T>)
      • +
    • org.montclairrobotics.alloy.utils.Toggleable
      • +
    • org.montclairrobotics.alloy.utils.TuneablePID
      • +
    +
    • +
+

Interface Hierarchy

+
    +
  • org.montclairrobotics.alloy.utils.Input<T>
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html new file mode 100644 index 0000000..fd5f27a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html @@ -0,0 +1,232 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.utils + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Package
org.montclairrobotics.alloy.utils

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html new file mode 100644 index 0000000..c744c04 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html @@ -0,0 +1,476 @@ + + + + + +Angle + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + +
+
org.montclairrobotics.alloy.vector
+

Class Angle

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.vector.Angle
      • +
    +
    • +
+
+
    +
  • +
    +
    +
    public class Angle
+extends java.lang.Object
    +
    Created by MHS Robotics on 11/13/2017. + +

    The angle class allows for easy management of angles as well as easy conversion between degree + and radian angle measure The class keeps track of the angle in degrees but can easily be + converted to radians

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Field Summary

      + + + + + + + + + + +
      Fields 
      Modifier and TypeField and Description
      AngleZERO 
      +
      • +
    + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + + + + +
      Constructors 
      Constructor and Description
      Angle(org.montclairrobotics.alloy.vector.Angle.AngleMeasure angleMeasure, + double angle) +
      Creating a new angle with an angle measure unit and the measure of the angle itself
      +
      Angle(double degrees) +
      Creating an angle with degrees
      +
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      doublecos() +
      get the cosine of the angle
      +
      doublegetDegrees() +
      Get the angle measure in degrees
      +
      doublegetRadians() +
      Get the angle measure in radians
      +
      voidsetDegrees(double degrees) +
      set the angle in degrees
      +
      voidsetRadians(double radians) +
      set the angle in radians
      +
      doublesin() +
      get the sine of the angle
      +
      doubletan() +
      get the tangent of the angle
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Field Detail

      + + + +
        +
      • +

        ZERO

        +
        public final Angle ZERO
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        Angle

        +
        public Angle(org.montclairrobotics.alloy.vector.Angle.AngleMeasure angleMeasure,
+             double angle)
        +
        Creating a new angle with an angle measure unit and the measure of the angle itself
        +
        +
        Parameters:
        +
        angleMeasure - What unit to be used for the angle measure
        +
        angle - The angle
        +
        +
        • +
      + + + +
        +
      • +

        Angle

        +
        public Angle(double degrees)
        +
        Creating an angle with degrees
        +
        +
        Parameters:
        +
        degrees - Degree angle measure
        +
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        getDegrees

        +
        public double getDegrees()
        +
        Get the angle measure in degrees
        +
        +
        Returns:
        +
        the degree angle measure
        +
        +
        • +
      + + + +
        +
      • +

        getRadians

        +
        public double getRadians()
        +
        Get the angle measure in radians
        +
        +
        Returns:
        +
        the radian angle measure
        +
        +
        • +
      + + + +
        +
      • +

        setDegrees

        +
        public void setDegrees(double degrees)
        +
        set the angle in degrees
        +
        +
        Parameters:
        +
        degrees - the degree angle measure
        +
        +
        • +
      + + + +
        +
      • +

        setRadians

        +
        public void setRadians(double radians)
        +
        set the angle in radians
        +
        +
        Parameters:
        +
        radians - the degree angle measure
        +
        +
        • +
      + + + +
        +
      • +

        sin

        +
        public double sin()
        +
        get the sine of the angle
        +
        +
        Returns:
        +
        the sine of the angle
        +
        +
        • +
      + + + +
        +
      • +

        cos

        +
        public double cos()
        +
        get the cosine of the angle
        +
        +
        Returns:
        +
        the cosine of the angle
        +
        +
        • +
      + + + +
        +
      • +

        tan

        +
        public double tan()
        +
        get the tangent of the angle
        +
        +
        Returns:
        +
        the tangent of the angle
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+ + +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html new file mode 100644 index 0000000..4cd55a8 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html @@ -0,0 +1,729 @@ + + + + + +Polar + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.vector
+

Class Polar

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.vector.Polar
      • +
    +
    • +
+
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    Vector
    +
    +
    +
    +
    public class Polar
+extends java.lang.Object
+implements Vector
    +
    Created by MHS Robotics on 11/14/2017. + +

    A vector can be defined in rectangular(XY), or polar form.
    + This class is implementation for vectors in Polar form
    + It controls the conversions from rectangular to polar and vice versa + +

    https://en.wikipedia.org/wiki/Vector_notation

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    See Also:
    +
    Vector
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + +
      Constructors 
      Constructor and Description
      Polar(double magnitude, + Angle angle) 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      Vectoradd(Vector vector) +
      Adds two vectors together and returns the result
      +
      AngleangleBetween(Vector vector) +
      gets the angle between two vectors
      +
      Vectorcopy() +
      Creates a copy of the vector
      +
      doublecross(Vector vector) +
      Returns the product of two vectors that have been crossed
      +
      doubledot(Vector vector) +
      Returns the dot product of two vectors
      +
      AnglegetAngle() +
      Gets the angle in standard position that the vector makes
      +
      doublegetManitude() +
      Gets the magnitude of the vector
      +
      doublegetX() +
      Gets the X component of the vector
      +
      doublegetY() +
      Gets the Y component of the vector
      +
      Vectornormalize() +
      Normalizes a vector and returns the result
      +
      Vectorrotate(Angle angle) +
      returns a vector rotated by a given angle
      +
      Vectorscale(double scalar) +
      Scales the vectors magnitude by a scalar value
      +
      voidsetAngle(Angle angle) +
      Sets the angle in standard position of the vector
      +
      voidsetMagnitude(double magnitude) +
      Sets the magnitude of the vector
      +
      voidsetX(double x) +
      Sets the x component of the vector
      +
      voidsetY(double y) +
      Sets the y component of the vector
      +
      Vectorsubtract(Vector vector) +
      Subtracts a vector and returns the result
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        Polar

        +
        public Polar(double magnitude,
+             Angle angle)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        getX

        +
        public double getX()
        +
        Gets the X component of the vector
        +
        +
        Specified by:
        +
        getX in interface Vector
        +
        Returns:
        +
        the X component of the vector
        +
        +
        • +
      + + + +
        +
      • +

        setX

        +
        public void setX(double x)
        +
        Sets the x component of the vector
        +
        +
        Specified by:
        +
        setX in interface Vector
        +
        Parameters:
        +
        x - what the x value will be set to
        +
        +
        • +
      + + + +
        +
      • +

        getY

        +
        public double getY()
        +
        Gets the Y component of the vector
        +
        +
        Specified by:
        +
        getY in interface Vector
        +
        Returns:
        +
        the Y component of the vector
        +
        +
        • +
      + + + +
        +
      • +

        setY

        +
        public void setY(double y)
        +
        Sets the y component of the vector
        +
        +
        Specified by:
        +
        setY in interface Vector
        +
        Parameters:
        +
        y - what the y value will be set to
        +
        +
        • +
      + + + +
        +
      • +

        getManitude

        +
        public double getManitude()
        +
        Gets the magnitude of the vector
        +
        +
        Specified by:
        +
        getManitude in interface Vector
        +
        Returns:
        +
        the magnitude of the vector
        +
        +
        • +
      + + + +
        +
      • +

        setMagnitude

        +
        public void setMagnitude(double magnitude)
        +
        Sets the magnitude of the vector
        +
        +
        Specified by:
        +
        setMagnitude in interface Vector
        +
        Parameters:
        +
        magnitude - what the magnitude will be set to
        +
        +
        • +
      + + + +
        +
      • +

        getAngle

        +
        public Angle getAngle()
        +
        Gets the angle in standard position that the vector makes
        +
        +
        Specified by:
        +
        getAngle in interface Vector
        +
        Returns:
        +
        the angle in standard position that the vector makes
        +
        +
        • +
      + + + +
        +
      • +

        setAngle

        +
        public void setAngle(Angle angle)
        +
        Sets the angle in standard position of the vector
        +
        +
        Specified by:
        +
        setAngle in interface Vector
        +
        Parameters:
        +
        angle - what the angle will be set to
        +
        +
        • +
      + + + +
        +
      • +

        add

        +
        public Vector add(Vector vector)
        +
        Adds two vectors together and returns the result + +

        + +

        The result of a vector addition will be another vector, One way of adding two vectors + together is splitting it up into it's x and y components and adding them together and making + a new vector out of those components
        + EX:
        + V1 = 3i + 4j
        + V2 = 7i + 5j
        +
        + V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
        + Geometric Visualization:
        + Vectors can also be added in a geometric way through the "Tip-To-Tail" method, In this method + both the vectors are drawn using arrow vector notation + https://en.wikipedia.org/wiki/Vector_notation one vector is then drawn at the + edge of the first vector. The resultant vector is then drawn from the start of the first + vector to the tip of the second vector This is where the name tip to tail comes from + +

        +
        +
        Specified by:
        +
        add in interface Vector
        +
        Parameters:
        +
        vector - The vector to be added
        +
        Returns:
        +
        The result of the two vectors being added
        +
        +
        • +
      + + + +
        +
      • +

        subtract

        +
        public Vector subtract(Vector vector)
        +
        Subtracts a vector and returns the result + +

        + +

        vector subtraction is similar to vector addition but the direction of the vector being + subtracted is simply reversed
        + EX:
        + V1 = 3i + 4j
        + V2 = 7i + 5j
        +
        + V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
        + V1 - V2 = 3i + (-7i) + 4j + (-5j) = -4i + -j

        +
        +
        Specified by:
        +
        subtract in interface Vector
        +
        Parameters:
        +
        vector - The vector to be subtracted
        +
        Returns:
        +
        The result of the passed in vector being subtracted from the vector object
        +
        +
        • +
      + + + +
        +
      • +

        scale

        +
        public Vector scale(double scalar)
        +
        Scales the vectors magnitude by a scalar value
        +
        +
        Specified by:
        +
        scale in interface Vector
        +
        Parameters:
        +
        scalar - double to scale the vector by
        +
        Returns:
        +
        The result of the vector being
        +
        +
        • +
      + + + +
        +
      • +

        cross

        +
        public double cross(Vector vector)
        +
        Returns the product of two vectors that have been crossed + +

        + +

        The result of the cross product is a vector, The cross product of a vector is the vector + that is perpendicular to both vectors When crossing two 2dimensional vectors the result will + be a 3dimensional vector Because of this this method only returns the magnitude (Z component) + of the cross product The magnitude of the cross product is same as the area of the + parallelogram that the two vectors make in the X/Y plane.
        + https://en.wikipedia.org/wiki/Cross_product

        +
        +
        Specified by:
        +
        cross in interface Vector
        +
        Parameters:
        +
        vector - the vector to be multiplied using the cross product
        +
        Returns:
        +
        the magnitude of the cross product of the two vectors
        +
        +
        • +
      + + + +
        +
      • +

        dot

        +
        public double dot(Vector vector)
        +
        Returns the dot product of two vectors + +

        + +

        The result of the dot product is a scalar value (number), The dot product can be viewed as + the projection of one vector on to another times the magnitude of the original vector
        + This can be written mathematically as |A||B|cos(theta), where theta is the angle between A + and B Another mathematical representation of the dot product using its components is:
        + A = <a1, a2>
        + B = <b1, b2>
        + A . B = a1*b1 + a2*b2
        + https://en.wikipedia.org/wiki/Dot_product

        +
        +
        Specified by:
        +
        dot in interface Vector
        +
        Parameters:
        +
        vector - The vector to be multiplied using the dot product
        +
        Returns:
        +
        the scalar result of the dot of the two vectors
        +
        +
        • +
      + + + +
        +
      • +

        rotate

        +
        public Vector rotate(Angle angle)
        +
        returns a vector rotated by a given angle
        +
        +
        Specified by:
        +
        rotate in interface Vector
        +
        Parameters:
        +
        angle - the angle that the vector is to be rotated by
        +
        Returns:
        +
        the result of the rotated vector
        +
        +
        • +
      + + + +
        +
      • +

        angleBetween

        +
        public Angle angleBetween(Vector vector)
        +
        gets the angle between two vectors
        +
        +
        Specified by:
        +
        angleBetween in interface Vector
        +
        Parameters:
        +
        vector - the vector that will be used to find the angle between
        +
        Returns:
        +
        the angle between the vectors
        +
        +
        • +
      + + + +
        +
      • +

        normalize

        +
        public Vector normalize()
        +
        Normalizes a vector and returns the result + +

        + +

        A normalized vector is a vector with magnitude 1. Normalized vectors are also called unit + vectors. A normalized vector keeps it's direction as well as the same proportions of its + components. When a vector is defined by its components it can be normalized it can be + expressed as
        + A = <a1, a2>
        + A' = <a1/|A|, a2/|A|>

        +
        +
        Specified by:
        +
        normalize in interface Vector
        +
        Returns:
        +
        the normalized vector
        +
        +
        • +
      + + + +
        +
      • +

        copy

        +
        public Vector copy()
        +
        Creates a copy of the vector
        +
        +
        Specified by:
        +
        copy in interface Vector
        +
        Returns:
        +
        a copy of the vector
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html new file mode 100644 index 0000000..491799d --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html @@ -0,0 +1,641 @@ + + + + + +Vector + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + +
+
org.montclairrobotics.alloy.vector
+

Interface Vector

+
+
+
+
    +
  • +
    +
    All Known Implementing Classes:
    +
    Polar, XY
    +
    +
    +
    +
    public interface Vector
    +
    Created by MHS Robotics on 11/14/2017.
    +
    + Interface for creating vector classes, implemented in vector.XY and vector.Polar
    +
    + Since a 2D vector can be made up of an angle and a Magnitude or it's vector components (XY) The + vector interface contains all functionality that a vector should have and it is then implemented + in each vector subclass
    +
    + NOTE: No mathematical operations are performed on the vector but return a new vector that is the + result of the operation
    +
    + To read more about vectors see here https://en.wikipedia.org/wiki/Euclidean_vector +
    + To read more about dot products see here https://en.wikipedia.org/wiki/Dot_product +
    + To read more about cross products see here + https://en.wikipedia.org/wiki/Cross_product
    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    See Also:
    +
    Polar, +XY
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Abstract Methods 
      Modifier and TypeMethod and Description
      Vectoradd(Vector vector) +
      Adds two vectors together and returns the result
      +
      AngleangleBetween(Vector vector) +
      gets the angle between two vectors
      +
      Vectorcopy() +
      Creates a copy of the vector
      +
      doublecross(Vector vector) +
      Returns the product of two vectors that have been crossed
      +
      doubledot(Vector vector) +
      Returns the dot product of two vectors
      +
      AnglegetAngle() +
      Gets the angle in standard position that the vector makes
      +
      doublegetManitude() +
      Gets the magnitude of the vector
      +
      doublegetX() +
      Gets the X component of the vector
      +
      doublegetY() +
      Gets the Y component of the vector
      +
      Vectornormalize() +
      Normalizes a vector and returns the result
      +
      Vectorrotate(Angle angle) +
      returns a vector rotated by a given angle
      +
      Vectorscale(double scalar) +
      Scales the vectors magnitude by a scalar value
      +
      voidsetAngle(Angle angle) +
      Sets the angle in standard position of the vector
      +
      voidsetMagnitude(double magnitude) +
      Sets the magnitude of the vector
      +
      voidsetX(double x) +
      Sets the x component of the vector
      +
      voidsetY(double y) +
      Sets the y component of the vector
      +
      Vectorsubtract(Vector vector) +
      Subtracts a vector and returns the result
      +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        getX

        +
        double getX()
        +
        Gets the X component of the vector
        +
        +
        Returns:
        +
        the X component of the vector
        +
        +
        • +
      + + + +
        +
      • +

        setX

        +
        void setX(double x)
        +
        Sets the x component of the vector
        +
        +
        Parameters:
        +
        x - what the x value will be set to
        +
        +
        • +
      + + + +
        +
      • +

        getY

        +
        double getY()
        +
        Gets the Y component of the vector
        +
        +
        Returns:
        +
        the Y component of the vector
        +
        +
        • +
      + + + +
        +
      • +

        setY

        +
        void setY(double y)
        +
        Sets the y component of the vector
        +
        +
        Parameters:
        +
        y - what the y value will be set to
        +
        +
        • +
      + + + +
        +
      • +

        getManitude

        +
        double getManitude()
        +
        Gets the magnitude of the vector
        +
        +
        Returns:
        +
        the magnitude of the vector
        +
        +
        • +
      + + + +
        +
      • +

        setMagnitude

        +
        void setMagnitude(double magnitude)
        +
        Sets the magnitude of the vector
        +
        +
        Parameters:
        +
        magnitude - what the magnitude will be set to
        +
        +
        • +
      + + + +
        +
      • +

        getAngle

        +
        Angle getAngle()
        +
        Gets the angle in standard position that the vector makes
        +
        +
        Returns:
        +
        the angle in standard position that the vector makes
        +
        +
        • +
      + + + +
        +
      • +

        setAngle

        +
        void setAngle(Angle angle)
        +
        Sets the angle in standard position of the vector
        +
        +
        Parameters:
        +
        angle - what the angle will be set to
        +
        +
        • +
      + + + +
        +
      • +

        add

        +
        Vector add(Vector vector)
        +
        Adds two vectors together and returns the result + +

        The result of a vector addition will be another vector, One way of adding two vectors + together is splitting it up into it's x and y components and adding them together and making + a new vector out of those components
        + EX:
        + V1 = 3i + 4j
        + V2 = 7i + 5j
        +
        + V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
        + Geometric Visualization:
        + Vectors can also be added in a geometric way through the "Tip-To-Tail" method, In this method + both the vectors are drawn using arrow vector notation + https://en.wikipedia.org/wiki/Vector_notation one vector is then drawn at the + edge of the first vector. The resultant vector is then drawn from the start of the first + vector to the tip of the second vector This is where the name tip to tail comes from

        +
        +
        Parameters:
        +
        vector - The vector to be added
        +
        Returns:
        +
        The result of the two vectors being added
        +
        +
        • +
      + + + +
        +
      • +

        subtract

        +
        Vector subtract(Vector vector)
        +
        Subtracts a vector and returns the result + +

        vector subtraction is similar to vector addition but the direction of the vector being + subtracted is simply reversed
        + EX:
        + V1 = 3i + 4j
        + V2 = 7i + 5j
        +
        + V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
        + V1 - V2 = 3i + (-7i) + 4j + (-5j) = -4i + -j

        +
        +
        Parameters:
        +
        vector - The vector to be subtracted
        +
        Returns:
        +
        The result of the passed in vector being subtracted from the vector object
        +
        +
        • +
      + + + +
        +
      • +

        scale

        +
        Vector scale(double scalar)
        +
        Scales the vectors magnitude by a scalar value
        +
        +
        Parameters:
        +
        scalar - double to scale the vector by
        +
        Returns:
        +
        The result of the vector being
        +
        +
        • +
      + + + +
        +
      • +

        cross

        +
        double cross(Vector vector)
        +
        Returns the product of two vectors that have been crossed + +

        The result of the cross product is a vector, The cross product of a vector is the vector + that is perpendicular to both vectors When crossing two 2dimensional vectors the result will + be a 3dimensional vector Because of this this method only returns the magnitude (Z component) + of the cross product The magnitude of the cross product is same as the area of the + parallelogram that the two vectors make in the X/Y plane.
        + https://en.wikipedia.org/wiki/Cross_product

        +
        +
        Parameters:
        +
        vector - the vector to be multiplied using the cross product
        +
        Returns:
        +
        the magnitude of the cross product of the two vectors
        +
        +
        • +
      + + + +
        +
      • +

        dot

        +
        double dot(Vector vector)
        +
        Returns the dot product of two vectors + +

        The result of the dot product is a scalar value (number), The dot product can be viewed as + the projection of one vector on to another times the magnitude of the original vector
        + This can be written mathematically as |A||B|cos(theta), where theta is the angle between A + and B Another mathematical representation of the dot product using its components is:
        + A = <a1, a2>
        + B = <b1, b2>
        + A . B = <a1*b1, a2*b2>
        + https://en.wikipedia.org/wiki/Dot_product

        +
        +
        Parameters:
        +
        vector - The vector to be multiplied using the dot product
        +
        Returns:
        +
        the scalar result of the dot of the two vectors
        +
        +
        • +
      + + + +
        +
      • +

        rotate

        +
        Vector rotate(Angle angle)
        +
        returns a vector rotated by a given angle
        +
        +
        Parameters:
        +
        angle - the angle that the vector is to be rotated by
        +
        Returns:
        +
        the result of the rotated vector
        +
        +
        • +
      + + + +
        +
      • +

        angleBetween

        +
        Angle angleBetween(Vector vector)
        +
        gets the angle between two vectors
        +
        +
        Parameters:
        +
        vector - the vector that will be used to find the angle between
        +
        Returns:
        +
        the angle between the vectors
        +
        +
        • +
      + + + +
        +
      • +

        normalize

        +
        Vector normalize()
        +
        Normalizes a vector and returns the result + +

        A normalized vector is a vector with magnitude 1. Normalized vectors are also called unit + vectors. A normalized vector keeps it's direction as well as the same proportions of its + components. When a vector is defined by its components it can be normalized it can be + expressed as
        + A = <a1, a2>
        + A' = <a1/|A|, a2/|A|>

        +
        +
        Returns:
        +
        the normalized vector
        +
        +
        • +
      + + + +
        +
      • +

        copy

        +
        Vector copy()
        +
        Creates a copy of the vector
        +
        +
        Returns:
        +
        a copy of the vector
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
    +
  • Detail: 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html new file mode 100644 index 0000000..444da0b --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html @@ -0,0 +1,741 @@ + + + + + +XY + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + +
+
org.montclairrobotics.alloy.vector
+

Class XY

+
+
+
    +
  • java.lang.Object
    • +
  • +
      +
    • org.montclairrobotics.alloy.vector.XY
      • +
    +
    • +
+
+
    +
  • +
    +
    All Implemented Interfaces:
    +
    Vector
    +
    +
    +
    +
    public class XY
+extends java.lang.Object
+implements Vector
    +
    Created by MHS Robotics on 11/14/2017. + +

    A vector can be defined in rectangular(XY), or polar form.
    + This class is implementation for vectors in XY form
    + It controls the conversions from rectangular to polar and vice versa + +

    https://en.wikipedia.org/wiki/Vector_notation

    +
    +
    Since:
    +
    0.1
    +
    Version:
    +
    0.1
    +
    Author:
    +
    Garrett Burroughs
    +
    See Also:
    +
    Vector
    +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Summary

      + + + + + + + + + + + +
      Constructors 
      Constructor and Description
      XY(double x, + double y) 
      XY(XY vector) 
      +
      • +
    + +
      +
    • + + +

      Method Summary

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      Vectoradd(Vector vector) +
      Adds two vectors together and returns the result
      +
      AngleangleBetween(Vector vector) +
      gets the angle between two vectors
      +
      Vectorcopy() +
      Creates a copy of the vector
      +
      doublecross(Vector vector) +
      Returns the product of two vectors that have been crossed
      +
      doubledot(Vector vector) +
      Returns the dot product of two vectors
      +
      AnglegetAngle() +
      Gets the angle in standard position that the vector makes
      +
      doublegetManitude() +
      Gets the magnitude of the vector
      +
      doublegetX() +
      Gets the X component of the vector
      +
      doublegetY() +
      Gets the Y component of the vector
      +
      Vectornormalize() +
      Normalizes a vector and returns the result
      +
      Vectorrotate(Angle angle) +
      returns a vector rotated by a given angle
      +
      Vectorscale(double scalar) +
      Scales the vectors magnitude by a scalar value
      +
      voidsetAngle(Angle angle) +
      Sets the angle in standard position of the vector
      +
      voidsetMagnitude(double magnitude) +
      Sets the magnitude of the vector
      +
      voidsetX(double x) +
      Sets the x component of the vector
      +
      voidsetY(double y) +
      Sets the y component of the vector
      +
      Vectorsubtract(Vector vector) +
      Subtracts a vector and returns the result
      +
      +
        +
      • + + +

        Methods inherited from class java.lang.Object

        +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        • +
      +
      • +
    +
    • +
+
+
+
    +
  • + +
      +
    • + + +

      Constructor Detail

      + + + +
        +
      • +

        XY

        +
        public XY(double x,
+          double y)
        +
        • +
      + + + +
        +
      • +

        XY

        +
        public XY(XY vector)
        +
        • +
      +
      • +
    + +
      +
    • + + +

      Method Detail

      + + + +
        +
      • +

        getX

        +
        public double getX()
        +
        Gets the X component of the vector
        +
        +
        Specified by:
        +
        getX in interface Vector
        +
        Returns:
        +
        the X component of the vector
        +
        +
        • +
      + + + +
        +
      • +

        setX

        +
        public void setX(double x)
        +
        Sets the x component of the vector
        +
        +
        Specified by:
        +
        setX in interface Vector
        +
        Parameters:
        +
        x - what the x value will be set to
        +
        +
        • +
      + + + +
        +
      • +

        getY

        +
        public double getY()
        +
        Gets the Y component of the vector
        +
        +
        Specified by:
        +
        getY in interface Vector
        +
        Returns:
        +
        the Y component of the vector
        +
        +
        • +
      + + + +
        +
      • +

        setY

        +
        public void setY(double y)
        +
        Sets the y component of the vector
        +
        +
        Specified by:
        +
        setY in interface Vector
        +
        Parameters:
        +
        y - what the y value will be set to
        +
        +
        • +
      + + + +
        +
      • +

        getManitude

        +
        public double getManitude()
        +
        Gets the magnitude of the vector
        +
        +
        Specified by:
        +
        getManitude in interface Vector
        +
        Returns:
        +
        the magnitude of the vector
        +
        +
        • +
      + + + +
        +
      • +

        setMagnitude

        +
        public void setMagnitude(double magnitude)
        +
        Sets the magnitude of the vector
        +
        +
        Specified by:
        +
        setMagnitude in interface Vector
        +
        Parameters:
        +
        magnitude - what the magnitude will be set to
        +
        +
        • +
      + + + +
        +
      • +

        getAngle

        +
        public Angle getAngle()
        +
        Gets the angle in standard position that the vector makes
        +
        +
        Specified by:
        +
        getAngle in interface Vector
        +
        Returns:
        +
        the angle in standard position that the vector makes
        +
        +
        • +
      + + + +
        +
      • +

        setAngle

        +
        public void setAngle(Angle angle)
        +
        Sets the angle in standard position of the vector
        +
        +
        Specified by:
        +
        setAngle in interface Vector
        +
        Parameters:
        +
        angle - what the angle will be set to
        +
        +
        • +
      + + + +
        +
      • +

        add

        +
        public Vector add(Vector vector)
        +
        Adds two vectors together and returns the result + +

        + +

        The result of a vector addition will be another vector, One way of adding two vectors + together is splitting it up into it's x and y components and adding them together and making + a new vector out of those components
        + EX:
        + V1 = 3i + 4j
        + V2 = 7i + 5j
        +
        + V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
        + Geometric Visualization:
        + Vectors can also be added in a geometric way through the "Tip-To-Tail" method, In this method + both the vectors are drawn using arrow vector notation + https://en.wikipedia.org/wiki/Vector_notation one vector is then drawn at the + edge of the first vector. The resultant vector is then drawn from the start of the first + vector to the tip of the second vector This is where the name tip to tail comes from + +

        +
        +
        Specified by:
        +
        add in interface Vector
        +
        Parameters:
        +
        vector - The vector to be added
        +
        Returns:
        +
        The result of the two vectors being added
        +
        +
        • +
      + + + +
        +
      • +

        subtract

        +
        public Vector subtract(Vector vector)
        +
        Subtracts a vector and returns the result + +

        + +

        vector subtraction is similar to vector addition but the direction of the vector being + subtracted is simply reversed
        + EX:
        + V1 = 3i + 4j
        + V2 = 7i + 5j
        +
        + V1 + V2 = 3i + 7i + 4j + 5j = 10i + 9j
        + V1 - V2 = 3i + (-7i) + 4j + (-5j) = -4i + -j

        +
        +
        Specified by:
        +
        subtract in interface Vector
        +
        Parameters:
        +
        vector - The vector to be subtracted
        +
        Returns:
        +
        The result of the passed in vector being subtracted from the vector object
        +
        +
        • +
      + + + +
        +
      • +

        scale

        +
        public Vector scale(double scalar)
        +
        Scales the vectors magnitude by a scalar value
        +
        +
        Specified by:
        +
        scale in interface Vector
        +
        Parameters:
        +
        scalar - double to scale the vector by
        +
        Returns:
        +
        The result of the vector being
        +
        +
        • +
      + + + +
        +
      • +

        cross

        +
        public double cross(Vector vector)
        +
        Returns the product of two vectors that have been crossed + +

        + +

        The result of the cross product is a vector, The cross product of a vector is the vector + that is perpendicular to both vectors When crossing two 2dimensional vectors the result will + be a 3dimensional vector Because of this this method only returns the magnitude (Z component) + of the cross product The magnitude of the cross product is same as the area of the + parallelogram that the two vectors make in the X/Y plane.
        + https://en.wikipedia.org/wiki/Cross_product

        +
        +
        Specified by:
        +
        cross in interface Vector
        +
        Parameters:
        +
        vector - the vector to be multiplied using the cross product
        +
        Returns:
        +
        the magnitude of the cross product of the two vectors
        +
        +
        • +
      + + + +
        +
      • +

        dot

        +
        public double dot(Vector vector)
        +
        Returns the dot product of two vectors + +

        + +

        The result of the dot product is a scalar value (number), The dot product can be viewed as + the projection of one vector on to another times the magnitude of the original vector
        + This can be written mathematically as |A||B|cos(theta), where theta is the angle between A + and B Another mathematical representation of the dot product using its components is:
        + A = <a1, a2>
        + B = <b1, b2>
        + A . B = <a1*b1, a2*b2>
        + https://en.wikipedia.org/wiki/Dot_product

        +
        +
        Specified by:
        +
        dot in interface Vector
        +
        Parameters:
        +
        vector - The vector to be multiplied using the dot product
        +
        Returns:
        +
        the scalar result of the dot of the two vectors
        +
        +
        • +
      + + + +
        +
      • +

        rotate

        +
        public Vector rotate(Angle angle)
        +
        returns a vector rotated by a given angle
        +
        +
        Specified by:
        +
        rotate in interface Vector
        +
        Parameters:
        +
        angle - the angle that the vector is to be rotated by
        +
        Returns:
        +
        the result of the rotated vector
        +
        +
        • +
      + + + +
        +
      • +

        angleBetween

        +
        public Angle angleBetween(Vector vector)
        +
        gets the angle between two vectors
        +
        +
        Specified by:
        +
        angleBetween in interface Vector
        +
        Parameters:
        +
        vector - the vector that will be used to find the angle between
        +
        Returns:
        +
        the angle between the vectors
        +
        +
        • +
      + + + +
        +
      • +

        normalize

        +
        public Vector normalize()
        +
        Normalizes a vector and returns the result + +

        + +

        A normalized vector is a vector with magnitude 1. Normalized vectors are also called unit + vectors. A normalized vector keeps it's direction as well as the same proportions of its + components. When a vector is defined by its components it can be normalized it can be + expressed as
        + A = <a1, a2>
        + A' = <a1/|A|, a2/|A|>

        +
        +
        Specified by:
        +
        normalize in interface Vector
        +
        Returns:
        +
        the normalized vector
        +
        +
        • +
      + + + +
        +
      • +

        copy

        +
        public Vector copy()
        +
        Creates a copy of the vector
        +
        +
        Specified by:
        +
        copy in interface Vector
        +
        Returns:
        +
        a copy of the vector
        +
        +
        • +
      +
      • +
    +
    • +
+
+
+ + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+
+
    +
  • Summary: 
    • +
  • Nested | 
    • +
  • Field | 
    • +
  • Constr | 
    • +
  • Method
    • +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html new file mode 100644 index 0000000..f0a4cae --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html @@ -0,0 +1,266 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.vector.Angle + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.vector.Angle

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html new file mode 100644 index 0000000..d2423fb --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.vector.Polar + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.vector.Polar

+
+
No usage of org.montclairrobotics.alloy.vector.Polar
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html new file mode 100644 index 0000000..1792fa7 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html @@ -0,0 +1,434 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.vector.Vector + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Interface
org.montclairrobotics.alloy.vector.Vector

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html new file mode 100644 index 0000000..c5fcdfb --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html @@ -0,0 +1,162 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.vector.XY + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Class
org.montclairrobotics.alloy.vector.XY

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html new file mode 100644 index 0000000..b589994 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html @@ -0,0 +1,26 @@ + + + + + +org.montclairrobotics.alloy.vector + + + + + +

org.montclairrobotics.alloy.vector

+
+

Interfaces

+ +

Classes

+ +
+ + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html new file mode 100644 index 0000000..d82bafb --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html @@ -0,0 +1,173 @@ + + + + + +org.montclairrobotics.alloy.vector + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Package org.montclairrobotics.alloy.vector

+
+
+
    +
  • + + + + + + + + + + + + +
    Interface Summary 
    InterfaceDescription
    Vector +
    Created by MHS Robotics on 11/14/2017.
    +
    +
    • +
  • + + + + + + + + + + + + + + + + + + + + +
    Class Summary 
    ClassDescription
    Angle +
    Created by MHS Robotics on 11/13/2017.
    +
    Polar +
    Created by MHS Robotics on 11/14/2017.
    +
    XY +
    Created by MHS Robotics on 11/14/2017.
    +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html new file mode 100644 index 0000000..7788a4d --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html @@ -0,0 +1,143 @@ + + + + + +org.montclairrobotics.alloy.vector Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
+

Hierarchy For Package org.montclairrobotics.alloy.vector

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object +
      +
    • org.montclairrobotics.alloy.vector.Angle
      • +
    • org.montclairrobotics.alloy.vector.Polar (implements org.montclairrobotics.alloy.vector.Vector)
      • +
    • org.montclairrobotics.alloy.vector.XY (implements org.montclairrobotics.alloy.vector.Vector)
      • +
    +
    • +
+

Interface Hierarchy

+
    +
  • org.montclairrobotics.alloy.vector.Vector
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html new file mode 100644 index 0000000..3aeca28 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html @@ -0,0 +1,211 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.vector + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Uses of Package
org.montclairrobotics.alloy.vector

+
+
+ +
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/overview-frame.html b/docs/javadoc/overview-frame.html new file mode 100644 index 0000000..ebe53c5 --- /dev/null +++ b/docs/javadoc/overview-frame.html @@ -0,0 +1,29 @@ + + + + + +Overview List + + + + + +
All Classes
+
+

Packages

+ +
+

 

+ + diff --git a/docs/javadoc/overview-summary.html b/docs/javadoc/overview-summary.html new file mode 100644 index 0000000..ffd53a1 --- /dev/null +++ b/docs/javadoc/overview-summary.html @@ -0,0 +1,167 @@ + + + + + +Overview + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Packages 
PackageDescription
org.montclairrobotics.alloy.auto 
org.montclairrobotics.alloy.control 
org.montclairrobotics.alloy.core 
org.montclairrobotics.alloy.drive 
org.montclairrobotics.alloy.ftc 
org.montclairrobotics.alloy.test 
org.montclairrobotics.alloy.update 
org.montclairrobotics.alloy.utils 
org.montclairrobotics.alloy.vector 
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/overview-tree.html b/docs/javadoc/overview-tree.html new file mode 100644 index 0000000..14cb54b --- /dev/null +++ b/docs/javadoc/overview-tree.html @@ -0,0 +1,217 @@ + + + + + +Class Hierarchy + + + + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ +
+

Hierarchy For All Packages

+Package Hierarchies: + +
+
+

Class Hierarchy

+
    +
  • java.lang.Object +
      +
    • org.montclairrobotics.alloy.vector.Angle
      • +
    • org.montclairrobotics.alloy.control.ButtonAction + +
      • +
    • org.montclairrobotics.alloy.drive.DriveTrain
      • +
    • org.montclairrobotics.alloy.ftc.FTCButton (implements org.montclairrobotics.alloy.core.Button)
      • +
    • org.montclairrobotics.alloy.ftc.FTCDebug (implements org.montclairrobotics.alloy.core.Debug)
      • +
    • org.montclairrobotics.alloy.ftc.FTCJoystick (implements org.montclairrobotics.alloy.core.Joystick)
      • +
    • org.montclairrobotics.alloy.ftc.FTCMotor (implements org.montclairrobotics.alloy.core.Motor) + +
      • +
    • com.qualcomm.robotcore.eventloop.opmode.OpMode + +
      • +
    • org.montclairrobotics.alloy.utils.PID (implements org.montclairrobotics.alloy.utils.Input<T>)
      • +
    • org.montclairrobotics.alloy.vector.Polar (implements org.montclairrobotics.alloy.vector.Vector)
      • +
    • org.montclairrobotics.alloy.core.RobotCore
      • +
    • org.montclairrobotics.alloy.auto.State + +
      • +
    • org.montclairrobotics.alloy.utils.Toggleable +
        +
      • org.montclairrobotics.alloy.test.Shooter
        • +
      +
      • +
    • org.montclairrobotics.alloy.utils.TuneablePID
      • +
    • org.montclairrobotics.alloy.update.Updatable
      • +
    • org.montclairrobotics.alloy.update.Updater
      • +
    • org.montclairrobotics.alloy.vector.XY (implements org.montclairrobotics.alloy.vector.Vector)
      • +
    +
    • +
+

Interface Hierarchy

+
    +
  • org.montclairrobotics.alloy.core.Button
    • +
  • org.montclairrobotics.alloy.core.Debug
    • +
  • org.montclairrobotics.alloy.drive.DTMapper
    • +
  • org.montclairrobotics.alloy.utils.Input<T>
    • +
  • org.montclairrobotics.alloy.core.Joystick
    • +
  • org.montclairrobotics.alloy.core.Motor + +
    • +
  • org.montclairrobotics.alloy.vector.Vector
    • +
+

Annotation Type Hierarchy

+
    +
  • org.montclairrobotics.alloy.update.Update (implements java.lang.annotation.Annotation)
    • +
+

Enum Hierarchy

+
    +
  • java.lang.Object +
      +
    • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable) + +
      • +
    +
    • +
+
+ +
+ + +
Skip navigation links
+ + + + +
+
+
    +
  • Prev
    • +
  • Next
    • +
+ + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/package-list b/docs/javadoc/package-list new file mode 100644 index 0000000..4fe674f --- /dev/null +++ b/docs/javadoc/package-list @@ -0,0 +1,9 @@ +org.montclairrobotics.alloy.auto +org.montclairrobotics.alloy.control +org.montclairrobotics.alloy.core +org.montclairrobotics.alloy.drive +org.montclairrobotics.alloy.ftc +org.montclairrobotics.alloy.test +org.montclairrobotics.alloy.update +org.montclairrobotics.alloy.utils +org.montclairrobotics.alloy.vector diff --git a/docs/javadoc/script.js b/docs/javadoc/script.js new file mode 100644 index 0000000..b346356 --- /dev/null +++ b/docs/javadoc/script.js @@ -0,0 +1,30 @@ +function show(type) +{ + count = 0; + for (var key in methods) { + var row = document.getElementById(key); + if ((methods[key] & type) != 0) { + row.style.display = ''; + row.className = (count++ % 2) ? rowColor : altColor; + } + else + row.style.display = 'none'; + } + updateTabs(type); +} + +function updateTabs(type) +{ + for (var value in tabs) { + var sNode = document.getElementById(tabs[value][0]); + var spanNode = sNode.firstChild; + if (value == type) { + sNode.className = activeTableTab; + spanNode.innerHTML = tabs[value][1]; + } + else { + sNode.className = tableTab; + spanNode.innerHTML = "" + tabs[value][1] + ""; + } + } +} diff --git a/docs/javadoc/stylesheet.css b/docs/javadoc/stylesheet.css new file mode 100644 index 0000000..98055b2 --- /dev/null +++ b/docs/javadoc/stylesheet.css @@ -0,0 +1,574 @@ +/* Javadoc style sheet */ +/* +Overall document style +*/ + +@import url('resources/fonts/dejavu.css'); + +body { + background-color:#ffffff; + color:#353833; + font-family:'DejaVu Sans', Arial, Helvetica, sans-serif; + font-size:14px; + margin:0; +} +a:link, a:visited { + text-decoration:none; + color:#4A6782; +} +a:hover, a:focus { + text-decoration:none; + color:#bb7a2a; +} +a:active { + text-decoration:none; + color:#4A6782; +} +a[name] { + color:#353833; +} +a[name]:hover { + text-decoration:none; + color:#353833; +} +pre { + font-family:'DejaVu Sans Mono', monospace; + font-size:14px; +} +h1 { + font-size:20px; +} +h2 { + font-size:18px; +} +h3 { + font-size:16px; + font-style:italic; +} +h4 { + font-size:13px; +} +h5 { + font-size:12px; +} +h6 { + font-size:11px; +} +ul { + list-style-type:disc; +} +code, tt { + font-family:'DejaVu Sans Mono', monospace; + font-size:14px; + padding-top:4px; + margin-top:8px; + line-height:1.4em; +} +dt code { + font-family:'DejaVu Sans Mono', monospace; + font-size:14px; + padding-top:4px; +} +table tr td dt code { + font-family:'DejaVu Sans Mono', monospace; + font-size:14px; + vertical-align:top; + padding-top:4px; +} +sup { + font-size:8px; +} +/* +Document title and Copyright styles +*/ +.clear { + clear:both; + height:0px; + overflow:hidden; +} +.aboutLanguage { + float:right; + padding:0px 21px; + font-size:11px; + z-index:200; + margin-top:-9px; +} +.legalCopy { + margin-left:.5em; +} +.bar a, .bar a:link, .bar a:visited, .bar a:active { + color:#FFFFFF; + text-decoration:none; +} +.bar a:hover, .bar a:focus { + color:#bb7a2a; +} +.tab { + background-color:#0066FF; + color:#ffffff; + padding:8px; + width:5em; + font-weight:bold; +} +/* +Navigation bar styles +*/ +.bar { + background-color:#4D7A97; + color:#FFFFFF; + padding:.8em .5em .4em .8em; + height:auto;/*height:1.8em;*/ + font-size:11px; + margin:0; +} +.topNav { + background-color:#4D7A97; + color:#FFFFFF; + float:left; + padding:0; + width:100%; + clear:right; + height:2.8em; + padding-top:10px; + overflow:hidden; + font-size:12px; +} +.bottomNav { + margin-top:10px; + background-color:#4D7A97; + color:#FFFFFF; + float:left; + padding:0; + width:100%; + clear:right; + height:2.8em; + padding-top:10px; + overflow:hidden; + font-size:12px; +} +.subNav { + background-color:#dee3e9; + float:left; + width:100%; + overflow:hidden; + font-size:12px; +} +.subNav div { + clear:left; + float:left; + padding:0 0 5px 6px; + text-transform:uppercase; +} +ul.navList, ul.subNavList { + float:left; + margin:0 25px 0 0; + padding:0; +} +ul.navList li{ + list-style:none; + float:left; + padding: 5px 6px; + text-transform:uppercase; +} +ul.subNavList li{ + list-style:none; + float:left; +} +.topNav a:link, .topNav a:active, .topNav a:visited, .bottomNav a:link, .bottomNav a:active, .bottomNav a:visited { + color:#FFFFFF; + text-decoration:none; + text-transform:uppercase; +} +.topNav a:hover, .bottomNav a:hover { + text-decoration:none; + color:#bb7a2a; + text-transform:uppercase; +} +.navBarCell1Rev { + background-color:#F8981D; + color:#253441; + margin: auto 5px; +} +.skipNav { + position:absolute; + top:auto; + left:-9999px; + overflow:hidden; +} +/* +Page header and footer styles +*/ +.header, .footer { + clear:both; + margin:0 20px; + padding:5px 0 0 0; +} +.indexHeader { + margin:10px; + position:relative; +} +.indexHeader span{ + margin-right:15px; +} +.indexHeader h1 { + font-size:13px; +} +.title { + color:#2c4557; + margin:10px 0; +} +.subTitle { + margin:5px 0 0 0; +} +.header ul { + margin:0 0 15px 0; + padding:0; +} +.footer ul { + margin:20px 0 5px 0; +} +.header ul li, .footer ul li { + list-style:none; + font-size:13px; +} +/* +Heading styles +*/ +div.details ul.blockList ul.blockList ul.blockList li.blockList h4, div.details ul.blockList ul.blockList ul.blockListLast li.blockList h4 { + background-color:#dee3e9; + border:1px solid #d0d9e0; + margin:0 0 6px -8px; + padding:7px 5px; +} +ul.blockList ul.blockList ul.blockList li.blockList h3 { + background-color:#dee3e9; + border:1px solid #d0d9e0; + margin:0 0 6px -8px; + padding:7px 5px; +} +ul.blockList ul.blockList li.blockList h3 { + padding:0; + margin:15px 0; +} +ul.blockList li.blockList h2 { + padding:0px 0 20px 0; +} +/* +Page layout container styles +*/ +.contentContainer, .sourceContainer, .classUseContainer, .serializedFormContainer, .constantValuesContainer { + clear:both; + padding:10px 20px; + position:relative; +} +.indexContainer { + margin:10px; + position:relative; + font-size:12px; +} +.indexContainer h2 { + font-size:13px; + padding:0 0 3px 0; +} +.indexContainer ul { + margin:0; + padding:0; +} +.indexContainer ul li { + list-style:none; + padding-top:2px; +} +.contentContainer .description dl dt, .contentContainer .details dl dt, .serializedFormContainer dl dt { + font-size:12px; + font-weight:bold; + margin:10px 0 0 0; + color:#4E4E4E; +} +.contentContainer .description dl dd, .contentContainer .details dl dd, .serializedFormContainer dl dd { + margin:5px 0 10px 0px; + font-size:14px; + font-family:'DejaVu Sans Mono',monospace; +} +.serializedFormContainer dl.nameValue dt { + margin-left:1px; + font-size:1.1em; + display:inline; + font-weight:bold; +} +.serializedFormContainer dl.nameValue dd { + margin:0 0 0 1px; + font-size:1.1em; + display:inline; +} +/* +List styles +*/ +ul.horizontal li { + display:inline; + font-size:0.9em; +} +ul.inheritance { + margin:0; + padding:0; +} +ul.inheritance li { + display:inline; + list-style:none; +} +ul.inheritance li ul.inheritance { + margin-left:15px; + padding-left:15px; + padding-top:1px; +} +ul.blockList, ul.blockListLast { + margin:10px 0 10px 0; + padding:0; +} +ul.blockList li.blockList, ul.blockListLast li.blockList { + list-style:none; + margin-bottom:15px; + line-height:1.4; +} +ul.blockList ul.blockList li.blockList, ul.blockList ul.blockListLast li.blockList { + padding:0px 20px 5px 10px; + border:1px solid #ededed; + background-color:#f8f8f8; +} +ul.blockList ul.blockList ul.blockList li.blockList, ul.blockList ul.blockList ul.blockListLast li.blockList { + padding:0 0 5px 8px; + background-color:#ffffff; + border:none; +} +ul.blockList ul.blockList ul.blockList ul.blockList li.blockList { + margin-left:0; + padding-left:0; + padding-bottom:15px; + border:none; +} +ul.blockList ul.blockList ul.blockList ul.blockList li.blockListLast { + list-style:none; + border-bottom:none; + padding-bottom:0; +} +table tr td dl, table tr td dl dt, table tr td dl dd { + margin-top:0; + margin-bottom:1px; +} +/* +Table styles +*/ +.overviewSummary, .memberSummary, .typeSummary, .useSummary, .constantsSummary, .deprecatedSummary { + width:100%; + border-left:1px solid #EEE; + border-right:1px solid #EEE; + border-bottom:1px solid #EEE; +} +.overviewSummary, .memberSummary { + padding:0px; +} +.overviewSummary caption, .memberSummary caption, .typeSummary caption, +.useSummary caption, .constantsSummary caption, .deprecatedSummary caption { + position:relative; + text-align:left; + background-repeat:no-repeat; + color:#253441; + font-weight:bold; + clear:none; + overflow:hidden; + padding:0px; + padding-top:10px; + padding-left:1px; + margin:0px; + white-space:pre; +} +.overviewSummary caption a:link, .memberSummary caption a:link, .typeSummary caption a:link, +.useSummary caption a:link, .constantsSummary caption a:link, .deprecatedSummary caption a:link, +.overviewSummary caption a:hover, .memberSummary caption a:hover, .typeSummary caption a:hover, +.useSummary caption a:hover, .constantsSummary caption a:hover, .deprecatedSummary caption a:hover, +.overviewSummary caption a:active, .memberSummary caption a:active, .typeSummary caption a:active, +.useSummary caption a:active, .constantsSummary caption a:active, .deprecatedSummary caption a:active, +.overviewSummary caption a:visited, .memberSummary caption a:visited, .typeSummary caption a:visited, +.useSummary caption a:visited, .constantsSummary caption a:visited, .deprecatedSummary caption a:visited { + color:#FFFFFF; +} +.overviewSummary caption span, .memberSummary caption span, .typeSummary caption span, +.useSummary caption span, .constantsSummary caption span, .deprecatedSummary caption span { + white-space:nowrap; + padding-top:5px; + padding-left:12px; + padding-right:12px; + padding-bottom:7px; + display:inline-block; + float:left; + background-color:#F8981D; + border: none; + height:16px; +} +.memberSummary caption span.activeTableTab span { + white-space:nowrap; + padding-top:5px; + padding-left:12px; + padding-right:12px; + margin-right:3px; + display:inline-block; + float:left; + background-color:#F8981D; + height:16px; +} +.memberSummary caption span.tableTab span { + white-space:nowrap; + padding-top:5px; + padding-left:12px; + padding-right:12px; + margin-right:3px; + display:inline-block; + float:left; + background-color:#4D7A97; + height:16px; +} +.memberSummary caption span.tableTab, .memberSummary caption span.activeTableTab { + padding-top:0px; + padding-left:0px; + padding-right:0px; + background-image:none; + float:none; + display:inline; +} +.overviewSummary .tabEnd, .memberSummary .tabEnd, .typeSummary .tabEnd, +.useSummary .tabEnd, .constantsSummary .tabEnd, .deprecatedSummary .tabEnd { + display:none; + width:5px; + position:relative; + float:left; + background-color:#F8981D; +} +.memberSummary .activeTableTab .tabEnd { + display:none; + width:5px; + margin-right:3px; + position:relative; + float:left; + background-color:#F8981D; +} +.memberSummary .tableTab .tabEnd { + display:none; + width:5px; + margin-right:3px; + position:relative; + background-color:#4D7A97; + float:left; + +} +.overviewSummary td, .memberSummary td, .typeSummary td, +.useSummary td, .constantsSummary td, .deprecatedSummary td { + text-align:left; + padding:0px 0px 12px 10px; +} +th.colOne, th.colFirst, th.colLast, .useSummary th, .constantsSummary th, +td.colOne, td.colFirst, td.colLast, .useSummary td, .constantsSummary td{ + vertical-align:top; + padding-right:0px; + padding-top:8px; + padding-bottom:3px; +} +th.colFirst, th.colLast, th.colOne, .constantsSummary th { + background:#dee3e9; + text-align:left; + padding:8px 3px 3px 7px; +} +td.colFirst, th.colFirst { + white-space:nowrap; + font-size:13px; +} +td.colLast, th.colLast { + font-size:13px; +} +td.colOne, th.colOne { + font-size:13px; +} +.overviewSummary td.colFirst, .overviewSummary th.colFirst, +.useSummary td.colFirst, .useSummary th.colFirst, +.overviewSummary td.colOne, .overviewSummary th.colOne, +.memberSummary td.colFirst, .memberSummary th.colFirst, +.memberSummary td.colOne, .memberSummary th.colOne, +.typeSummary td.colFirst{ + width:25%; + vertical-align:top; +} +td.colOne a:link, td.colOne a:active, td.colOne a:visited, td.colOne a:hover, td.colFirst a:link, td.colFirst a:active, td.colFirst a:visited, td.colFirst a:hover, td.colLast a:link, td.colLast a:active, td.colLast a:visited, td.colLast a:hover, .constantValuesContainer td a:link, .constantValuesContainer td a:active, .constantValuesContainer td a:visited, .constantValuesContainer td a:hover { + font-weight:bold; +} +.tableSubHeadingColor { + background-color:#EEEEFF; +} +.altColor { + background-color:#FFFFFF; +} +.rowColor { + background-color:#EEEEEF; +} +/* +Content styles +*/ +.description pre { + margin-top:0; +} +.deprecatedContent { + margin:0; + padding:10px 0; +} +.docSummary { + padding:0; +} + +ul.blockList ul.blockList ul.blockList li.blockList h3 { + font-style:normal; +} + +div.block { + font-size:14px; + font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif; +} + +td.colLast div { + padding-top:0px; +} + + +td.colLast a { + padding-bottom:3px; +} +/* +Formatting effect styles +*/ +.sourceLineNo { + color:green; + padding:0 30px 0 0; +} +h1.hidden { + visibility:hidden; + overflow:hidden; + font-size:10px; +} +.block { + display:block; + margin:3px 10px 2px 0px; + color:#474747; +} +.deprecatedLabel, .descfrmTypeLabel, .memberNameLabel, .memberNameLink, +.overrideSpecifyLabel, .packageHierarchyLabel, .paramLabel, .returnLabel, +.seeLabel, .simpleTagLabel, .throwsLabel, .typeNameLabel, .typeNameLink { + font-weight:bold; +} +.deprecationComment, .emphasizedPhrase, .interfaceName { + font-style:italic; +} + +div.block div.block span.deprecationComment, div.block div.block span.emphasizedPhrase, +div.block div.block span.interfaceName { + font-style:normal; +} + +div.contentContainer ul.blockList li.blockList h2{ + padding-bottom:0px; +} diff --git a/docs/readme.md b/docs/readme.md new file mode 100644 index 0000000..2b1f5d9 --- /dev/null +++ b/docs/readme.md @@ -0,0 +1,21 @@ +# Alloy + +version: 0.0.1 + + +See the full documentation [Here]() + + +## What is alloy + +## Getting started + +## Essentials + + +## Wiki + +The Wiki contains a large amount of information, examples, +tutorials and explanations about creating a robot with alloy. It +is highly suggested reading it to get the most out of alloy as possible +[Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) \ No newline at end of file From ffa498d648e114785a566de7dd185366c7c25275 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Mon, 6 Aug 2018 17:08:00 -0400 Subject: [PATCH 19/54] Set theme jekyll-theme-merlot --- docs/_config.yml | 1 + 1 file changed, 1 insertion(+) create mode 100644 docs/_config.yml diff --git a/docs/_config.yml b/docs/_config.yml new file mode 100644 index 0000000..c50ff38 --- /dev/null +++ b/docs/_config.yml @@ -0,0 +1 @@ +theme: jekyll-theme-merlot \ No newline at end of file From 94958181de17e14dcb6b88c6cc7cdb16d9c73b5b Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Mon, 6 Aug 2018 17:11:39 -0400 Subject: [PATCH 20/54] Update readme.md --- docs/readme.md | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/docs/readme.md b/docs/readme.md index 2b1f5d9..c989d62 100644 --- a/docs/readme.md +++ b/docs/readme.md @@ -1,9 +1,7 @@ -# Alloy - version: 0.0.1 -See the full documentation [Here]() +See the full documentation [Here](https://garrettburroughs.github.io/Alloy/javadoc/) ## What is alloy @@ -18,4 +16,4 @@ See the full documentation [Here]() The Wiki contains a large amount of information, examples, tutorials and explanations about creating a robot with alloy. It is highly suggested reading it to get the most out of alloy as possible -[Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) \ No newline at end of file +[Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) From 5cd0843094b392b215e838513ea7a1261f7873e9 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Mon, 6 Aug 2018 17:14:28 -0400 Subject: [PATCH 21/54] Update readme.md --- docs/readme.md | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/docs/readme.md b/docs/readme.md index c989d62..b9a0ee9 100644 --- a/docs/readme.md +++ b/docs/readme.md @@ -6,8 +6,26 @@ See the full documentation [Here](https://garrettburroughs.github.io/Alloy/javad ## What is alloy +Alloy is a robot framework that redesigns how robot functionality is coded, allowing for more complex systems, while also abstracting +more advanced functionality allowing for easier implementation. + +The goal of Alloy is to provide a robot framework that allows anyone, including new programmers, to be able to implement +high functioning and quality code for their robots. In other terms, Alloy aims to prevent robot code from being a limiting +factor on the performance of the robot. + + +Alloy is a robot framework designed specifically for the First Tech Challenge (FTC), but is also designed +with expandibility in mind. FRC implementation is possible and will be coming in the future. + +Alloy is based off the FRC robot framework [Sprocket](https://github.com/MontclairRobotics/Sprocket), but redesigned to abstract away the more complex ideas but still allow for advanced robot functionality. + +Any information regarding Alloy, including how it works, project structure, as well as in-depth explanation on how to use all of the components +can be found in the project [Wiki](https://github.com/GarrettBurroughs/Alloy/wiki) as well as a [quick start guide](https://github.com/GarrettBurroughs/Alloy/wiki/Getting-Started). + ## Getting started + + ## Essentials From 6963abd71cb5f1ed2efa5046b1a4b8e2e7511944 Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Tue, 7 Aug 2018 16:49:34 -0400 Subject: [PATCH 22/54] fixed bugs --- .../alloy/components/Component.java | 12 +++++++----- .../alloy/utils/TuneablePID.java | 17 +++++++++++++---- .../montclairrobotics/alloy/vector/Vector.java | 2 +- 3 files changed, 21 insertions(+), 10 deletions(-) diff --git a/src/main/java/org/montclairrobotics/alloy/components/Component.java b/src/main/java/org/montclairrobotics/alloy/components/Component.java index 4e7b571..fac39f3 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/Component.java +++ b/src/main/java/org/montclairrobotics/alloy/components/Component.java @@ -50,11 +50,15 @@ of this software and associated documentation files (the "Software"), to deal * addint the @Update annotation @Author Garrett Burroughs @Version 0.1 @Since 0.1 */ public abstract class Component extends Toggleable { - + /** The object used for debugging information about all components */ public static Debugger debugger; - private boolean debugMode = true; // - // All components are added to the component arraylist so they can be updated + /** Will debug out information if true */ + private boolean debugMode = true; + /** The debugs that will be printed for this component out each loop */ + private ArrayList debugs; + + /** */ public static ArrayList components; public Component() { @@ -65,8 +69,6 @@ public static ArrayList getComponents() { return components; } - private ArrayList debugs; - public void addDebug(Debug debug) { debugs.add(debug); } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java b/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java index d709d9c..6a119cd 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/TuneablePID.java @@ -33,7 +33,7 @@ of this software and associated documentation files (the "Software"), to deal * values at runtime This could be done easily in FRC using smartdashboard or in FTC by using * buttons or joysticks to change values */ -public class TuneablePID extends InputComponent implements ErrorCorrection { +public class TuneablePID extends InputComponent implements ErrorCorrection { /** * Set the input of the error correction the input should be the source of what correction is @@ -42,7 +42,9 @@ public class TuneablePID extends InputComponent implements ErrorCorrecti * @param input the input to the error correction */ @Override - public void setInput(Input input) {} + public TuneablePID setInput(Input input) { + return this; + } /** * Set the target for the correction When the input is equal to the target the error is 0 @@ -50,7 +52,9 @@ public void setInput(Input input) {} * @param target the goal of the error correction */ @Override - public void setTarget(Object target) {} + public TuneablePID setTarget(Double target) { + return this; + } /** * Get the value to apply the correction @@ -58,7 +62,12 @@ public void setTarget(Object target) {} * @return the correction */ @Override - public Object getCorrection() { + public Double getCorrection() { return null; } + + @Override + public ErrorCorrection copy() { + return new TuneablePID(); + } } diff --git a/src/main/java/org/montclairrobotics/alloy/vector/Vector.java b/src/main/java/org/montclairrobotics/alloy/vector/Vector.java index f6cbdd6..de00a6a 100644 --- a/src/main/java/org/montclairrobotics/alloy/vector/Vector.java +++ b/src/main/java/org/montclairrobotics/alloy/vector/Vector.java @@ -48,7 +48,7 @@ of this software and associated documentation files (the "Software"), to deal * @version 0.1 * @since 0.1 */ -public interface Vector extends Comparable { +public interface Vector { Vector ZERO = new XY(0, 0); From 32ae6e432563d68aca5f87245fdaaacaab1b1fc3 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Fri, 17 Aug 2018 14:45:16 -0400 Subject: [PATCH 23/54] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 2cee1fa..b5d2416 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# Alloy  [![Build Status](https://travis-ci.org/GarrettBurroughs/Alloy.svg?branch=master)](https://travis-ci.org/GarrettBurroughs/Alloy) [![CodeFactor](https://www.codefactor.io/repository/github/garrettburroughs/alloy/badge)](https://www.codefactor.io/repository/github/garrettburroughs/alloy) +# Alloy  [![Build Status](https://travis-ci.org/GarrettBurroughs/Alloy.svg?branch=master)](https://travis-ci.org/GarrettBurroughs/Alloy) [![CodeFactor](https://www.codefactor.io/repository/github/garrettburroughs/alloy/badge)](https://www.codefactor.io/repository/github/garrettburroughs/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) ![AlloyLogo](http://gdurl.com/AFl8) From 1836a5c76b31f89c8e18e4055d8582d391a5fb78 Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Fri, 17 Aug 2018 18:13:18 -0400 Subject: [PATCH 24/54] added docs, and improved code quality for codacity's standards --- .idea/compiler.xml | 9 + .idea/modules.xml | 10 + .idea/modules/Alloy.iml | 13 + .idea/modules/Alloy_main.iml | 21 + .idea/modules/Alloy_test.iml | 22 + build.gradle | 2 + docs/javadoc/allclasses-frame.html | 37 +- docs/javadoc/allclasses-noframe.html | 37 +- docs/javadoc/constant-values.html | 4 +- docs/javadoc/deprecated-list.html | 4 +- docs/javadoc/help-doc.html | 4 +- docs/javadoc/index-files/index-1.html | 20 +- docs/javadoc/index-files/index-10.html | 8 +- docs/javadoc/index-files/index-11.html | 24 +- docs/javadoc/index-files/index-12.html | 34 +- docs/javadoc/index-files/index-13.html | 91 ++- docs/javadoc/index-files/index-14.html | 48 +- docs/javadoc/index-files/index-15.html | 64 +- docs/javadoc/index-files/index-16.html | 61 +- docs/javadoc/index-files/index-17.html | 167 +--- docs/javadoc/index-files/index-18.html | 232 +++++- docs/javadoc/index-files/index-19.html | 73 +- docs/javadoc/index-files/index-2.html | 20 +- docs/javadoc/index-files/index-20.html | 52 +- docs/javadoc/index-files/index-21.html | 51 +- docs/javadoc/index-files/index-22.html | 42 +- docs/javadoc/index-files/index-23.html | 26 +- docs/javadoc/index-files/index-24.html | 131 ++++ docs/javadoc/index-files/index-3.html | 44 +- docs/javadoc/index-files/index-4.html | 80 +- docs/javadoc/index-files/index-5.html | 36 +- docs/javadoc/index-files/index-6.html | 33 +- docs/javadoc/index-files/index-7.html | 97 ++- docs/javadoc/index-files/index-8.html | 14 +- docs/javadoc/index-files/index-9.html | 36 +- docs/javadoc/index.html | 2 +- .../alloy/auto/AlloyAutonomous.html | 4 +- .../montclairrobotics/alloy/auto/State.html | 4 +- .../alloy/auto/StateMachine.html | 4 +- .../alloy/auto/class-use/AlloyAutonomous.html | 4 +- .../alloy/auto/class-use/State.html | 4 +- .../alloy/auto/class-use/StateMachine.html | 4 +- .../alloy/auto/package-frame.html | 4 +- .../alloy/auto/package-summary.html | 8 +- .../alloy/auto/package-tree.html | 8 +- .../alloy/auto/package-use.html | 4 +- .../alloy/components/Action.html | 260 +++++++ .../alloy/components/Component.html | 487 ++++++++++++ .../alloy/components/InputComponent.html | 438 +++++++++++ .../alloy/components/Step.html | 227 ++++++ .../alloy/components/class-use/Action.html | 124 +++ .../alloy/components/class-use/Component.html | 342 ++++++++ .../components/class-use/InputComponent.html | 329 ++++++++ .../alloy/components/class-use/Step.html | 225 ++++++ .../alloy/components/package-frame.html | 26 + .../alloy/components/package-summary.html | 167 ++++ .../alloy/components/package-tree.html | 150 ++++ .../alloy/components/package-use.html | 304 ++++++++ .../alloy/control/ButtonAction.html | 4 +- .../alloy/control/ToggleButton.html | 4 +- .../alloy/control/class-use/ButtonAction.html | 4 +- .../alloy/control/class-use/ToggleButton.html | 4 +- .../alloy/control/package-frame.html | 4 +- .../alloy/control/package-summary.html | 8 +- .../alloy/control/package-tree.html | 8 +- .../alloy/control/package-use.html | 4 +- .../montclairrobotics/alloy/core/Alloy.html | 40 +- .../montclairrobotics/alloy/core/Button.html | 8 +- .../montclairrobotics/alloy/core/Debug.html | 192 +++-- .../alloy/core/Debugger.html | 308 ++++++++ .../montclairrobotics/alloy/core/Encoder.html | 516 +++++++++++++ .../alloy/core/Joystick.html | 8 +- .../montclairrobotics/alloy/core/Mode.html | 4 +- .../montclairrobotics/alloy/core/Motor.html | 4 +- .../alloy/core/RobotCore.html | 6 +- .../alloy/core/TargetMotor.html | 8 +- .../alloy/core/class-use/Alloy.html | 4 +- .../alloy/core/class-use/Button.html | 4 +- .../alloy/core/class-use/Debug.html | 89 ++- .../alloy/core/class-use/Debugger.html | 190 +++++ .../alloy/core/class-use/Encoder.html | 294 +++++++ .../alloy/core/class-use/Joystick.html | 4 +- .../alloy/core/class-use/Mode.html | 4 +- .../alloy/core/class-use/Motor.html | 88 ++- .../alloy/core/class-use/RobotCore.html | 4 +- .../alloy/core/class-use/TargetMotor.html | 4 +- .../alloy/core/package-frame.html | 8 +- .../alloy/core/package-summary.html | 16 +- .../alloy/core/package-tree.html | 20 +- .../alloy/core/package-use.html | 100 ++- .../alloy/drive/DTInput.html | 286 +++++++ .../alloy/drive/DTMapper.html | 30 +- .../alloy/drive/DriveModule.html | 336 ++++++++ .../alloy/drive/DriveTrain.html | 12 +- .../alloy/drive/class-use/DTInput.html | 165 ++++ .../alloy/drive/class-use/DTMapper.html | 4 +- .../alloy/drive/class-use/DriveModule.html | 124 +++ .../alloy/drive/class-use/DriveTrain.html | 4 +- .../alloy/drive/package-frame.html | 6 +- .../alloy/drive/package-summary.html | 12 +- .../alloy/drive/package-tree.html | 22 +- .../alloy/drive/package-use.html | 39 +- .../alloy/ftc/FTCButton.html | 36 +- .../alloy/ftc/FTCDebugger.html | 367 +++++++++ .../alloy/ftc/FTCJoystick.Side.html | 6 +- .../alloy/ftc/FTCJoystick.html | 135 +++- .../montclairrobotics/alloy/ftc/FTCMotor.html | 192 ++++- .../alloy/ftc/FTCTargetMotor.html | 158 +++- .../alloy/ftc/class-use/FTCButton.html | 4 +- .../alloy/ftc/class-use/FTCDebugger.html | 124 +++ .../alloy/ftc/class-use/FTCJoystick.Side.html | 8 +- .../alloy/ftc/class-use/FTCJoystick.html | 4 +- .../alloy/ftc/class-use/FTCMotor.html | 4 +- .../alloy/ftc/class-use/FTCTargetMotor.html | 4 +- .../alloy/ftc/package-frame.html | 6 +- .../alloy/ftc/package-summary.html | 15 +- .../alloy/ftc/package-tree.html | 24 +- .../alloy/ftc/package-use.html | 9 +- .../alloy/motor/DefaultMapper.html | 285 +++++++ .../montclairrobotics/alloy/motor/Mapper.html | 233 ++++++ .../alloy/motor/MotorGroup.html | 430 +++++++++++ .../alloy/motor/MotorModule.html | 727 ++++++++++++++++++ .../alloy/motor/class-use/DefaultMapper.html | 124 +++ .../alloy/motor/class-use/Mapper.html | 240 ++++++ .../alloy/motor/class-use/MotorGroup.html | 124 +++ .../alloy/motor/class-use/MotorModule.html | 292 +++++++ .../alloy/motor/package-frame.html | 26 + .../alloy/motor/package-summary.html | 171 ++++ .../alloy/motor/package-tree.html | 151 ++++ .../alloy/motor/package-use.html | 210 +++++ .../alloy/motor/steps/Deadzone.html | 292 +++++++ .../alloy/motor/steps/VectorDeadzone.html | 280 +++++++ .../alloy/motor/steps/class-use/Deadzone.html | 124 +++ .../motor/steps/class-use/VectorDeadzone.html | 124 +++ .../alloy/motor/steps/package-frame.html | 21 + .../alloy/motor/steps/package-summary.html | 146 ++++ .../alloy/motor/steps/package-tree.html | 138 ++++ .../alloy/motor/steps/package-use.html | 124 +++ .../montclairrobotics/alloy/test/Control.html | 237 ++++++ .../alloy/test/Hardware.html | 271 +++++++ .../alloy/test/ShooterMapper.html | 282 +++++++ .../alloy/test/TestRobot.html | 19 +- .../alloy/test/class-use/Control.html | 124 +++ .../alloy/test/class-use/Hardware.html | 124 +++ .../alloy/test/class-use/ShooterMapper.html | 124 +++ .../alloy/test/class-use/TestRobot.html | 4 +- .../alloy/test/package-frame.html | 8 +- .../alloy/test/package-summary.html | 18 +- .../alloy/test/package-tree.html | 16 +- .../alloy/test/package-use.html | 4 +- .../alloy/update/Update.html | 12 +- .../alloy/update/Updateable.html | 279 +++++++ .../alloy/update/Updater.html | 17 +- .../alloy/update/class-use/Update.html | 75 +- .../alloy/update/class-use/Updateable.html | 124 +++ .../alloy/update/class-use/Updater.html | 4 +- .../alloy/update/package-frame.html | 6 +- .../alloy/update/package-summary.html | 8 +- .../alloy/update/package-tree.html | 6 +- .../alloy/update/package-use.html | 44 +- .../alloy/utils/BangBang.html | 514 +++++++++++++ .../alloy/utils/BooleanToggle.html | 362 +++++++++ .../alloy/utils/ConstantInput.html | 292 +++++++ .../alloy/utils/Differential.html | 411 ++++++++++ .../alloy/utils/ErrorCorrection.html | 314 ++++++++ .../alloy/utils/Initializeable.html | 271 +++++++ .../montclairrobotics/alloy/utils/Input.html | 14 +- .../alloy/utils/Monitor.html | 367 +++++++++ .../montclairrobotics/alloy/utils/PID.html | 190 ++++- .../alloy/utils/Toggleable.Status.html | 358 +++++++++ .../alloy/utils/Toggleable.html | 80 +- .../alloy/utils/TuneablePID.html | 231 +++++- .../montclairrobotics/alloy/utils/Utils.html | 383 +++++++++ .../alloy/utils/class-use/BangBang.html | 174 +++++ .../alloy/utils/class-use/BooleanToggle.html | 124 +++ .../alloy/utils/class-use/ConstantInput.html | 124 +++ .../alloy/utils/class-use/Differential.html | 124 +++ .../utils/class-use/ErrorCorrection.html | 340 ++++++++ .../alloy/utils/class-use/Initializeable.html | 164 ++++ .../alloy/utils/class-use/Input.html | 260 ++++++- .../alloy/utils/class-use/Monitor.html | 124 +++ .../alloy/utils/class-use/PID.html | 43 +- .../utils/class-use/Toggleable.Status.html | 188 +++++ .../alloy/utils/class-use/Toggleable.html | 176 ++++- .../alloy/utils/class-use/TuneablePID.html | 55 +- .../alloy/utils/class-use/Utils.html | 124 +++ .../alloy/utils/package-frame.html | 16 +- .../alloy/utils/package-summary.html | 63 +- .../alloy/utils/package-tree.html | 41 +- .../alloy/utils/package-use.html | 142 +++- .../montclairrobotics/alloy/vector/Angle.html | 4 +- .../montclairrobotics/alloy/vector/Polar.html | 19 +- .../alloy/vector/Vector.html | 48 +- .../montclairrobotics/alloy/vector/XY.html | 19 +- .../alloy/vector/class-use/Angle.html | 26 +- .../alloy/vector/class-use/Polar.html | 4 +- .../alloy/vector/class-use/Vector.html | 180 ++++- .../alloy/vector/class-use/XY.html | 4 +- .../alloy/vector/package-frame.html | 4 +- .../alloy/vector/package-summary.html | 4 +- .../alloy/vector/package-tree.html | 4 +- .../alloy/vector/package-use.html | 93 ++- docs/javadoc/overview-frame.html | 7 +- docs/javadoc/overview-summary.html | 28 +- docs/javadoc/overview-tree.html | 70 +- docs/javadoc/package-list | 3 + .../alloy/components/Component.java | 7 +- .../alloy/components/InputComponent.java | 1 + .../montclairrobotics/alloy/core/Debug.java | 18 +- .../alloy/core/Debugger.java | 150 +++- .../montclairrobotics/alloy/core/Encoder.java | 15 +- .../alloy/drive/DTInput.java | 5 + .../InvalidConfigurationException.java | 38 + .../alloy/exceptions/UpdateException.java | 34 + .../alloy/ftc/FTCDebugger.java | 42 +- .../montclairrobotics/alloy/ftc/FTCMotor.java | 3 +- .../alloy/ftc/FTCTargetMotor.java | 2 +- .../alloy/motor/MotorModule.java | 2 +- .../alloy/{motor => }/steps/Deadzone.java | 21 +- .../{motor => }/steps/VectorDeadzone.java | 21 +- .../alloy/test/Hardware.java | 5 +- .../alloy/test/TestRobot.java | 2 +- .../alloy/update/Updateable.java | 3 +- .../alloy/utils/BangBang.java | 1 - .../alloy/utils/BooleanToggle.java | 2 +- .../alloy/utils/ConstantInput.java | 7 +- .../alloy/utils/GyroCorrection.java | 12 + .../montclairrobotics/alloy/utils/PID.java | 3 +- .../alloy/utils/Toggleable.java | 4 +- 229 files changed, 20817 insertions(+), 1110 deletions(-) create mode 100644 .idea/compiler.xml create mode 100644 .idea/modules.xml create mode 100644 .idea/modules/Alloy.iml create mode 100644 docs/javadoc/index-files/index-24.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/Action.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/Component.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/Step.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/class-use/Action.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/class-use/Component.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/class-use/InputComponent.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/class-use/Step.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/components/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/Encoder.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTInput.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveModule.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/steps/Deadzone.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/steps/class-use/Deadzone.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/steps/class-use/VectorDeadzone.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/Control.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/Hardware.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/class-use/Control.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/class-use/Hardware.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html create mode 100644 src/main/java/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.java create mode 100644 src/main/java/org/montclairrobotics/alloy/exceptions/UpdateException.java rename src/main/java/org/montclairrobotics/alloy/{motor => }/steps/Deadzone.java (76%) rename src/main/java/org/montclairrobotics/alloy/{motor => }/steps/VectorDeadzone.java (75%) create mode 100644 src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java diff --git a/.idea/compiler.xml b/.idea/compiler.xml new file mode 100644 index 0000000..3446932 --- /dev/null +++ b/.idea/compiler.xml @@ -0,0 +1,9 @@ + + + + + + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 0000000..7f3aa01 --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/.idea/modules/Alloy.iml b/.idea/modules/Alloy.iml new file mode 100644 index 0000000..7a09714 --- /dev/null +++ b/.idea/modules/Alloy.iml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/.idea/modules/Alloy_main.iml b/.idea/modules/Alloy_main.iml index 795b244..b8e8832 100644 --- a/.idea/modules/Alloy_main.iml +++ b/.idea/modules/Alloy_main.iml @@ -1,4 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.idea/modules/Alloy_test.iml b/.idea/modules/Alloy_test.iml index cae3221..29e54d6 100644 --- a/.idea/modules/Alloy_test.iml +++ b/.idea/modules/Alloy_test.iml @@ -1,4 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/build.gradle b/build.gradle index 315f0e2..ba48e48 100644 --- a/build.gradle +++ b/build.gradle @@ -27,7 +27,9 @@ spotless { java { googleJavaFormat('1.1').aosp() + licenseHeaderFile 'SpotlessLicense' + paddedCell() } } diff --git a/docs/javadoc/allclasses-frame.html b/docs/javadoc/allclasses-frame.html index 9719412..a1b238d 100644 --- a/docs/javadoc/allclasses-frame.html +++ b/docs/javadoc/allclasses-frame.html @@ -2,9 +2,9 @@ - + All Classes - + @@ -12,39 +12,64 @@

All Classes

diff --git a/docs/javadoc/allclasses-noframe.html b/docs/javadoc/allclasses-noframe.html index 3dfc0de..44d2da5 100644 --- a/docs/javadoc/allclasses-noframe.html +++ b/docs/javadoc/allclasses-noframe.html @@ -2,9 +2,9 @@ - + All Classes - + @@ -12,39 +12,64 @@

All Classes

diff --git a/docs/javadoc/constant-values.html b/docs/javadoc/constant-values.html index 85e7268..a5d2c10 100644 --- a/docs/javadoc/constant-values.html +++ b/docs/javadoc/constant-values.html @@ -2,9 +2,9 @@ - + Constant Field Values - + diff --git a/docs/javadoc/deprecated-list.html b/docs/javadoc/deprecated-list.html index a64be8f..bfa54ec 100644 --- a/docs/javadoc/deprecated-list.html +++ b/docs/javadoc/deprecated-list.html @@ -2,9 +2,9 @@ - + Deprecated List - + diff --git a/docs/javadoc/help-doc.html b/docs/javadoc/help-doc.html index 8b75052..d3b48fd 100644 --- a/docs/javadoc/help-doc.html +++ b/docs/javadoc/help-doc.html @@ -2,9 +2,9 @@ - + API Help - + diff --git a/docs/javadoc/index-files/index-1.html b/docs/javadoc/index-files/index-1.html index ef83dbf..ad635fb 100644 --- a/docs/javadoc/index-files/index-1.html +++ b/docs/javadoc/index-files/index-1.html @@ -2,9 +2,9 @@ - + A-Index - + @@ -69,11 +69,13 @@ -
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

A

+
Action - Interface in org.montclairrobotics.alloy.components
+
 
add(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
Adds two vectors together and returns the result
@@ -86,8 +88,16 @@

A

Adds two vectors together and returns the result
+
addDebug(Debug) - Method in class org.montclairrobotics.alloy.components.Component
+
 
+
addDebugs(Iterable<? extends Debug>) - Method in class org.montclairrobotics.alloy.components.Component
+
 
addState(State) - Method in class org.montclairrobotics.alloy.auto.StateMachine
 
+
addStep(Step) - Method in class org.montclairrobotics.alloy.components.InputComponent
+
 
+
addStep(Step) - Method in class org.montclairrobotics.alloy.motor.MotorModule
+
 
Alloy - Class in org.montclairrobotics.alloy.core
Created by MHS Robotics on 11/13/2017.
@@ -124,8 +134,10 @@

A

gets the angle between two vectors
+
applySteps() - Method in class org.montclairrobotics.alloy.components.InputComponent
+
 
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index-files/index-10.html b/docs/javadoc/index-files/index-10.html index 0d83334..2324cea 100644 --- a/docs/javadoc/index-files/index-10.html +++ b/docs/javadoc/index-files/index-10.html @@ -2,9 +2,9 @@ - + J-Index - + @@ -69,7 +69,7 @@
-
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

J

@@ -79,7 +79,7 @@

J

Created by MHS Robotics on 11/14/2017.
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index-files/index-11.html b/docs/javadoc/index-files/index-11.html index a7d06d6..5c81367 100644 --- a/docs/javadoc/index-files/index-11.html +++ b/docs/javadoc/index-files/index-11.html @@ -2,9 +2,9 @@ - -L-Index - + +K-Index + @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -69,11 +69,23 @@
-
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

B

+
BangBang - Class in org.montclairrobotics.alloy.utils
+
 
+
BangBang(double, double) - Constructor for class org.montclairrobotics.alloy.utils.BangBang
+
 
+
BangBang(double) - Constructor for class org.montclairrobotics.alloy.utils.BangBang
+
 
+
BooleanToggle - Class in org.montclairrobotics.alloy.utils
+
 
+
BooleanToggle() - Constructor for class org.montclairrobotics.alloy.utils.BooleanToggle
+
 
+
booleanValue() - Method in enum org.montclairrobotics.alloy.utils.Toggleable.Status
+
 
button - Variable in class org.montclairrobotics.alloy.control.ButtonAction
 
Button - Interface in org.montclairrobotics.alloy.core
@@ -87,7 +99,7 @@

B

ButtonAction(Button) - Constructor for class org.montclairrobotics.alloy.control.ButtonAction
 
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index-files/index-20.html b/docs/javadoc/index-files/index-20.html index b66554d..b0634c9 100644 --- a/docs/javadoc/index-files/index-20.html +++ b/docs/javadoc/index-files/index-20.html @@ -2,9 +2,9 @@ - -V-Index - + +U-Index + @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@ + + + + + +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ +
A B C D E F G H I J K L M N O P R S T U V W X Z  + + +

Z

+
+
ZERO - Variable in class org.montclairrobotics.alloy.vector.Angle
+
 
+
ZERO - Static variable in interface org.montclairrobotics.alloy.vector.Vector
+
 
+
+A B C D E F G H I J K L M N O P R S T U V W X Z 
+ +
+ + +
Skip navigation links
+ + + + +
+
+ + + +
+ +
+ + +
+ + + diff --git a/docs/javadoc/index-files/index-3.html b/docs/javadoc/index-files/index-3.html index 2af8faf..3f58b01 100644 --- a/docs/javadoc/index-files/index-3.html +++ b/docs/javadoc/index-files/index-3.html @@ -2,9 +2,9 @@ - + C-Index - + @@ -69,11 +69,47 @@
-
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

C

+
calculateCorrection() - Method in class org.montclairrobotics.alloy.utils.BangBang
+
 
+
calculateDifferential() - Method in class org.montclairrobotics.alloy.utils.Differential
+
 
+
Component - Class in org.montclairrobotics.alloy.components
+
+
The main component class that all components of alloy should extend
+
+
Component() - Constructor for class org.montclairrobotics.alloy.components.Component
+
 
+
components - Static variable in class org.montclairrobotics.alloy.components.Component
+
 
+
ConstantInput<T> - Class in org.montclairrobotics.alloy.utils
+
+
Created by MHS Robotics on 3/30/2018.
+
+
ConstantInput(T) - Constructor for class org.montclairrobotics.alloy.utils.ConstantInput
+
 
+
constrain(double, double, double) - Static method in class org.montclairrobotics.alloy.utils.Utils
+
+
Makes sure that a value is between 2 different values
+
+
Control - Class in org.montclairrobotics.alloy.test
+
 
+
Control() - Constructor for class org.montclairrobotics.alloy.test.Control
+
 
+
controlPower() - Method in class org.montclairrobotics.alloy.motor.MotorGroup
+
 
+
copy() - Method in class org.montclairrobotics.alloy.utils.BangBang
+
 
+
copy() - Method in interface org.montclairrobotics.alloy.utils.ErrorCorrection
+
 
+
copy() - Method in class org.montclairrobotics.alloy.utils.PID
+
 
+
copy() - Method in class org.montclairrobotics.alloy.utils.TuneablePID
+
 
copy() - Method in class org.montclairrobotics.alloy.vector.Polar
Creates a copy of the vector
@@ -103,7 +139,7 @@

C

Returns the product of two vectors that have been crossed
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index-files/index-4.html b/docs/javadoc/index-files/index-4.html index 6ae4e43..09b5721 100644 --- a/docs/javadoc/index-files/index-4.html +++ b/docs/javadoc/index-files/index-4.html @@ -2,9 +2,9 @@ - + D-Index - + @@ -69,26 +69,82 @@
-
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

D

-
Debug - Interface in org.montclairrobotics.alloy.core
+
Deadzone - Class in org.montclairrobotics.alloy.motor.steps
+
 
+
Deadzone(double) - Constructor for class org.montclairrobotics.alloy.motor.steps.Deadzone
+
 
+
Deadzone() - Constructor for class org.montclairrobotics.alloy.motor.steps.Deadzone
+
 
+
debug() - Method in class org.montclairrobotics.alloy.components.Component
+
 
+
Debug - Class in org.montclairrobotics.alloy.core
+
 
+
Debug(String, Input<Object>) - Constructor for class org.montclairrobotics.alloy.core.Debug
+
 
+
Debug(String, Object) - Constructor for class org.montclairrobotics.alloy.core.Debug
+
 
+
debug(Debug) - Method in interface org.montclairrobotics.alloy.core.Debugger
+
+
Debugs out a debug object
+
+
debug(Debug) - Method in class org.montclairrobotics.alloy.ftc.FTCDebugger
+
+
Debugs out a debug object
+
+
debugger - Static variable in class org.montclairrobotics.alloy.components.Component
+
+
The object used for debugging information about all components
+
+
Debugger - Interface in org.montclairrobotics.alloy.core
Created by MHS Robotics on 11/13/2017.
+
DefaultMapper - Class in org.montclairrobotics.alloy.motor
+
+
A simple default mapper
+
+
DefaultMapper() - Constructor for class org.montclairrobotics.alloy.motor.DefaultMapper
+
 
+
Differential - Class in org.montclairrobotics.alloy.utils
+
+
A class to calculate how an input varies with time
+
+
Differential(Input) - Constructor for class org.montclairrobotics.alloy.utils.Differential
+
 
+
direction - Variable in class org.montclairrobotics.alloy.motor.MotorModule
+
+
The direction that the modules run for use in a motor group
+
disable() - Method in class org.montclairrobotics.alloy.utils.Toggleable
Disables the toggleable
-
disableAction() - Method in class org.montclairrobotics.alloy.test.Shooter
+
disableAction() - Method in class org.montclairrobotics.alloy.components.Component
 
+
disableAction() - Method in class org.montclairrobotics.alloy.ftc.FTCMotor
+
 
+
disableAction() - Method in class org.montclairrobotics.alloy.motor.MotorModule
+
+
Method to be called when the toggleable is disabled
+
+
disableAction() - Method in class org.montclairrobotics.alloy.utils.BooleanToggle
+
+
Method to be called when the toggleable is disabled
+
disableAction() - Method in class org.montclairrobotics.alloy.utils.Toggleable
Method to be called when the toggleable is disabled
-
disablePID() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
disabled() - Method in interface org.montclairrobotics.alloy.components.Action
+
 
+
disableDebug() - Method in class org.montclairrobotics.alloy.components.Component
+
 
+
disableErrorCorrection() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
Stop using the custom PID and return to using the default mode
@@ -104,18 +160,28 @@

D

Returns the dot product of two vectors
+
DriveModule - Class in org.montclairrobotics.alloy.drive
+
 
+
DriveModule(Vector, Encoder, ErrorCorrection<Double>, Motor...) - Constructor for class org.montclairrobotics.alloy.drive.DriveModule
+
+
Create a fully functioning motor module
+
DriveTrain - Class in org.montclairrobotics.alloy.drive
Created by MHS Robotics on 12/16/2017.
DriveTrain() - Constructor for class org.montclairrobotics.alloy.drive.DriveTrain
 
+
DTInput - Class in org.montclairrobotics.alloy.drive
+
 
+
DTInput() - Constructor for class org.montclairrobotics.alloy.drive.DTInput
+
 
DTMapper - Interface in org.montclairrobotics.alloy.drive
Created by MHS Robotics on 12/16/2017.
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index-files/index-5.html b/docs/javadoc/index-files/index-5.html index d56f1d0..4eae69e 100644 --- a/docs/javadoc/index-files/index-5.html +++ b/docs/javadoc/index-files/index-5.html @@ -2,9 +2,9 @@ - + E-Index - + @@ -69,7 +69,7 @@
-
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

E

@@ -78,14 +78,40 @@

E

Enables the toggleable
-
enableAction() - Method in class org.montclairrobotics.alloy.test.Shooter
+
enableAction() - Method in class org.montclairrobotics.alloy.components.Component
 
+
enableAction() - Method in class org.montclairrobotics.alloy.utils.BooleanToggle
+
+
Method to be called when the toggleable is enabled
+
enableAction() - Method in class org.montclairrobotics.alloy.utils.Toggleable
Method to be called when the toggleable is enabled
+
enabled() - Method in interface org.montclairrobotics.alloy.components.Action
+
 
+
enableDebug() - Method in class org.montclairrobotics.alloy.components.Component
+
 
+
Encoder - Class in org.montclairrobotics.alloy.core
+
+
A motor encoder that keeps track of kinematic information about the motor
+
+
Encoder(double, double) - Constructor for class org.montclairrobotics.alloy.core.Encoder
+
 
+
Encoder() - Constructor for class org.montclairrobotics.alloy.core.Encoder
+
+
Create a new encoder with default values
+
+
encoder - Variable in class org.montclairrobotics.alloy.motor.MotorModule
+
+
The encoder that keeps track of the position and controls the motors
+
+
ErrorCorrection<T> - Interface in org.montclairrobotics.alloy.utils
+
+
A interface that defines the process of correcting an error
+
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index-files/index-6.html b/docs/javadoc/index-files/index-6.html index b52beef..9cac832 100644 --- a/docs/javadoc/index-files/index-6.html +++ b/docs/javadoc/index-files/index-6.html @@ -2,9 +2,9 @@ - + F-Index - + @@ -69,7 +69,7 @@
-
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

F

@@ -79,23 +79,34 @@

F

Created by MHS Robotics on 11/14/2017.
FTCButton(Input<Boolean>) - Constructor for class org.montclairrobotics.alloy.ftc.FTCButton
-
 
+
+
Creates a new button using a buttonInput
+
FTCButton(Input<Boolean>, boolean) - Constructor for class org.montclairrobotics.alloy.ftc.FTCButton
-
 
-
FTCDebug - Class in org.montclairrobotics.alloy.ftc
+
+
Creates a new button specifying a button input and an invert
+
+
FTCDebugger - Class in org.montclairrobotics.alloy.ftc
Created by MHS Robotics on 11/14/2017.
-
FTCDebug() - Constructor for class org.montclairrobotics.alloy.ftc.FTCDebug
-
 
+
FTCDebugger() - Constructor for class org.montclairrobotics.alloy.ftc.FTCDebugger
+
+
Create a new FTCDebugger, and throw an exception if it has not been initialized
+
FTCJoystick - Class in org.montclairrobotics.alloy.ftc
Created by MHS Robotics on 11/14/2017.
FTCJoystick(Gamepad, FTCJoystick.Side) - Constructor for class org.montclairrobotics.alloy.ftc.FTCJoystick
-
 
+
+
Create a new Joystick using the gamepad and side
+
FTCJoystick.Side - Enum in org.montclairrobotics.alloy.ftc
-
 
+
+
The side in a FTCJoystick is referring to the side of the controller is on, there are 2 + joysticks, one on the right, one on the left
+
FTCMotor - Class in org.montclairrobotics.alloy.ftc
Created by MHS Robotics on 11/14/2017.
@@ -109,7 +120,7 @@

F

FTCTargetMotor(String) - Constructor for class org.montclairrobotics.alloy.ftc.FTCTargetMotor
 
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index-files/index-7.html b/docs/javadoc/index-files/index-7.html index 1869dee..8eb7f2e 100644 --- a/docs/javadoc/index-files/index-7.html +++ b/docs/javadoc/index-files/index-7.html @@ -2,9 +2,9 @@ - + G-Index - + @@ -69,7 +69,7 @@
-
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

G

@@ -82,12 +82,23 @@

G

The second gamepad, generated by pressing start + 'b' on the controller
+
get() - Method in class org.montclairrobotics.alloy.components.InputComponent
+
 
+
get() - Method in class org.montclairrobotics.alloy.utils.BooleanToggle
+
 
+
get() - Method in class org.montclairrobotics.alloy.utils.ConstantInput
+
 
get() - Method in interface org.montclairrobotics.alloy.utils.Input
 
-
get() - Method in class org.montclairrobotics.alloy.utils.PID
+
get() - Method in class org.montclairrobotics.alloy.utils.Monitor
 
getAButton(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
 
+
getAcceleration() - Method in class org.montclairrobotics.alloy.core.Encoder
+
+
Get the acceleration in distance per second The distance is set by the distance per tick + method, it is important to keep distances consistent throughout
+
getAngle() - Method in class org.montclairrobotics.alloy.vector.Polar
Gets the angle in standard position that the vector makes
@@ -102,16 +113,45 @@

G

getBButton(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
 
+
getComponents() - Static method in class org.montclairrobotics.alloy.components.Component
+
 
+
getCorrection() - Method in class org.montclairrobotics.alloy.utils.BangBang
+
+
Get the value to apply the correction
+
+
getCorrection() - Method in interface org.montclairrobotics.alloy.utils.ErrorCorrection
+
+
Get the value to apply the correction
+
+
getCorrection() - Method in class org.montclairrobotics.alloy.utils.PID
+
 
+
getCorrection() - Method in class org.montclairrobotics.alloy.utils.TuneablePID
+
+
Get the value to apply the correction
+
getDegrees() - Method in class org.montclairrobotics.alloy.vector.Angle
Get the angle measure in degrees
+
getDirection() - Method in class org.montclairrobotics.alloy.motor.MotorModule
+
 
getDPADDown(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
 
getDPADLeft(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
 
getDPADUp(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
 
+
getEncoder() - Method in class org.montclairrobotics.alloy.ftc.FTCMotor
+
 
+
getEncoder() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
+
Allows for the creation of an encoder object that is aware of the amount of ticks the motor + has gone
+
+
getEncoder() - Method in class org.montclairrobotics.alloy.motor.MotorModule
+
 
+
getErrorCorrection() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
 
getGamepad1() - Static method in class org.montclairrobotics.alloy.core.RobotCore
Gets the first gamepad
@@ -124,6 +164,8 @@

G

Gets the hardware map of the robot
+
getInput() - Method in class org.montclairrobotics.alloy.utils.Differential
+
 
getInverted() - Method in interface org.montclairrobotics.alloy.core.Motor
Gets weather the motor is inverted
@@ -148,6 +190,8 @@

G

Gets the magnitude of the vector
+
getModifier() - Method in class org.montclairrobotics.alloy.motor.MotorModule
+
 
getMotor() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
 
getMotorPower() - Method in interface org.montclairrobotics.alloy.core.Motor
@@ -158,9 +202,15 @@

G

Gets the motor power
+
getMotors() - Method in class org.montclairrobotics.alloy.motor.MotorModule
+
 
getNextState(int) - Method in class org.montclairrobotics.alloy.auto.State
 
-
getPid() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
+
getOutput(T) - Method in interface org.montclairrobotics.alloy.components.Step
+
 
+
getOutput(Double) - Method in class org.montclairrobotics.alloy.motor.steps.Deadzone
+
 
+
getOutput(Vector) - Method in class org.montclairrobotics.alloy.motor.steps.VectorDeadzone
 
getPosition() - Method in interface org.montclairrobotics.alloy.core.TargetMotor
@@ -170,10 +220,20 @@

G

Gets the motors position
+
getPowerControl() - Method in class org.montclairrobotics.alloy.motor.MotorModule
+
 
getRadians() - Method in class org.montclairrobotics.alloy.vector.Angle
Get the angle measure in radians
+
getRawVelocity() - Method in class org.montclairrobotics.alloy.core.Encoder
+
+
Get the velocity in Ticks per Second
+
+
getReferences() - Method in class org.montclairrobotics.alloy.update.Updateable
+
+
Gets references to all of the object that the update method should be called on
+
getRightBumper(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
 
getRightTrigger(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
@@ -182,6 +242,10 @@

G

NOTE: this is not the same as the DCMotor runmode
+
getScaledVelocity() - Method in class org.montclairrobotics.alloy.core.Encoder
+
+
Get a scaled value (0 - 1) of how fast the motor is going
+
getTargetPower() - Method in interface org.montclairrobotics.alloy.core.TargetMotor
Gets the motor power
@@ -190,11 +254,17 @@

G

Gets the motor power
+
getTargetPower() - Method in class org.montclairrobotics.alloy.motor.MotorModule
+
 
getTelemetry() - Static method in class org.montclairrobotics.alloy.core.RobotCore
Gets the telemetry object of the robot
-
getUpdateRate() - Method in class org.montclairrobotics.alloy.update.Updatable
+
getTicks() - Method in class org.montclairrobotics.alloy.core.Encoder
+
+
A method that should be overridden by the encoder
+
+
getUpdateRate() - Method in class org.montclairrobotics.alloy.update.Updateable
 
getValue() - Method in interface org.montclairrobotics.alloy.core.Button
@@ -205,9 +275,18 @@

G

Gets the position of the joystick
getValue() - Method in class org.montclairrobotics.alloy.ftc.FTCButton
-
 
+
+
Gets the values for a button
+
getValue() - Method in class org.montclairrobotics.alloy.ftc.FTCJoystick
-
 
+
+
Gets the position of the joystick as a vector
+
+
getVelocity() - Method in class org.montclairrobotics.alloy.core.Encoder
+
+
Get the velocity in distance per second The distance is set by the distance per tick method, + it is important to keep distances consistent throughout the project.
+
getX() - Method in class org.montclairrobotics.alloy.vector.Polar
Gets the X component of the vector
@@ -239,7 +318,7 @@

G

getYDPADRight(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
 
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index-files/index-8.html b/docs/javadoc/index-files/index-8.html index 22d2ebe..65310dd 100644 --- a/docs/javadoc/index-files/index-8.html +++ b/docs/javadoc/index-files/index-8.html @@ -2,9 +2,9 @@ - + H-Index - + @@ -69,18 +69,24 @@
-
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

H

+
Hardware - Class in org.montclairrobotics.alloy.test
+
 
+
Hardware() - Constructor for class org.montclairrobotics.alloy.test.Hardware
+
 
hardwareMap - Static variable in class org.montclairrobotics.alloy.core.RobotCore
The hardware map is essential to any robot and is how the ftc core interacts with the hardware devices on the phones
+
highOut - Variable in class org.montclairrobotics.alloy.utils.BangBang
+
 
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index-files/index-9.html b/docs/javadoc/index-files/index-9.html index 92ac158..5f74909 100644 --- a/docs/javadoc/index-files/index-9.html +++ b/docs/javadoc/index-files/index-9.html @@ -2,9 +2,9 @@ - + I-Index - + @@ -69,7 +69,7 @@
-
A B C D E F G H I J L M N O P R S T U V W X Z  +
A B C D E F G H I J K L M N O P R S T U V W X Z 

I

@@ -78,16 +78,44 @@

I

 
init() - Method in class org.montclairrobotics.alloy.core.Alloy
 
+
init() - Static method in class org.montclairrobotics.alloy.test.Hardware
+
 
+
init() - Method in class org.montclairrobotics.alloy.utils.Initializeable
+
 
initialization() - Method in class org.montclairrobotics.alloy.core.Alloy
The initialization method is were everything specific to the OpMode Should be set up.
initialization() - Method in class org.montclairrobotics.alloy.test.TestRobot
 
+
Initializeable - Class in org.montclairrobotics.alloy.utils
+
 
+
Initializeable() - Constructor for class org.montclairrobotics.alloy.utils.Initializeable
+
 
+
initObjects - Static variable in class org.montclairrobotics.alloy.core.Alloy
+
 
+
input - Variable in class org.montclairrobotics.alloy.components.InputComponent
+
 
+
input - Variable in class org.montclairrobotics.alloy.motor.MotorGroup
+
+
The control input for the motor group
+
+
input - Variable in class org.montclairrobotics.alloy.utils.Differential
+
+
The dependant variable in the situation
+
Input<T> - Interface in org.montclairrobotics.alloy.utils
Created by MHS Robotics on 2/2/2018.
+
input - Variable in class org.montclairrobotics.alloy.utils.Monitor
+
+
The input to be checked
+
+
InputComponent<T> - Class in org.montclairrobotics.alloy.components
+
 
+
InputComponent() - Constructor for class org.montclairrobotics.alloy.components.InputComponent
+
 
isDone() - Method in class org.montclairrobotics.alloy.auto.State
IsDone should return true when the state is finished
@@ -95,7 +123,7 @@

I

isDone() - Method in class org.montclairrobotics.alloy.auto.StateMachine
 
-A B C D E F G H I J L M N O P R S T U V W X Z 
+A B C D E F G H I J K L M N O P R S T U V W X Z 
diff --git a/docs/javadoc/index.html b/docs/javadoc/index.html index 02909bb..8d44cdc 100644 --- a/docs/javadoc/index.html +++ b/docs/javadoc/index.html @@ -2,7 +2,7 @@ - + Generated Documentation (Untitled) diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/State.html b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html index 13a8028..f40001b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/State.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html @@ -2,9 +2,9 @@ - + State - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html index c2d926b..0968d06 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html @@ -2,9 +2,9 @@ - + StateMachine - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html index 03b7bf4..456a74c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.auto.AlloyAutonomous - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html index 73834b9..d164a05 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.auto.State - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html index 14222a9..4a21b19 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.auto.StateMachine - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html index 5cb0502..15ccea0 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html index aacbc03..536de25 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto - + @@ -44,7 +44,7 @@
  • Frames
    • @@ -127,7 +127,7 @@

    Package org.montclairrobotics.alloy.auto<
    • Frames
      • diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html index 0749515..e29b505 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto Class Hierarchy - + @@ -44,7 +44,7 @@
      • Frames
        • @@ -117,7 +117,7 @@

        Class Hierarchy

          @@ -120,7 +120,7 @@

          Package org.montclairrobotics.alloy.contr

          diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html index 77391b5..257fd7d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control Class Hierarchy - + @@ -43,7 +43,7 @@
          @@ -111,7 +111,7 @@

          Class Hierarchy

          diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html index d36a84e..19fd1e7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.control - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html index 7347fe6..aa48593 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html @@ -2,9 +2,9 @@ - + Alloy - + @@ -75,13 +75,13 @@ @@ -144,6 +144,17 @@

          Class Alloy

          Field Summary

          + + + + + + + + + + +
          Fields 
          Modifier and TypeField and Description
          static java.util.ArrayList<Initializeable>initObjects 
          • @@ -234,6 +245,23 @@

            Methods inherited from class java.lang.Object

            • + +
              • @@ -372,13 +400,13 @@

                loop

                 diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Button.html b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html index 8866232..e07b93f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Button.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html @@ -2,9 +2,9 @@ - + Button - + @@ -50,7 +50,7 @@
                • Frames
                  • @@ -200,7 +200,7 @@

                  getValue

                  • Frames
                    • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html index b540542..b5ab0ba 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html @@ -2,9 +2,9 @@ - + Debug - + @@ -18,12 +18,6 @@ catch(err) { } //--> -var methods = {"i0":6,"i1":6}; -var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"]}; -var altColor = "altColor"; -var rowColor = "rowColor"; -var tableTab = "tableTab"; -var activeTableTab = "activeTableTab";
                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html index 566465e..880fe00 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html @@ -2,9 +2,9 @@ - + TargetMotor - + @@ -132,7 +132,7 @@

                  Method Summary

                  Method and Description -double +int getPosition()
                  Gets the motors position
                  @@ -225,7 +225,7 @@

                  setPosition

                  • getPosition

                    -
                    double getPosition()
                    +
                    int getPosition()
                    Gets the motors position
                    Returns:
                    diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html index bb50b54..7d8ba1c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Alloy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html index e1484d6..293d97f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.Button - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html index 16de1f5..0fb131c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html @@ -2,9 +2,9 @@ - -Uses of Interface org.montclairrobotics.alloy.core.Debug - + +Uses of Class org.montclairrobotics.alloy.core.Debug + @@ -12,7 +12,7 @@ + + + + + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    +
                      +
                    • Prev
                      • +
                    • Next
                      • +
                    + + +
                    + +
                    + + +
                    + +
                    +

                    Uses of Interface
                    org.montclairrobotics.alloy.core.Debugger

                    +
                    +
                    + +
                    + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    +
                      +
                    • Prev
                      • +
                    • Next
                      • +
                    + + +
                    + +
                    + + +
                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Encoder.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Encoder.html new file mode 100644 index 0000000..663f674 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Encoder.html @@ -0,0 +1,294 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.core.Encoder + + + + + + + + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    +
                      +
                    • Prev
                      • +
                    • Next
                      • +
                    + + +
                    + +
                    + + +
                    + +
                    +

                    Uses of Class
                    org.montclairrobotics.alloy.core.Encoder

                    +
                    +
                    + +
                    + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    +
                      +
                    • Prev
                      • +
                    • Next
                      • +
                    + + +
                    + +
                    + + +
                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html index 7df6b9c..7e59aa4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.Joystick - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html index c1a6819..c099b30 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Mode - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html index 740e47a..d32e46c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.Motor - + @@ -87,9 +87,17 @@

                      +org.montclairrobotics.alloy.drive +  + + org.montclairrobotics.alloy.ftc   + +org.montclairrobotics.alloy.motor +  +

                    • @@ -115,6 +123,27 @@

                    Uses of +
                  • + + +

                    Uses of Motor in org.montclairrobotics.alloy.drive

                    + + + + + + + + + + +
                    Constructors in org.montclairrobotics.alloy.drive with parameters of type Motor 
                    Constructor and Description
                    DriveModule(Vector direction, + Encoder encoder, + ErrorCorrection<java.lang.Double> powerControl, + Motor... motors) +
                    Create a fully functioning motor module
                    +
                    +
                  • @@ -141,6 +170,61 @@

                    Uses of

                    • +
                  • + + +

                    Uses of Motor in org.montclairrobotics.alloy.motor

                    + + + + + + + + + + + + +
                    Fields in org.montclairrobotics.alloy.motor with type parameters of type Motor 
                    Modifier and TypeField and Description
                    java.util.ArrayList<Motor>MotorModule.motors +
                    The motors that the module will control
                    +
                    + + + + + + + + + + + + +
                    Methods in org.montclairrobotics.alloy.motor that return types with arguments of type Motor 
                    Modifier and TypeMethod and Description
                    java.util.ArrayList<Motor>MotorModule.getMotors() 
                    + + + + + + + + + + + + + +
                    Constructors in org.montclairrobotics.alloy.motor with parameters of type Motor 
                    Constructor and Description
                    MotorModule(Vector direction, + Encoder encoder, + ErrorCorrection<java.lang.Double> powerControl, + Motor... motors) +
                    Create a fully functioning motor module
                    +
                    MotorModule(Vector direction, + Motor... motors) +
                    Create motor module without the use of an encoder
                    +
                    +

                diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html index 708e812..1008798 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.RobotCore - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html index cfbdadc..506617c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.TargetMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html index 0954609..a15fd55 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core - + @@ -14,7 +14,7 @@

                Interfaces

                • Button
                  • -
                • Debug
                  • +
                • Debugger
                • Joystick
                • Motor
                • TargetMotor
                  • @@ -22,6 +22,8 @@

                  Interfaces

                  Classes

                  Enums

                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html index 7d8c746..8456526 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core - + @@ -89,7 +89,7 @@

                  Package org.montclairrobotics.alloy.core< -Debug +Debugger
                  Created by MHS Robotics on 11/13/2017.
                  @@ -130,6 +130,16 @@

                  Package org.montclairrobotics.alloy.core< +Debug +  + + +Encoder + +
                  A motor encoder that keeps track of kinematic information about the motor
                  + + + RobotCore
                  Created by MHS Robotics on 12/5/2017.
                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html index bcf56d5..c2468c9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core Class Hierarchy - + @@ -81,19 +81,33 @@

                  Class Hierarchy

                  • java.lang.Object
                      +
                    • org.montclairrobotics.alloy.core.Debug
                    • com.qualcomm.robotcore.eventloop.opmode.OpMode
                      • org.montclairrobotics.alloy.core.Alloy
                    • org.montclairrobotics.alloy.core.RobotCore
                      • +
                    • org.montclairrobotics.alloy.utils.Toggleable +
                        +
                      • org.montclairrobotics.alloy.components.Component +
                          +
                        • org.montclairrobotics.alloy.components.InputComponent<T> (implements org.montclairrobotics.alloy.utils.Input<T>) +
                            +
                          • org.montclairrobotics.alloy.core.Encoder
                            • +
                          +
                          • +
                        +
                        • +
                      +

                  Interface Hierarchy

                  @@ -99,9 +99,14 @@

                  Interface DTMapper

                  • +
                    +
                    All Superinterfaces:
                    +
                    Mapper
                    +

                    -
                    public interface DTMapper
                    +
                    public interface DTMapper
+extends Mapper
                    Created by MHS Robotics on 12/16/2017.
                    Since:
                    @@ -129,9 +134,17 @@

                    Method Summary

                    void -map()  +map(Input<DTInput> input, + MotorModule... modules)  +
                      +
                    • + + +

                      Methods inherited from interface org.montclairrobotics.alloy.motor.Mapper

                      +map
                      • +
                  @@ -146,13 +159,14 @@

                  Method Summary

                  Method Detail

                  - + @@ -183,7 +197,7 @@

                  map

                  • Frames
                    • @@ -199,8 +199,8 @@

                    DriveTrain

                  • Frames
                    • diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTInput.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTInput.html new file mode 100644 index 0000000..55e378a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTInput.html @@ -0,0 +1,165 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.drive.DTInput + + + + + + + + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    +
                      +
                    • Prev
                      • +
                    • Next
                      • +
                    + + +
                    + +
                    + + +
                    + +
                    +

                    Uses of Class
                    org.montclairrobotics.alloy.drive.DTInput

                    +
                    +
                    + +
                    + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    +
                      +
                    • Prev
                      • +
                    • Next
                      • +
                    + + +
                    + +
                    + + +
                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html index bf1e29a..b72562d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.drive.DTMapper - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveModule.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveModule.html new file mode 100644 index 0000000..9c638e1 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveModule.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.drive.DriveModule + + + + + + + + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    +
                      +
                    • Prev
                      • +
                    • Next
                      • +
                    + + +
                    + +
                    + + +
                    + +
                    +

                    Uses of Class
                    org.montclairrobotics.alloy.drive.DriveModule

                    +
                    +
                    No usage of org.montclairrobotics.alloy.drive.DriveModule
                    + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    +
                      +
                    • Prev
                      • +
                    • Next
                      • +
                    + + +
                    + +
                    + + +
                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html index ac82334..90a7c88 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.drive.DriveTrain - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html index 58e5062..58c3ba3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive - + @@ -17,7 +17,9 @@

                    Interfaces

                  Classes

                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html index 3782031..3c38187 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive - + @@ -100,11 +100,19 @@

                  Package org.montclairrobotics.alloy.drive +DriveModule +  + + DriveTrain
                  Created by MHS Robotics on 12/16/2017.
                  + +DTInput +  + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html index 2a2bf12..72c9052 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive Class Hierarchy - + @@ -82,13 +82,31 @@

                  Class Hierarchy

                • java.lang.Object
                  • org.montclairrobotics.alloy.drive.DriveTrain
                    • +
                  • org.montclairrobotics.alloy.drive.DTInput
                    • +
                  • org.montclairrobotics.alloy.utils.Toggleable +
                      +
                    • org.montclairrobotics.alloy.components.Component + +
                      • +
                    +

                Interface Hierarchy

                  +
                • org.montclairrobotics.alloy.motor.Mapper<T> +
                  • org.montclairrobotics.alloy.drive.DTMapper
                  +
                  • +
                diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html index 7204afb..c8b7373 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.drive - + @@ -72,7 +72,40 @@

                Uses of Package
                org.montclairrobotics.alloy.drive

                -
                No usage of org.montclairrobotics.alloy.drive
                +
                + +
                diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html index 85a5479..b5401b1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html @@ -2,9 +2,9 @@ - + FTCButton - + @@ -50,7 +50,7 @@
                • Frames
                  • @@ -143,11 +143,15 @@

                  Constructor Summary

                  Constructor and Description -FTCButton(Input<java.lang.Boolean> buttonInput)  +FTCButton(Input<java.lang.Boolean> buttonInput) +
                  Creates a new button using a buttonInput
                  + FTCButton(Input<java.lang.Boolean> buttonInput, - boolean invert)  + boolean invert) +
                  Creates a new button specifying a button input and an invert
                  + @@ -203,7 +207,7 @@

                  Method Summary

                  boolean getValue() -
                  Gets the value of a button
                  +
                  Gets the values for a button
                  @@ -247,6 +251,12 @@

                  Constructor Detail

                • FTCButton

                  public FTCButton(Input<java.lang.Boolean> buttonInput)
                  +
                  Creates a new button using a buttonInput
                  +
                  +
                  Parameters:
                  +
                  buttonInput - an input that returns true if the button is being pressed, and false if + unpressed
                  +
                @@ -257,6 +267,13 @@

                FTCButton

                FTCButton

                public FTCButton(Input<java.lang.Boolean> buttonInput,
                  boolean invert)
                +
                Creates a new button specifying a button input and an invert
                +
                +
                Parameters:
                +
                buttonInput - an input that returns true if the button is being pressed, and false if + unpressed
                +
                invert - if true inverts the value of buttonInput
                +
              • @@ -274,13 +291,12 @@

              Method Detail

            • getValue

              public boolean getValue()
              -
              Description copied from interface: Button
              -
              Gets the value of a button
              +
              Gets the values for a button
              Specified by:
              getValue in interface Button
              Returns:
              -
              returns the value of the button, in most case True(pressed) or False(unpressed)
              +
              the value of the button if inverted is false, or returns the opposite if it is true
            @@ -421,7 +437,7 @@

            getLeftTrigger

            • Frames
              • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html new file mode 100644 index 0000000..df87b7d --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html @@ -0,0 +1,367 @@ + + + + + +FTCDebugger + + + + + + + + +
              + + +
              Skip navigation links
              + + + + +
              +
              + + + +
              + +
              +
              +
                +
              • Summary: 
                • +
              • Nested | 
                • +
              • Field | 
                • +
              • Constr | 
                • +
              • Method
                • +
              + +
              + + +
              + + +
              +
              org.montclairrobotics.alloy.ftc
              +

              Class FTCDebugger

              +
              +
              +
                +
              • java.lang.Object
                • +
              • +
                  +
                • org.montclairrobotics.alloy.ftc.FTCDebugger
                  • +
                +
                • +
              +
              +
                +
              • +
                +
                All Implemented Interfaces:
                +
                Debugger
                +
                +
                +
                +
                public class FTCDebugger
+extends java.lang.Object
+implements Debugger
                +
                Created by MHS Robotics on 11/14/2017. + +

                The FTCDebugger class is a basic wrapper around the ftc telemetry framework and allows + telemetry to be used in any class as well as making debugging information easier

                +
                +
                Since:
                +
                0.1
                +
                Author:
                +
                Garrett Burroughs
                +
                +
                • +
              +
              +
              +
                +
              • + +
                  +
                • + + +

                  Constructor Summary

                  + + + + + + + + +
                  Constructors 
                  Constructor and Description
                  FTCDebugger() +
                  Create a new FTCDebugger, and throw an exception if it has not been initialized
                  +
                  +
                  • +
                + +
                  +
                • + + +

                  Method Summary

                  + + + + + + + + + + + + + + + + + + + + + + +
                  All Methods Instance Methods Concrete Methods 
                  Modifier and TypeMethod and Description
                  voiddebug(Debug debug) +
                  Debugs out a debug object
                  +
                  voidlog(java.lang.String key, + java.lang.Object value) +
                  Debugger out information
                  +
                  voidmsg(java.lang.Object value) +
                  Debugger out a message
                  +
                  voidwarning(java.lang.String warning) +
                  Gives a warning to the user
                  +
                  +
                    +
                  • + + +

                    Methods inherited from class java.lang.Object

                    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                    • +
                  +
                  • +
                +
                • +
              +
              +
              +
                +
              • + +
                  +
                • + + +

                  Constructor Detail

                  + + + +
                    +
                  • +

                    FTCDebugger

                    +
                    public FTCDebugger()
                    +
                    Create a new FTCDebugger, and throw an exception if it has not been initialized
                    +
                    • +
                  +
                  • +
                + +
                  +
                • + + +

                  Method Detail

                  + + + +
                    +
                  • +

                    log

                    +
                    public void log(java.lang.String key,
+                java.lang.Object value)
                    +
                    Debugger out information
                    +
                    +
                    Specified by:
                    +
                    log in interface Debugger
                    +
                    Parameters:
                    +
                    key - Name of the value
                    +
                    value - Value to be debugged
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    msg

                    +
                    public void msg(java.lang.Object value)
                    +
                    Debugger out a message
                    +
                    +
                    Specified by:
                    +
                    msg in interface Debugger
                    +
                    Parameters:
                    +
                    value - Value to be debugged
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    debug

                    +
                    public void debug(Debug debug)
                    +
                    Debugs out a debug object
                    +
                    +
                    Specified by:
                    +
                    debug in interface Debugger
                    +
                    Parameters:
                    +
                    debug - the object to be debugged
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    warning

                    +
                    public void warning(java.lang.String warning)
                    +
                    Gives a warning to the user
                    +
                    +
                    Specified by:
                    +
                    warning in interface Debugger
                    +
                    Parameters:
                    +
                    warning - the warning
                    +
                    +
                    • +
                  +
                  • +
                +
                • +
              +
              +
              + + +
              + + +
              Skip navigation links
              + + + + +
              +
              + + + +
              + +
              +
              +
                +
              • Summary: 
                • +
              • Nested | 
                • +
              • Field | 
                • +
              • Constr | 
                • +
              • Method
                • +
              + +
              + + +
              + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html index 8873b17..b42e842 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html @@ -2,9 +2,9 @@ - + FTCJoystick.Side - + @@ -124,6 +124,8 @@

              Enum FTCJoystick.Side


              public static enum FTCJoystick.Side
 extends java.lang.Enum<FTCJoystick.Side>
              +
              The side in a FTCJoystick is referring to the side of the controller is on, there are 2 + joysticks, one on the right, one on the left
            diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html index ee4a71b..97db01e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html @@ -2,9 +2,9 @@ - + FTCJoystick - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10}; +var methods = {"i0":10,"i1":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -49,7 +49,7 @@
            • All Implemented Interfaces:
              -
              Joystick
              +
              Joystick, Input

              public class FTCJoystick
-extends java.lang.Object
+extends InputComponent<Vector>
 implements Joystick
              -
              Created by MHS Robotics on 11/14/2017.
              +
              Created by MHS Robotics on 11/14/2017. + +

              There are a total of 4 accessible joysticks when controlling an FTC robot, There are 2 + controllers and each one has 2 joysticks, (One right, one left). A joystick can be defined using + a controller and a side + +

              Joysticks can also be used as inputs that return a vector

              Since:
              0.1
              @@ -143,9 +164,48 @@

              Nested Class Summary

              static class  -FTCJoystick.Side  +FTCJoystick.Side +
              The side in a FTCJoystick is referring to the side of the controller is on, there are 2 + joysticks, one on the right, one on the left
              + + +
              • +
            + + @@ -161,7 +221,9 @@

            Constructor Summary

            FTCJoystick(com.qualcomm.robotcore.hardware.Gamepad gamepad, - FTCJoystick.Side side)  + FTCJoystick.Side side) +
            Create a new Joystick using the gamepad and side
            +
            • @@ -181,11 +243,36 @@

            Method Summary

            Vector getValue() -
            Gets the position of the joystick
            +
            Gets the position of the joystick as a vector
            + +void +updateControls()  + + + +
            • @@ -214,6 +301,12 @@

              Constructor Detail

              FTCJoystick

              public FTCJoystick(com.qualcomm.robotcore.hardware.Gamepad gamepad,
                    FTCJoystick.Side side)
              +
              Create a new Joystick using the gamepad and side
              +
              +
              Parameters:
              +
              gamepad - The gamepad the joystick is on
              +
              side - The side the joystick is on (Right/Left)
              +
            @@ -227,20 +320,28 @@

            Method Detail

            -
              +

              • getValue

                public Vector getValue()
                -
                Description copied from interface: Joystick
                -
                Gets the position of the joystick
                +
                Gets the position of the joystick as a vector
                Specified by:
                getValue in interface Joystick
                Returns:
                -
                a vector made up of the X and Y values of the Joysticks Position
                +
                the position of the joystick as a vector
              + + + +
                +
              • +

                updateControls

                +
                public void updateControls()
                +
                • +
            @@ -269,7 +370,7 @@

            getValue

          @@ -295,7 +396,7 @@

          getValue

          diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html index d0fabc0..b01776b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html @@ -2,9 +2,9 @@ - + FTCMotor - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -74,14 +74,14 @@
          @@ -100,10 +100,20 @@

          Class FTCMotor

        • java.lang.Object
        • +
          • +
        • @@ -118,13 +128,12 @@

          Class FTCMotor


          public class FTCMotor
-extends java.lang.Object
+extends Component
 implements Motor
          Created by MHS Robotics on 11/14/2017. -

          FTCMotor is a basic implementation of a motor used for FTC. Basic FTC motors can be controlled - using motor power but can not have their positions set using encoders. If you wish to set a - motors position

          +

          The basic motor for use in FTC. Basic motors are not aware of encoders and are not recommended + for use in FTC as all motors come with encoders

        Since:
        0.1
        @@ -139,6 +148,62 @@

        Class FTCMotor

        • + + + +
            +
          • + + +

            Field Summary

            + + + + + + + + + + + + + + +
            Fields 
            Modifier and TypeField and Description
            com.qualcomm.robotcore.hardware.DcMotormotor +
            The physical hardware motor reference to the motor being controlled
            +
            doublepower +
            The power that the motor should be running at
            +
            + + +
            • +
          • @@ -169,31 +234,59 @@

            Method Summary

            Method and Description +void +            disableAction() +
            Method to be called when the toggleable is disabled
            + + + +Encoder +getEncoder()  + + boolean getInverted()
            Gets weather the motor is inverted
            - + double getMotorPower()
            Gets the motor power
            - + void setInverted(boolean inverted) -
            Sets weather the motor runs the default way , or inverted
            +
            Sets whether the motor runs the default way , or inverted
            - + void setMotorPower(double power)
            Sets the motor Power
            + +void +updateMotor()  + + +
            • @@ -208,6 +301,34 @@

              Methods inherited from class java.lang.Object

              • @@ -348,14 +502,14 @@

              getInverted

              diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html index 43f8411..97d16e6 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html @@ -2,9 +2,9 @@ - + FTCTargetMotor - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -74,8 +74,8 @@
              @@ -100,6 +100,12 @@

              Class FTCTargetMotor

            • java.lang.Object
              • @@ -140,6 +150,50 @@

                Class FTCTargetMotor

                • @@ -469,8 +561,8 @@

                getRunmode

                diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html index cd19615..5a2270c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCButton - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html new file mode 100644 index 0000000..42cea21 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.ftc.FTCDebugger + + + + + + + + +
                + + +
                Skip navigation links
                + + + + +
                +
                +
                  +
                • Prev
                  • +
                • Next
                  • +
                + + +
                + +
                + + +
                + +
                +

                Uses of Class
                org.montclairrobotics.alloy.ftc.FTCDebugger

                +
                +
                No usage of org.montclairrobotics.alloy.ftc.FTCDebugger
                + +
                + + +
                Skip navigation links
                + + + + +
                +
                +
                  +
                • Prev
                  • +
                • Next
                  • +
                + + +
                + +
                + + +
                + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html index ce0cdcb..6cca9f1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCJoystick.Side - + @@ -125,7 +125,9 @@

                Uses of FTCJoystick(com.qualcomm.robotcore.hardware.Gamepad gamepad, - FTCJoystick.Side side)  + FTCJoystick.Side side) +
                Create a new Joystick using the gamepad and side
                + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html index 88754f9..fdf433b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCJoystick - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html index 8dc3335..f575b3b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html index 1f9142f..ed740ec 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCTargetMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html index 2e12b66..37e8e06 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc - + @@ -14,7 +14,7 @@

                Classes

                • FTCButton
                  • -
                • FTCDebug
                  • +
                • FTCDebugger
                • FTCJoystick
                • FTCMotor
                • FTCTargetMotor
                  • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html index f7a2c07..0af777b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc - + @@ -44,7 +44,7 @@
                  • Frames
                    • @@ -89,7 +89,7 @@

                    Package org.montclairrobotics.alloy.ftc -FTCDebug +FTCDebugger
                    Created by MHS Robotics on 11/14/2017.
                    @@ -125,7 +125,10 @@

                    Package org.montclairrobotics.alloy.ftc FTCJoystick.Side -  + +
                    The side in a FTCJoystick is referring to the side of the controller is on, there are 2 + joysticks, one on the right, one on the left
                    + @@ -154,7 +157,7 @@

                    Package org.montclairrobotics.alloy.ftc
                    • Frames
                      • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html index 0f30054..cb85dcb 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc Class Hierarchy - + @@ -44,7 +44,7 @@
                      • Frames
                        • @@ -82,13 +82,25 @@

                        Class Hierarchy

                      • java.lang.Object
                        • org.montclairrobotics.alloy.ftc.FTCButton (implements org.montclairrobotics.alloy.core.Button)
                          • -
                        • org.montclairrobotics.alloy.ftc.FTCDebug (implements org.montclairrobotics.alloy.core.Debug)
                          • -
                        • org.montclairrobotics.alloy.ftc.FTCJoystick (implements org.montclairrobotics.alloy.core.Joystick)
                          • +
                        • org.montclairrobotics.alloy.ftc.FTCDebugger (implements org.montclairrobotics.alloy.core.Debugger)
                          • +
                        • org.montclairrobotics.alloy.utils.Toggleable +
                            +
                          • org.montclairrobotics.alloy.components.Component +
                            • org.montclairrobotics.alloy.ftc.FTCMotor (implements org.montclairrobotics.alloy.core.Motor)
                              • +
                            • org.montclairrobotics.alloy.components.InputComponent<T> (implements org.montclairrobotics.alloy.utils.Input<T>) +
                                +
                              • org.montclairrobotics.alloy.ftc.FTCJoystick (implements org.montclairrobotics.alloy.core.Joystick)
                                • +
                              +
                              • +
                            +
                            • +
                          +
                      @@ -127,7 +139,7 @@

                      Enum Hierarchy

                      • Frames
                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html index b86b5de..495b9e2 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.ftc - + @@ -104,7 +104,10 @@

                        Uses o -FTCJoystick.Side  +FTCJoystick.Side +
                        The side in a FTCJoystick is referring to the side of the controller is on, there are 2 + joysticks, one on the right, one on the left
                        + FTCMotor diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html new file mode 100644 index 0000000..7699568 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html @@ -0,0 +1,285 @@ + + + + + +DefaultMapper + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.motor
                        +

                        Class DefaultMapper

                        +
                        +
                        +
                          +
                        • java.lang.Object
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.motor.DefaultMapper
                            • +
                          +
                          • +
                        +
                        +
                          +
                        • +
                          +
                          All Implemented Interfaces:
                          +
                          Mapper<Input<java.lang.Double>>
                          +
                          +
                          +
                          +
                          public class DefaultMapper
+extends java.lang.Object
+implements Mapper<Input<java.lang.Double>>
                          +
                          A simple default mapper + +

                          This mapper will run all of the motors in the group in the same direction

                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Summary

                            + + + + + + + + +
                            Constructors 
                            Constructor and Description
                            DefaultMapper() 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Summary

                            + + + + + + + + + + +
                            All Methods Instance Methods Concrete Methods 
                            Modifier and TypeMethod and Description
                            voidmap(Input<java.lang.Double> input, + MotorModule... modules) 
                            +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              DefaultMapper

                              +
                              public DefaultMapper()
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              map

                              +
                              public void map(Input<java.lang.Double> input,
+                MotorModule... modules)
                              +
                              +
                              Specified by:
                              +
                              map in interface Mapper<Input<java.lang.Double>>
                              +
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html new file mode 100644 index 0000000..ac9d9d7 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html @@ -0,0 +1,233 @@ + + + + + +Mapper + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                          +
                        • Detail: 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.motor
                        +

                        Interface Mapper<T>

                        +
                        +
                        +
                        + +
                        +
                        + +
                        +
                        + +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                          +
                        • Detail: 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html new file mode 100644 index 0000000..d655a78 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html @@ -0,0 +1,430 @@ + + + + + +MotorGroup + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.motor
                        +

                        Class MotorGroup<T>

                        +
                        +
                        + +
                        +
                          +
                        • +
                          +
                          +
                          public class MotorGroup<T>
+extends Component
                          +
                          A motor group is a group of motor modules that run together + +

                          A motor group should control any collection of motors that take an input, and then maps the + output to a set of motors that run together. For example in a lift mechanism there may be 2 motor + that both run in the same direction but one should be inverted to lift the lift up. The modules + would define what direction the motors are running in the mapper would define that they need to + run in opposite directions and the MotorGroup would run the motors together fully operating the + lift. This could work with other things like an intake, shooter or other manipulator that + requires multiple motors running together from one input

                          +
                          • +
                        +
                        +
                        + +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Field Detail

                            + + + +
                              +
                            • +

                              mapper

                              +
                              public Mapper mapper
                              +
                              The mapper that will be used for power assignment and calculation
                              +
                              • +
                            + + + +
                              +
                            • +

                              modules

                              +
                              public java.util.ArrayList<MotorModule> modules
                              +
                              The modules contained in the motor group
                              +
                              • +
                            + + + +
                              +
                            • +

                              input

                              +
                              public InputComponent<T> input
                              +
                              The control input for the motor group
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Constructor Detail

                            + + + + + + + +
                              +
                            • +

                              MotorGroup

                              +
                              public MotorGroup(InputComponent<java.lang.Double> input,
+                  MotorModule... modules)
                              +
                              Creates a motor group with a default mapper that simply
                              +
                              +
                              Parameters:
                              +
                              input -
                              +
                              modules -
                              +
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              controlPower

                              +
                              public void controlPower()
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html new file mode 100644 index 0000000..d6d20ca --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html @@ -0,0 +1,727 @@ + + + + + +MotorModule + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.motor
                        +

                        Class MotorModule

                        +
                        +
                        + +
                        +
                          +
                        • +
                          +
                          Direct Known Subclasses:
                          +
                          DriveModule
                          +
                          +
                          +
                          +
                          public class MotorModule
+extends Component
                          +
                          Highly Functional set of motors that run together + +

                          A motor module consists of multiple motors that run together in the same direction. Modules + are aware of what direction the run in so they can be used in MoroGroups to be run together with + other modules. Modules can also be controlled with an encoder and a ErrorCorrection to ensure + that the are going the right speed. + +

                          You can also add steps to the Module that can alter the amount of power that the module will + receive. This can be useful for modules that are being controlled by a separate entity such as a + motor group.

                          +
                          +
                          Since:
                          +
                          0.1
                          +
                          Version:
                          +
                          0.1
                          +
                          Author:
                          +
                          Garrett Burroughs
                          +
                          +
                          • +
                        +
                        +
                        + +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Field Detail

                            + + + +
                              +
                            • +

                              motors

                              +
                              public java.util.ArrayList<Motor> motors
                              +
                              The motors that the module will control
                              +
                              • +
                            + + + +
                              +
                            • +

                              direction

                              +
                              public Vector direction
                              +
                              The direction that the modules run for use in a motor group
                              +
                              • +
                            + + + +
                              +
                            • +

                              offset

                              +
                              public Vector offset
                              +
                              • +
                            + + + +
                              +
                            • +

                              powerControl

                              +
                              public ErrorCorrection<java.lang.Double> powerControl
                              +
                              An error correction that will control the power
                              +
                              • +
                            + + + +
                              +
                            • +

                              encoder

                              +
                              public Encoder encoder
                              +
                              The encoder that keeps track of the position and controls the motors
                              +
                              • +
                            + + + +
                              +
                            • +

                              targetPower

                              +
                              public double targetPower
                              +
                              how fast the module should be running
                              +
                              • +
                            + + + + +
                            • +
                          + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              MotorModule

                              +
                              public MotorModule(Vector direction,
+                   Encoder encoder,
+                   ErrorCorrection<java.lang.Double> powerControl,
+                   Motor... motors)
                              +
                              Create a fully functioning motor module + +

                              Modules created like this will be able to adjust their speed based on an error correction + to maintain a more accurate speed.

                              +
                              +
                              Parameters:
                              +
                              direction - the direction that the module runs (for use in motor groups)
                              +
                              encoder - the encoder that keeps track of the motors position
                              +
                              powerControl - an error correction to adjust the speed of the module
                              +
                              motors - the motors that the module controls
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              MotorModule

                              +
                              public MotorModule(Vector direction,
+                   Motor... motors)
                              +
                              Create motor module without the use of an encoder + +

                              Modules created like this will not be abe to monitor or adjust their speed to maintain a + constant and more exact speed.

                              +
                              +
                              Parameters:
                              +
                              direction - what direction the module runs
                              +
                              motors - the motors the module controls
                              +
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              setEncoder

                              +
                              public MotorModule setEncoder(Encoder encoder)
                              +
                              Set an encoder for the module
                              +
                              +
                              Parameters:
                              +
                              encoder - the encoder that keeps track of the position of the module
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              setErrorCorrection

                              +
                              public MotorModule setErrorCorrection(ErrorCorrection powerControl)
                              +
                              set the power control for the module
                              +
                              +
                              Parameters:
                              +
                              powerControl - an error correction to adjust the speed of the module
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              powerCorrection

                              +
                              public void powerCorrection()
                              +
                              • +
                            + + + +
                              +
                            • +

                              setPower

                              +
                              public void setPower(double power)
                              +
                              Set the target power of the module
                              +
                              +
                              Parameters:
                              +
                              power - how fast the module will go (-1 to 1)
                              +
                              +
                              • +
                            + + + + + + + + + + + +
                              +
                            • +

                              disableAction

                              +
                              public void disableAction()
                              +
                              Method to be called when the toggleable is disabled
                              +
                              +
                              Overrides:
                              +
                              disableAction in class Component
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              getMotors

                              +
                              public java.util.ArrayList<Motor> getMotors()
                              +
                              +
                              Returns:
                              +
                              the motor arraylist in the module
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              getDirection

                              +
                              public Vector getDirection()
                              +
                              +
                              Returns:
                              +
                              the direction the module runs in
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              getPowerControl

                              +
                              public ErrorCorrection<java.lang.Double> getPowerControl()
                              +
                              +
                              Returns:
                              +
                              the error correction used for the module
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              getEncoder

                              +
                              public Encoder getEncoder()
                              +
                              +
                              Returns:
                              +
                              the encoder that monitors the position of the monitor
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              getTargetPower

                              +
                              public double getTargetPower()
                              +
                              +
                              Returns:
                              +
                              the current target power of the module
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              getModifier

                              +
                              public InputComponent<java.lang.Double> getModifier()
                              +
                              +
                              Returns:
                              +
                              the power modifier of the motor
                              +
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html new file mode 100644 index 0000000..60e5bb8 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.motor.DefaultMapper + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Class
                        org.montclairrobotics.alloy.motor.DefaultMapper

                        +
                        +
                        No usage of org.montclairrobotics.alloy.motor.DefaultMapper
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html new file mode 100644 index 0000000..6cd3779 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html @@ -0,0 +1,240 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.motor.Mapper + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Interface
                        org.montclairrobotics.alloy.motor.Mapper

                        +
                        +
                        + +
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html new file mode 100644 index 0000000..66420b2 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.motor.MotorGroup + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Class
                        org.montclairrobotics.alloy.motor.MotorGroup

                        +
                        +
                        No usage of org.montclairrobotics.alloy.motor.MotorGroup
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html new file mode 100644 index 0000000..32e26e1 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html @@ -0,0 +1,292 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.motor.MotorModule + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Class
                        org.montclairrobotics.alloy.motor.MotorModule

                        +
                        +
                        + +
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html new file mode 100644 index 0000000..4dbe38c --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html @@ -0,0 +1,26 @@ + + + + + +org.montclairrobotics.alloy.motor + + + + + +

                        org.montclairrobotics.alloy.motor

                        +
                        +

                        Interfaces

                        + +

                        Classes

                        + +
                        + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html new file mode 100644 index 0000000..9aec458 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html @@ -0,0 +1,171 @@ + + + + + +org.montclairrobotics.alloy.motor + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        + + +
                        + +
                        +

                        Package org.montclairrobotics.alloy.motor

                        +
                        +
                        +
                          +
                        • + + + + + + + + + + + + +
                          Interface Summary 
                          InterfaceDescription
                          Mapper<T> 
                          +
                          • +
                        • + + + + + + + + + + + + + + + + + + + + +
                          Class Summary 
                          ClassDescription
                          DefaultMapper +
                          A simple default mapper
                          +
                          MotorGroup<T> +
                          A motor group is a group of motor modules that run together
                          +
                          MotorModule +
                          Highly Functional set of motors that run together
                          +
                          +
                          • +
                        +
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html new file mode 100644 index 0000000..991de59 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html @@ -0,0 +1,151 @@ + + + + + +org.montclairrobotics.alloy.motor Class Hierarchy + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        + + +
                        + +
                        +

                        Hierarchy For Package org.montclairrobotics.alloy.motor

                        +Package Hierarchies: + +
                        +
                        +

                        Class Hierarchy

                        +
                          +
                        • java.lang.Object +
                            +
                          • org.montclairrobotics.alloy.motor.DefaultMapper (implements org.montclairrobotics.alloy.motor.Mapper<T>)
                            • +
                          • org.montclairrobotics.alloy.utils.Toggleable +
                              +
                            • org.montclairrobotics.alloy.components.Component + +
                              • +
                            +
                            • +
                          +
                          • +
                        +

                        Interface Hierarchy

                        +
                          +
                        • org.montclairrobotics.alloy.motor.Mapper<T>
                          • +
                        +
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html new file mode 100644 index 0000000..b4fe9c1 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html @@ -0,0 +1,210 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.motor + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Package
                        org.montclairrobotics.alloy.motor

                        +
                        +
                        + +
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/steps/Deadzone.html b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/Deadzone.html new file mode 100644 index 0000000..f9deceb --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/Deadzone.html @@ -0,0 +1,292 @@ + + + + + +Deadzone + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.motor.steps
                        +

                        Class Deadzone

                        +
                        +
                        +
                          +
                        • java.lang.Object
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.motor.steps.Deadzone
                            • +
                          +
                          • +
                        +
                        +
                          +
                        • +
                          +
                          All Implemented Interfaces:
                          +
                          Step<java.lang.Double>
                          +
                          +
                          +
                          +
                          public class Deadzone
+extends java.lang.Object
+implements Step<java.lang.Double>
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Summary

                            + + + + + + + + + + + +
                            Constructors 
                            Constructor and Description
                            Deadzone() 
                            Deadzone(double tolerance) 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Summary

                            + + + + + + + + + + +
                            All Methods Instance Methods Concrete Methods 
                            Modifier and TypeMethod and Description
                            java.lang.DoublegetOutput(java.lang.Double input) 
                            +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              Deadzone

                              +
                              public Deadzone(double tolerance)
                              +
                              • +
                            + + + +
                              +
                            • +

                              Deadzone

                              +
                              public Deadzone()
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              getOutput

                              +
                              public java.lang.Double getOutput(java.lang.Double input)
                              +
                              +
                              Specified by:
                              +
                              getOutput in interface Step<java.lang.Double>
                              +
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.html b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.html new file mode 100644 index 0000000..acdcb50 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.html @@ -0,0 +1,280 @@ + + + + + +VectorDeadzone + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.motor.steps
                        +

                        Class VectorDeadzone

                        +
                        +
                        +
                          +
                        • java.lang.Object
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.motor.steps.VectorDeadzone
                            • +
                          +
                          • +
                        +
                        +
                          +
                        • +
                          +
                          All Implemented Interfaces:
                          +
                          Step<Vector>
                          +
                          +
                          +
                          +
                          public class VectorDeadzone
+extends java.lang.Object
+implements Step<Vector>
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Summary

                            + + + + + + + + +
                            Constructors 
                            Constructor and Description
                            VectorDeadzone(double tolerance) 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Summary

                            + + + + + + + + + + +
                            All Methods Instance Methods Concrete Methods 
                            Modifier and TypeMethod and Description
                            VectorgetOutput(Vector input) 
                            +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              VectorDeadzone

                              +
                              public VectorDeadzone(double tolerance)
                              +
                              • +
                            +
                            • +
                          + + +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/steps/class-use/Deadzone.html b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/class-use/Deadzone.html new file mode 100644 index 0000000..261c9a5 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/class-use/Deadzone.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.motor.steps.Deadzone + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Class
                        org.montclairrobotics.alloy.motor.steps.Deadzone

                        +
                        +
                        No usage of org.montclairrobotics.alloy.motor.steps.Deadzone
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/steps/class-use/VectorDeadzone.html b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/class-use/VectorDeadzone.html new file mode 100644 index 0000000..ca51d63 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/class-use/VectorDeadzone.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.motor.steps.VectorDeadzone + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Class
                        org.montclairrobotics.alloy.motor.steps.VectorDeadzone

                        +
                        +
                        No usage of org.montclairrobotics.alloy.motor.steps.VectorDeadzone
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-frame.html new file mode 100644 index 0000000..b611263 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-frame.html @@ -0,0 +1,21 @@ + + + + + +org.montclairrobotics.alloy.motor.steps + + + + + +

                        org.montclairrobotics.alloy.motor.steps

                        +
                        +

                        Classes

                        + +
                        + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-summary.html new file mode 100644 index 0000000..d646dea --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-summary.html @@ -0,0 +1,146 @@ + + + + + +org.montclairrobotics.alloy.motor.steps + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        + + +
                        + +
                        +

                        Package org.montclairrobotics.alloy.motor.steps

                        +
                        +
                        + +
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-tree.html new file mode 100644 index 0000000..fde0519 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-tree.html @@ -0,0 +1,138 @@ + + + + + +org.montclairrobotics.alloy.motor.steps Class Hierarchy + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        + + +
                        + +
                        +

                        Hierarchy For Package org.montclairrobotics.alloy.motor.steps

                        +Package Hierarchies: + +
                        +
                        +

                        Class Hierarchy

                        +
                          +
                        • java.lang.Object +
                            +
                          • org.montclairrobotics.alloy.motor.steps.Deadzone (implements org.montclairrobotics.alloy.components.Step<T>)
                            • +
                          • org.montclairrobotics.alloy.motor.steps.VectorDeadzone (implements org.montclairrobotics.alloy.components.Step<T>)
                            • +
                          +
                          • +
                        +
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-use.html new file mode 100644 index 0000000..90cdc2b --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/steps/package-use.html @@ -0,0 +1,124 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.motor.steps + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Package
                        org.montclairrobotics.alloy.motor.steps

                        +
                        +
                        No usage of org.montclairrobotics.alloy.motor.steps
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/Control.html b/docs/javadoc/org/montclairrobotics/alloy/test/Control.html new file mode 100644 index 0000000..8c181d1 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/Control.html @@ -0,0 +1,237 @@ + + + + + +Control + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                          +
                        • Detail: 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.test
                        +

                        Class Control

                        +
                        +
                        +
                          +
                        • java.lang.Object
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.test.Control
                            • +
                          +
                          • +
                        +
                        +
                          +
                        • +
                          +
                          +
                          public class Control
+extends java.lang.Object
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Summary

                            + + + + + + + + +
                            Constructors 
                            Constructor and Description
                            Control() 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Summary

                            +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              Control

                              +
                              public Control()
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                          +
                        • Detail: 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/Hardware.html b/docs/javadoc/org/montclairrobotics/alloy/test/Hardware.html new file mode 100644 index 0000000..bf6330d --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/Hardware.html @@ -0,0 +1,271 @@ + + + + + +Hardware + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.test
                        +

                        Class Hardware

                        +
                        +
                        +
                          +
                        • java.lang.Object
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.test.Hardware
                            • +
                          +
                          • +
                        +
                        +
                          +
                        • +
                          +
                          +
                          public class Hardware
+extends java.lang.Object
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Summary

                            + + + + + + + + +
                            Constructors 
                            Constructor and Description
                            Hardware() 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Summary

                            + + + + + + + + + + +
                            All Methods Static Methods Concrete Methods 
                            Modifier and TypeMethod and Description
                            static voidinit() 
                            +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              Hardware

                              +
                              public Hardware()
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              init

                              +
                              public static void init()
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html b/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html new file mode 100644 index 0000000..06699b7 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html @@ -0,0 +1,282 @@ + + + + + +ShooterMapper + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.test
                        +

                        Class ShooterMapper

                        +
                        +
                        +
                          +
                        • java.lang.Object
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.test.ShooterMapper
                            • +
                          +
                          • +
                        +
                        +
                          +
                        • +
                          +
                          All Implemented Interfaces:
                          +
                          Mapper<Vector>
                          +
                          +
                          +
                          +
                          public class ShooterMapper
+extends java.lang.Object
+implements Mapper<Vector>
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Summary

                            + + + + + + + + +
                            Constructors 
                            Constructor and Description
                            ShooterMapper() 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Summary

                            + + + + + + + + + + +
                            All Methods Instance Methods Concrete Methods 
                            Modifier and TypeMethod and Description
                            voidmap(Vector input, + MotorModule... modules) 
                            +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              ShooterMapper

                              +
                              public ShooterMapper()
                              +
                              • +
                            +
                            • +
                          + + +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html index 78ac494..630e4b1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html @@ -2,9 +2,9 @@ - + TestRobot - + @@ -49,7 +49,7 @@
                        @@ -75,7 +75,7 @@ @@ -135,6 +135,13 @@

                        Class TestRobot

                        Field Summary

                        +
                        • @@ -324,7 +331,7 @@

                          periodic

                        @@ -350,7 +357,7 @@

                        periodic

                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Control.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Control.html new file mode 100644 index 0000000..8685c5c --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Control.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.test.Control + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Class
                        org.montclairrobotics.alloy.test.Control

                        +
                        +
                        No usage of org.montclairrobotics.alloy.test.Control
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Hardware.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Hardware.html new file mode 100644 index 0000000..cddbca5 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Hardware.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.test.Hardware + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Class
                        org.montclairrobotics.alloy.test.Hardware

                        +
                        +
                        No usage of org.montclairrobotics.alloy.test.Hardware
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html new file mode 100644 index 0000000..b743d20 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.test.ShooterMapper + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + +
                        +

                        Uses of Class
                        org.montclairrobotics.alloy.test.ShooterMapper

                        +
                        +
                        No usage of org.montclairrobotics.alloy.test.ShooterMapper
                        + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        +
                          +
                        • Prev
                          • +
                        • Next
                          • +
                        + + +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html index 47f5509..8ff0b64 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.test.TestRobot - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html index 0062311..44970bc 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test - + @@ -13,7 +13,9 @@

                        Classes

                      diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html index 40f5a1a..a39b1ab 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test - + @@ -43,7 +43,7 @@
                        @@ -83,7 +83,15 @@

                        Package org.montclairrobotics.alloy.test< -Shooter +Control +  + + +Hardware +  + + +ShooterMapper   @@ -116,7 +124,7 @@

                        Package org.montclairrobotics.alloy.test<

                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html index 9b09786..6ad76ea 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test Class Hierarchy - + @@ -43,7 +43,7 @@
                        @@ -81,6 +81,8 @@

                        Class Hierarchy

                        • java.lang.Object
                            +
                          • org.montclairrobotics.alloy.test.Control
                            • +
                          • org.montclairrobotics.alloy.test.Hardware
                          • com.qualcomm.robotcore.eventloop.opmode.OpMode
                            • org.montclairrobotics.alloy.core.Alloy @@ -90,11 +92,7 @@

                              Class Hierarchy

                            • -
                          • org.montclairrobotics.alloy.utils.Toggleable -
                              -
                            • org.montclairrobotics.alloy.test.Shooter
                              • -
                            -
                            • +
                          • org.montclairrobotics.alloy.test.ShooterMapper (implements org.montclairrobotics.alloy.motor.Mapper<T>)
                        @@ -120,7 +118,7 @@

                        Class Hierarchy

                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html index 7d9f726..461555c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.test - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Update.html b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html index efa5ee1..66aa47b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Update.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html @@ -2,9 +2,9 @@ - + Update - + @@ -43,8 +43,8 @@
                      • Frames
                        • @@ -194,8 +194,8 @@

                        priority

                      • Frames
                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html new file mode 100644 index 0000000..3a1abae --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html @@ -0,0 +1,279 @@ + + + + + +Updateable + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                          +
                        • Detail: 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.update
                        +

                        Class Updateable

                        +
                        +
                        +
                          +
                        • java.lang.Object
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.update.Updateable
                            • +
                          +
                          • +
                        +
                        +
                          +
                        • +
                          +
                          +
                          public class Updateable
+extends java.lang.Object
                          +
                          A class used for creating objects that can be updated by the Updater + +

                          An updateable conatins a method to be updates along with any extra information needed for it + to be properly called and updated like the update rate, parameters and objects that it should be + invoked on

                          +
                          +
                          Since:
                          +
                          0.1
                          +
                          Author:
                          +
                          Garrett Burroughs
                          +
                          See Also:
                          +
                          Updater
                          +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Method Summary

                            + + + + + + + + + + + + + + + + + + +
                            All Methods Instance Methods Concrete Methods 
                            Modifier and TypeMethod and Description
                            voidgetReferences() +
                            Gets references to all of the object that the update method should be called on
                            +
                            intgetUpdateRate() 
                            voidrun() 
                            +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              getReferences

                              +
                              public void getReferences()
                              +
                              Gets references to all of the object that the update method should be called on
                              +
                              • +
                            + + + +
                              +
                            • +

                              run

                              +
                              public void run()
                              +
                              • +
                            + + + +
                              +
                            • +

                              getUpdateRate

                              +
                              public int getUpdateRate()
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                          +
                        • Detail: 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html index 3388f70..f7841a2 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html @@ -2,9 +2,9 @@ - + Updater - + @@ -49,7 +49,7 @@
                        @@ -159,7 +159,11 @@

                        Method Summary

                        static void -update()  +update() +
                        The update method takes care of updating all of the methods in the project that are within a + component and are annotated with @Update It will also check the Update rate and decide + weather to update the method accordingly
                        +
                          @@ -216,6 +220,9 @@

                          registerUpdatables

                        • update

                          public static void update()
                          +
                          The update method takes care of updating all of the methods in the project that are within a + component and are annotated with @Update It will also check the Update rate and decide + weather to update the method accordingly
                        @@ -246,7 +253,7 @@

                        update

                      + +void +FTCJoystick.updateControls()  + + +void +FTCMotor.updateMotor()  + + + + +
                    • + + +

                      Uses of Update in org.montclairrobotics.alloy.motor

                      + + + + + + + + + + + + + + +
                      Methods in org.montclairrobotics.alloy.motor with annotations of type Update 
                      Modifier and TypeMethod and Description
                      voidMotorGroup.controlPower() 
                      voidMotorModule.powerCorrection() 
                      • @@ -150,10 +206,15 @@

                      Uses of void -PID.update() -
                      The update method should be defined for every updatable, and is called every loop if added to - the updater
                      - +BangBang.calculateCorrection()  + + +void +Differential.calculateDifferential()  + + +void +PID.update()  diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html new file mode 100644 index 0000000..08baef0 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.update.Updateable + + + + + + + + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      +
                        +
                      • Prev
                        • +
                      • Next
                        • +
                      + + +
                      + +
                      + + +
                      + +
                      +

                      Uses of Class
                      org.montclairrobotics.alloy.update.Updateable

                      +
                      +
                      No usage of org.montclairrobotics.alloy.update.Updateable
                      + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      +
                        +
                      • Prev
                        • +
                      • Next
                        • +
                      + + +
                      + +
                      + + +
                      + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html index 61fba53..dab8cf7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.update.Updater - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html index d04ccb0..f3cd66c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update - + @@ -13,7 +13,7 @@

                      Classes

                      Annotation Types

                      diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html index 2b1fa0a..7a571c5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update - + @@ -83,9 +83,9 @@

                      Package org.montclairrobotics.alloy.updat -Updatable +Updateable -
                      Created by MHS Robotics on 2/11/2018.
                      +
                      A class used for creating objects that can be updated by the Updater
                      diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html index d06c2f3..f9e2eec 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update Class Hierarchy - + @@ -81,7 +81,7 @@

                      Class Hierarchy

                      • java.lang.Object
                          -
                        • org.montclairrobotics.alloy.update.Updatable
                          • +
                        • org.montclairrobotics.alloy.update.Updateable
                        • org.montclairrobotics.alloy.update.Updater
                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html index fd742cf..d48e04e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.update - + @@ -83,13 +83,21 @@

                        Use -org.montclairrobotics.alloy.control +org.montclairrobotics.alloy.components   +org.montclairrobotics.alloy.control +  + + org.montclairrobotics.alloy.ftc   + +org.montclairrobotics.alloy.motor +  + org.montclairrobotics.alloy.utils   @@ -97,6 +105,21 @@

                        Use +
                      • + + + + + + + + + + + + +
                        Classes in org.montclairrobotics.alloy.update used by org.montclairrobotics.alloy.components 
                        Class and Description
                        Update 
                        +
                      • @@ -127,6 +150,21 @@

                        Use

                        • +
                      • + + + + + + + + + + + + +
                        Classes in org.montclairrobotics.alloy.update used by org.montclairrobotics.alloy.motor 
                        Class and Description
                        Update 
                        +
                      • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html b/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html new file mode 100644 index 0000000..262b9cd --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html @@ -0,0 +1,514 @@ + + + + + +BangBang + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.utils
                        +

                        Class BangBang

                        +
                        +
                        + +
                        + +
                        +
                        + +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Field Detail

                            + + + +
                              +
                            • +

                              target

                              +
                              public double target
                              +
                              • +
                            + + + +
                              +
                            • +

                              lowOut

                              +
                              public double lowOut
                              +
                              • +
                            + + + +
                              +
                            • +

                              highOut

                              +
                              public double highOut
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              BangBang

                              +
                              public BangBang(double lowOut,
+                double highOut)
                              +
                              • +
                            + + + +
                              +
                            • +

                              BangBang

                              +
                              public BangBang(double correction)
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              setTarget

                              +
                              public BangBang setTarget(java.lang.Double target)
                              +
                              Set the target for the correction When the input is equal to the target the error is 0
                              +
                              +
                              Specified by:
                              +
                              setTarget in interface ErrorCorrection<java.lang.Double>
                              +
                              Parameters:
                              +
                              target - the goal of the error correction
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              setInput

                              +
                              public BangBang setInput(Input input)
                              +
                              Description copied from interface: ErrorCorrection
                              +
                              Set the input of the error correction the input should be the source of what correction is + correcting. For example in a motor the input would be the encoder
                              +
                              +
                              Specified by:
                              +
                              setInput in interface ErrorCorrection<java.lang.Double>
                              +
                              Overrides:
                              +
                              setInput in class InputComponent<java.lang.Double>
                              +
                              Parameters:
                              +
                              input - the input to the error correction
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              getCorrection

                              +
                              public java.lang.Double getCorrection()
                              +
                              Get the value to apply the correction
                              +
                              +
                              Specified by:
                              +
                              getCorrection in interface ErrorCorrection<java.lang.Double>
                              +
                              Returns:
                              +
                              the correction
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              copy

                              +
                              public BangBang copy()
                              +
                              +
                              Specified by:
                              +
                              copy in interface ErrorCorrection<java.lang.Double>
                              +
                              Returns:
                              +
                              A copy of the error correction
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              calculateCorrection

                              +
                              public void calculateCorrection()
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html b/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html new file mode 100644 index 0000000..d9454bf --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html @@ -0,0 +1,362 @@ + + + + + +BooleanToggle + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.utils
                        +

                        Class BooleanToggle

                        +
                        +
                        + +
                        +
                          +
                        • +
                          +
                          All Implemented Interfaces:
                          +
                          Input<java.lang.Boolean>
                          +
                          +
                          +
                          +
                          public class BooleanToggle
+extends Toggleable
+implements Input<java.lang.Boolean>
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + + + + + +
                            +
                          • + + +

                            Constructor Summary

                            + + + + + + + + +
                            Constructors 
                            Constructor and Description
                            BooleanToggle() 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Summary

                            + + + + + + + + + + + + + + + + + + +
                            All Methods Instance Methods Concrete Methods 
                            Modifier and TypeMethod and Description
                            voiddisableAction() +
                            Method to be called when the toggleable is disabled
                            +
                            voidenableAction() +
                            Method to be called when the toggleable is enabled
                            +
                            java.lang.Booleanget() 
                            + +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              BooleanToggle

                              +
                              public BooleanToggle()
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              get

                              +
                              public java.lang.Boolean get()
                              +
                              +
                              Specified by:
                              +
                              get in interface Input<java.lang.Boolean>
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              enableAction

                              +
                              public void enableAction()
                              +
                              Method to be called when the toggleable is enabled
                              +
                              +
                              Specified by:
                              +
                              enableAction in class Toggleable
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              disableAction

                              +
                              public void disableAction()
                              +
                              Method to be called when the toggleable is disabled
                              +
                              +
                              Specified by:
                              +
                              disableAction in class Toggleable
                              +
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html b/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html new file mode 100644 index 0000000..bc33c34 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html @@ -0,0 +1,292 @@ + + + + + +ConstantInput + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.utils
                        +

                        Class ConstantInput<T>

                        +
                        +
                        +
                          +
                        • java.lang.Object
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.utils.ConstantInput<T>
                            • +
                          +
                          • +
                        +
                        +
                          +
                        • +
                          +
                          All Implemented Interfaces:
                          +
                          Input<T>
                          +
                          +
                          +
                          +
                          public class ConstantInput<T>
+extends java.lang.Object
+implements Input<T>
                          +
                          Created by MHS Robotics on 3/30/2018. + +

                          The constant input can be used when a object or method requires an Input, but the input will + not change. This can be useful in testing and debugging, As well as certain component + implementations

                          +
                          +
                          Since:
                          +
                          Author:
                          +
                          Garrett Burroughs
                          +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Summary

                            + + + + + + + + +
                            Constructors 
                            Constructor and Description
                            ConstantInput(T constant) 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Summary

                            + + + + + + + + + + +
                            All Methods Instance Methods Concrete Methods 
                            Modifier and TypeMethod and Description
                            Tget() 
                            +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Detail

                            + + + + + +
                              +
                            • +

                              ConstantInput

                              +
                              public ConstantInput(T constant)
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              get

                              +
                              public T get()
                              +
                              +
                              Specified by:
                              +
                              get in interface Input<T>
                              +
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html new file mode 100644 index 0000000..d78f0e7 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html @@ -0,0 +1,411 @@ + + + + + +Differential + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.utils
                        +

                        Class Differential

                        +
                        +
                        + +
                        +
                          +
                        • +
                          +
                          All Implemented Interfaces:
                          +
                          Input
                          +
                          +
                          +
                          +
                          public class Differential
+extends InputComponent<java.lang.Double>
                          +
                          A class to calculate how an input varies with time + +

                          A differential is the rate of change of a certain variable with respect to another one. In + simplper terms is is the slope. The Differential class takes an input and calculates the average + rate of change over a very small interval of the input with respect to time + +

                          This concept is a calculus concept when and can be most easily understood when looking at a + graph where time is the independent variable and the input is dependant on the time + +

                          For example, a time differential of position would be velocity because velocity is how much + the position changes over time (eg. meters per second) @Author Garrett Burroughs @Since + 0.1 @Version 0.1

                          +
                          • +
                        +
                        +
                        + +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Field Detail

                            + + + +
                              +
                            • +

                              input

                              +
                              public Input<java.lang.Double> input
                              +
                              The dependant variable in the situation
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              Differential

                              +
                              public Differential(Input in)
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              calculateDifferential

                              +
                              public void calculateDifferential()
                              +
                              • +
                            + + + +
                              +
                            • +

                              getInput

                              +
                              public java.lang.Double getInput()
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        + + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html new file mode 100644 index 0000000..d8a7c21 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html @@ -0,0 +1,314 @@ + + + + + +ErrorCorrection + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                          +
                        • Detail: 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.utils
                        +

                        Interface ErrorCorrection<T>

                        +
                        +
                        +
                        +
                          +
                        • +
                          +
                          Type Parameters:
                          +
                          T - the type of error that will be corrected
                          +
                          +
                          +
                          All Known Implementing Classes:
                          +
                          BangBang, PID, TuneablePID
                          +
                          +
                          +
                          +
                          public interface ErrorCorrection<T>
                          +
                          A interface that defines the process of correcting an error + +

                          Error correction can be implemented in different ways but is very important in creating a + funcitonal robot. The most common + +

                          Most error corrections calculate the error based on the difference of the input and the target + and then return an output correction based on that. + +

                          Some common examples of error corrections are - PID Loop - Bang Bang control

                          +
                          +
                          Since:
                          +
                          0.1
                          +
                          Version:
                          +
                          0.1
                          +
                          See Also:
                          +
                          PID
                          +
                          +
                          • +
                        +
                        +
                        + +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              setInput

                              +
                              ErrorCorrection<T> setInput(Input<T> input)
                              +
                              Set the input of the error correction the input should be the source of what correction is + correcting. For example in a motor the input would be the encoder
                              +
                              +
                              Parameters:
                              +
                              input - the input to the error correction
                              +
                              +
                              • +
                            + + + + + +
                              +
                            • +

                              setTarget

                              +
                              ErrorCorrection setTarget(T target)
                              +
                              Set the target for the correction When the input is equal to the target the error is 0
                              +
                              +
                              Parameters:
                              +
                              target - the goal of the error correction
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              getCorrection

                              +
                              T getCorrection()
                              +
                              Get the value to apply the correction
                              +
                              +
                              Returns:
                              +
                              the correction
                              +
                              +
                              • +
                            + + + +
                              +
                            • +

                              copy

                              +
                              ErrorCorrection copy()
                              +
                              +
                              Returns:
                              +
                              A copy of the error correction
                              +
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                          +
                        • Detail: 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html new file mode 100644 index 0000000..14d8897 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html @@ -0,0 +1,271 @@ + + + + + +Initializeable + + + + + + + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + +
                        +
                        org.montclairrobotics.alloy.utils
                        +

                        Class Initializeable

                        +
                        +
                        +
                          +
                        • java.lang.Object
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.utils.Initializeable
                            • +
                          +
                          • +
                        +
                        +
                          +
                        • +
                          +
                          +
                          public abstract class Initializeable
+extends java.lang.Object
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Summary

                            + + + + + + + + +
                            Constructors 
                            Constructor and Description
                            Initializeable() 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Summary

                            + + + + + + + + + + +
                            All Methods Instance Methods Abstract Methods 
                            Modifier and TypeMethod and Description
                            abstract voidinit() 
                            +
                              +
                            • + + +

                              Methods inherited from class java.lang.Object

                              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        +
                          +
                        • + +
                            +
                          • + + +

                            Constructor Detail

                            + + + +
                              +
                            • +

                              Initializeable

                              +
                              public Initializeable()
                              +
                              • +
                            +
                            • +
                          + +
                            +
                          • + + +

                            Method Detail

                            + + + +
                              +
                            • +

                              init

                              +
                              public abstract void init()
                              +
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        +
                        + + +
                        + + +
                        Skip navigation links
                        + + + + +
                        +
                        + + + +
                        + +
                        +
                        +
                          +
                        • Summary: 
                          • +
                        • Nested | 
                          • +
                        • Field | 
                          • +
                        • Constr | 
                          • +
                        • Method
                          • +
                        + +
                        + + +
                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html index b44d481..b626305 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html @@ -2,9 +2,9 @@ - + Input - + @@ -49,8 +49,8 @@

                  • Frames
                    • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html new file mode 100644 index 0000000..e497184 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html @@ -0,0 +1,367 @@ + + + + + +Monitor + + + + + + + + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    + + + +
                    + +
                    +
                    + + +
                    + + +
                    + + +
                    +
                    org.montclairrobotics.alloy.utils
                    +

                    Class Monitor

                    +
                    +
                    +
                      +
                    • java.lang.Object
                      • +
                    • +
                        +
                      • org.montclairrobotics.alloy.utils.Monitor
                        • +
                      +
                      • +
                    +
                    +
                      +
                    • +
                      +
                      All Implemented Interfaces:
                      +
                      Input<java.lang.Boolean>
                      +
                      +
                      +
                      +
                      public class Monitor
+extends java.lang.Object
+implements Input<java.lang.Boolean>
                      +
                      Created by MHS Robotics on 3/12/2018. + +

                      A monitor is a class that takes in 2 inputs, and returns true when they are within a certain + tolerance This can be good for monitoring if certain systems are working, for example if a motor + is spinning at a desired speed and can also be used to monitor a sensor to see if it has reached + a certain value.

                      +
                      +
                      Since:
                      +
                      0.1
                      +
                      Author:
                      +
                      Garrett Burroughs
                      +
                      +
                      • +
                    +
                    +
                    +
                      +
                    • + +
                        +
                      • + + +

                        Field Summary

                        + + + + + + + + + + + + + + + + + + +
                        Fields 
                        Modifier and TypeField and Description
                        Input<java.lang.Double>input +
                        The input to be checked
                        +
                        Input<java.lang.Double>target +
                        The desired target for the input
                        +
                        doubletolerance +
                        How far the input can be away from the target while still being true
                        +
                        +
                        • +
                      + +
                        +
                      • + + +

                        Constructor Summary

                        + + + + + + + + +
                        Constructors 
                        Constructor and Description
                        Monitor(Input<java.lang.Double> target, + Input<java.lang.Double> input, + double tolerance) 
                        +
                        • +
                      + +
                        +
                      • + + +

                        Method Summary

                        + + + + + + + + + + +
                        All Methods Instance Methods Concrete Methods 
                        Modifier and TypeMethod and Description
                        java.lang.Booleanget() 
                        +
                          +
                        • + + +

                          Methods inherited from class java.lang.Object

                          +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                          • +
                        +
                        • +
                      +
                      • +
                    +
                    +
                    +
                      +
                    • + +
                        +
                      • + + +

                        Field Detail

                        + + + +
                          +
                        • +

                          target

                          +
                          public Input<java.lang.Double> target
                          +
                          The desired target for the input
                          +
                          • +
                        + + + +
                          +
                        • +

                          input

                          +
                          public Input<java.lang.Double> input
                          +
                          The input to be checked
                          +
                          • +
                        + + + +
                          +
                        • +

                          tolerance

                          +
                          public double tolerance
                          +
                          How far the input can be away from the target while still being true
                          +
                          • +
                        +
                        • +
                      + +
                        +
                      • + + +

                        Constructor Detail

                        + + + +
                          +
                        • +

                          Monitor

                          +
                          public Monitor(Input<java.lang.Double> target,
+               Input<java.lang.Double> input,
+               double tolerance)
                          +
                          • +
                        +
                        • +
                      + +
                        +
                      • + + +

                        Method Detail

                        + + + +
                          +
                        • +

                          get

                          +
                          public java.lang.Boolean get()
                          +
                          +
                          Specified by:
                          +
                          get in interface Input<java.lang.Boolean>
                          +
                          +
                          • +
                        +
                        • +
                      +
                      • +
                    +
                    +
                    + + +
                    + + +
                    Skip navigation links
                    + + + + +
                    +
                    + + + +
                    + +
                    +
                    + + +
                    + + +
                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html index d0fbcf0..de1c8e6 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html @@ -2,9 +2,9 @@ - + PID - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -49,7 +49,7 @@
                  • All Implemented Interfaces:
                    -
                    Input<java.lang.Double>
                    +
                    ErrorCorrection<java.lang.Double>, Input

                    public class PID
-extends java.lang.Object
-implements Input<java.lang.Double>
                    +extends InputComponent<java.lang.Double> +implements ErrorCorrection<java.lang.Double>
                    Created by Montclair robotics on 2/27/2018

                    A PID controller is able to control a component that has a target, current state, and can be @@ -132,6 +147,8 @@

                    Class PID

                    Since:
                    0.1
                    +
                    Version:
                    +
                    0.1
                    Author:
                    Garrett Burroughs
                    @@ -141,6 +158,50 @@

                    Class PID

                      @@ -367,8 +493,8 @@

                      update

                      diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html new file mode 100644 index 0000000..0a2e2e8 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html @@ -0,0 +1,358 @@ + + + + + +Toggleable.Status + + + + + + + + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      + + + +
                      + +
                      +
                      + + +
                      + + +
                      + + +
                      +
                      org.montclairrobotics.alloy.utils
                      +

                      Enum Toggleable.Status

                      +
                      +
                      +
                        +
                      • java.lang.Object
                        • +
                      • +
                          +
                        • java.lang.Enum<Toggleable.Status>
                          • +
                        • +
                            +
                          • org.montclairrobotics.alloy.utils.Toggleable.Status
                            • +
                          +
                          • +
                        +
                        • +
                      +
                      +
                        +
                      • +
                        +
                        All Implemented Interfaces:
                        +
                        java.io.Serializable, java.lang.Comparable<Toggleable.Status>
                        +
                        +
                        +
                        Enclosing class:
                        +
                        Toggleable
                        +
                        +
                        +
                        +
                        public static enum Toggleable.Status
+extends java.lang.Enum<Toggleable.Status>
                        +
                        • +
                      +
                      +
                      +
                        +
                      • + +
                          +
                        • + + +

                          Enum Constant Summary

                          + + + + + + + + + + + +
                          Enum Constants 
                          Enum Constant and Description
                          DISABLED 
                          ENABLED 
                          +
                          • +
                        + +
                          +
                        • + + +

                          Method Summary

                          + + + + + + + + + + + + + + + + + + +
                          All Methods Static Methods Instance Methods Concrete Methods 
                          Modifier and TypeMethod and Description
                          booleanbooleanValue() 
                          static Toggleable.StatusvalueOf(java.lang.String name) +
                          Returns the enum constant of this type with the specified name.
                          +
                          static Toggleable.Status[]values() +
                          Returns an array containing the constants of this enum type, in +the order they are declared.
                          +
                          +
                            +
                          • + + +

                            Methods inherited from class java.lang.Enum

                            +clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
                            • +
                          +
                            +
                          • + + +

                            Methods inherited from class java.lang.Object

                            +getClass, notify, notifyAll, wait, wait, wait
                            • +
                          +
                          • +
                        +
                        • +
                      +
                      +
                      +
                        +
                      • + + + +
                          +
                        • + + +

                          Method Detail

                          + + + +
                            +
                          • +

                            values

                            +
                            public static Toggleable.Status[] values()
                            +
                            Returns an array containing the constants of this enum type, in +the order they are declared. This method may be used to iterate +over the constants as follows: +
                            +for (Toggleable.Status c : Toggleable.Status.values())
+    System.out.println(c);
+
                            +
                            +
                            Returns:
                            +
                            an array containing the constants of this enum type, in the order they are declared
                            +
                            +
                            • +
                          + + + +
                            +
                          • +

                            valueOf

                            +
                            public static Toggleable.Status valueOf(java.lang.String name)
                            +
                            Returns the enum constant of this type with the specified name. +The string must match exactly an identifier used to declare an +enum constant in this type. (Extraneous whitespace characters are +not permitted.)
                            +
                            +
                            Parameters:
                            +
                            name - the name of the enum constant to be returned.
                            +
                            Returns:
                            +
                            the enum constant with the specified name
                            +
                            Throws:
                            +
                            java.lang.IllegalArgumentException - if this enum type has no constant with the specified name
                            +
                            java.lang.NullPointerException - if the argument is null
                            +
                            +
                            • +
                          + + + +
                            +
                          • +

                            booleanValue

                            +
                            public boolean booleanValue()
                            +
                            • +
                          +
                          • +
                        +
                        • +
                      +
                      +
                      + + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      + + + +
                      + +
                      +
                      + + +
                      + + +
                      + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html index 1f9a1e1..541b112 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html @@ -2,9 +2,9 @@ - + Toggleable - + @@ -50,7 +50,7 @@
                      • Frames
                        • @@ -74,14 +74,14 @@
                        @@ -109,7 +109,7 @@

                        Class Toggleable

                      • Direct Known Subclasses:
                        -
                        Shooter
                        +
                        BooleanToggle, Component

                        @@ -134,6 +134,46 @@

                        Class Toggleable

                        • + +
                            +
                          • + + +

                            Nested Class Summary

                            + + + + + + + + + + +
                            Nested Classes 
                            Modifier and TypeClass and Description
                            static class Toggleable.Status 
                            +
                            • +
                          + +
                            +
                          • + + +

                            Field Summary

                            + + + + + + + + + + +
                            Fields 
                            Modifier and TypeField and Description
                            Toggleable.Statusstatus +
                            The status of the toggleable, to keep track of weather it is enabled, or disabled
                            +
                            +
                            • +
                          • @@ -210,6 +250,24 @@

                            Methods inherited from class java.lang.Object

                            • + +
                                +
                              • + + +

                                Field Detail

                                + + + +
                                  +
                                • +

                                  status

                                  +
                                  public Toggleable.Status status
                                  +
                                  The status of the toggleable, to keep track of weather it is enabled, or disabled
                                  +
                                  • +
                                +
                                • +
                              • @@ -313,7 +371,7 @@

                                toggle

                                • Frames
                                  • @@ -337,14 +395,14 @@

                                  toggle

                                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html index 0bc6c7a..fb78565 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html @@ -2,9 +2,9 @@ - + TuneablePID - + @@ -18,6 +18,12 @@ catch(err) { } //--> +var methods = {"i0":10,"i1":10,"i2":10,"i3":10}; +var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; +var altColor = "altColor"; +var rowColor = "rowColor"; +var tableTab = "tableTab"; +var activeTableTab = "activeTableTab";
                                  • +
                                    +
                                    All Implemented Interfaces:
                                    +
                                    ErrorCorrection<java.lang.Double>, Input
                                    +

                                    public class TuneablePID
-extends java.lang.Object
                                    +extends InputComponent<java.lang.Double> +implements ErrorCorrection<java.lang.Double> +
                                    A PID class that takes in tunable inputs to make PID tuning easier + +

                                    Using a standard PID model, the user would have to re-deploy an test code which can end up + becoming a very long and drawn out process. By making them inputs, it is able to change these + values at runtime This could be done easily in FRC using smartdashboard or in FTC by using + buttons or joysticks to change values

                                  @@ -192,8 +393,8 @@

                                  TuneablePID

                                  • Frames
                                    • @@ -217,16 +418,16 @@

                                    TuneablePID

                                    diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html new file mode 100644 index 0000000..e6cb044 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html @@ -0,0 +1,383 @@ + + + + + +Utils + + + + + + + + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    + + + +
                                    + +
                                    +
                                    +
                                      +
                                    • Summary: 
                                      • +
                                    • Nested | 
                                      • +
                                    • Field | 
                                      • +
                                    • Constr | 
                                      • +
                                    • Method
                                      • +
                                    + +
                                    + + +
                                    + + +
                                    +
                                    org.montclairrobotics.alloy.utils
                                    +

                                    Class Utils

                                    +
                                    +
                                    +
                                      +
                                    • java.lang.Object
                                      • +
                                    • +
                                        +
                                      • org.montclairrobotics.alloy.utils.Utils
                                        • +
                                      +
                                      • +
                                    +
                                    +
                                      +
                                    • +
                                      +
                                      +
                                      public class Utils
+extends java.lang.Object
                                      +
                                      A set of common methods that are useful in writing robot code + +

                                      The Utils class contains static methods that can perform basic functions that can be useful

                                      +
                                      +
                                      Since:
                                      +
                                      0.1
                                      +
                                      Version:
                                      +
                                      0.1
                                      +
                                      Author:
                                      +
                                      garrettburroughs
                                      +
                                      +
                                      • +
                                    +
                                    +
                                    +
                                      +
                                    • + +
                                        +
                                      • + + +

                                        Constructor Summary

                                        + + + + + + + + +
                                        Constructors 
                                        Constructor and Description
                                        Utils() 
                                        +
                                        • +
                                      + +
                                        +
                                      • + + +

                                        Method Summary

                                        + + + + + + + + + + + + + + + + + + + + + + +
                                        All Methods Static Methods Concrete Methods 
                                        Modifier and TypeMethod and Description
                                        static doubleconstrain(double in, + double min, + double max) +
                                        Makes sure that a value is between 2 different values
                                        +
                                        static doublemap(double in, + double inputMin, + double inputMax, + double outputMin, + double outputMax) +
                                        The map function takes an input value that can be between a certain range and maps it to a + specified output range
                                        +
                                        static doublepow2(double in, + int pow) +
                                        A modified power function that conserves the sign
                                        +
                                        static intsign(double in) +
                                        Returns the sign of a number
                                        +
                                        +
                                          +
                                        • + + +

                                          Methods inherited from class java.lang.Object

                                          +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                          • +
                                        +
                                        • +
                                      +
                                      • +
                                    +
                                    +
                                    +
                                      +
                                    • + +
                                        +
                                      • + + +

                                        Constructor Detail

                                        + + + +
                                          +
                                        • +

                                          Utils

                                          +
                                          public Utils()
                                          +
                                          • +
                                        +
                                        • +
                                      + +
                                        +
                                      • + + +

                                        Method Detail

                                        + + + +
                                          +
                                        • +

                                          constrain

                                          +
                                          public static double constrain(double in,
+                               double min,
+                               double max)
                                          +
                                          Makes sure that a value is between 2 different values + +

                                          The constrain method will return the passed in value if it is between the boundaries (min + & max), amd will return the min or the max depending on which side it runs out on

                                          +
                                          +
                                          Parameters:
                                          +
                                          in - the value being passed in
                                          +
                                          min - minimum the value can be
                                          +
                                          max - maximum the value can be
                                          +
                                          Returns:
                                          +
                                          a value between the maximum and minimum value
                                          +
                                          +
                                          • +
                                        + + + +
                                          +
                                        • +

                                          map

                                          +
                                          public static double map(double in,
+                         double inputMin,
+                         double inputMax,
+                         double outputMin,
+                         double outputMax)
                                          +
                                          The map function takes an input value that can be between a certain range and maps it to a + specified output range
                                          +
                                          +
                                          Parameters:
                                          +
                                          in - the value being passed in
                                          +
                                          inputMin - the minimum value the input can be
                                          +
                                          inputMax - the maximum value the input can be
                                          +
                                          outputMin - the minimum value the output can be
                                          +
                                          outputMax - the maximum value the output can be
                                          +
                                          Returns:
                                          +
                                          a mapped value from the input range to the output range
                                          +
                                          +
                                          • +
                                        + + + +
                                          +
                                        • +

                                          sign

                                          +
                                          public static int sign(double in)
                                          +
                                          Returns the sign of a number
                                          +
                                          +
                                          Parameters:
                                          +
                                          in - the number whose sign will be calculated
                                          +
                                          Returns:
                                          +
                                          1 if the number is positive and -1 if it is negative
                                          +
                                          +
                                          • +
                                        + + + +
                                          +
                                        • +

                                          pow2

                                          +
                                          public static double pow2(double in,
+                          int pow)
                                          +
                                          A modified power function that conserves the sign
                                          +
                                          +
                                          Parameters:
                                          +
                                          in - the number to be raised to a power
                                          +
                                          pow - the power the number will be raised to
                                          +
                                          Returns:
                                          +
                                          in^pow while keeping the sign of in
                                          +
                                          +
                                          • +
                                        +
                                        • +
                                      +
                                      • +
                                    +
                                    +
                                    + + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    + + + +
                                    + +
                                    +
                                    +
                                      +
                                    • Summary: 
                                      • +
                                    • Nested | 
                                      • +
                                    • Field | 
                                      • +
                                    • Constr | 
                                      • +
                                    • Method
                                      • +
                                    + +
                                    + + +
                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html new file mode 100644 index 0000000..d3a3366 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html @@ -0,0 +1,174 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.BangBang + + + + + + + + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + +
                                    +

                                    Uses of Class
                                    org.montclairrobotics.alloy.utils.BangBang

                                    +
                                    +
                                    + +
                                    + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html new file mode 100644 index 0000000..b8ff55f --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.BooleanToggle + + + + + + + + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + +
                                    +

                                    Uses of Class
                                    org.montclairrobotics.alloy.utils.BooleanToggle

                                    +
                                    +
                                    No usage of org.montclairrobotics.alloy.utils.BooleanToggle
                                    + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html new file mode 100644 index 0000000..807f884 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.ConstantInput + + + + + + + + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + +
                                    +

                                    Uses of Class
                                    org.montclairrobotics.alloy.utils.ConstantInput

                                    +
                                    +
                                    No usage of org.montclairrobotics.alloy.utils.ConstantInput
                                    + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html new file mode 100644 index 0000000..ece05be --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.Differential + + + + + + + + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + +
                                    +

                                    Uses of Class
                                    org.montclairrobotics.alloy.utils.Differential

                                    +
                                    +
                                    No usage of org.montclairrobotics.alloy.utils.Differential
                                    + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html new file mode 100644 index 0000000..110c033 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html @@ -0,0 +1,340 @@ + + + + + +Uses of Interface org.montclairrobotics.alloy.utils.ErrorCorrection + + + + + + + + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + +
                                    +

                                    Uses of Interface
                                    org.montclairrobotics.alloy.utils.ErrorCorrection

                                    +
                                    +
                                    + +
                                    + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html new file mode 100644 index 0000000..dee5d08 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html @@ -0,0 +1,164 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.Initializeable + + + + + + + + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + +
                                    +

                                    Uses of Class
                                    org.montclairrobotics.alloy.utils.Initializeable

                                    +
                                    +
                                    + +
                                    + +
                                    + + +
                                    Skip navigation links
                                    + + + + +
                                    +
                                    +
                                      +
                                    • Prev
                                      • +
                                    • Next
                                      • +
                                    + + +
                                    + +
                                    + + +
                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html index afa87c9..4010c75 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.utils.Input - + @@ -83,9 +83,25 @@

                                    +org.montclairrobotics.alloy.components +  + + +org.montclairrobotics.alloy.core +  + + +org.montclairrobotics.alloy.drive +  + + org.montclairrobotics.alloy.ftc   + +org.montclairrobotics.alloy.motor +  + org.montclairrobotics.alloy.utils   @@ -95,10 +111,133 @@

                                      +
                                    • + + +

                                      Uses of Input in org.montclairrobotics.alloy.components

                                      + + + + + + + + + + + + +
                                      Classes in org.montclairrobotics.alloy.components that implement Input 
                                      Modifier and TypeClass and Description
                                      class InputComponent<T> 
                                      + + + + + + + + + + + + +
                                      Fields in org.montclairrobotics.alloy.components declared as Input 
                                      Modifier and TypeField and Description
                                      Input<T>InputComponent.input 
                                      + + + + + + + + + + + + +
                                      Methods in org.montclairrobotics.alloy.components with parameters of type Input 
                                      Modifier and TypeMethod and Description
                                      InputComponent<T>InputComponent.setInput(Input<T> input) 
                                      +
                                      • +
                                    • + + +

                                      Uses of Input in org.montclairrobotics.alloy.core

                                      + + + + + + + + + + + + +
                                      Classes in org.montclairrobotics.alloy.core that implement Input 
                                      Modifier and TypeClass and Description
                                      class Encoder +
                                      A motor encoder that keeps track of kinematic information about the motor
                                      +
                                      + + + + + + + + + + + + +
                                      Fields in org.montclairrobotics.alloy.core declared as Input 
                                      Modifier and TypeField and Description
                                      Input<java.lang.Object>Debug.value 
                                      + + + + + + + + + + +
                                      Constructors in org.montclairrobotics.alloy.core with parameters of type Input 
                                      Constructor and Description
                                      Debug(java.lang.String key, + Input<java.lang.Object> value) 
                                      +
                                      • +
                                    • + + +

                                      Uses of Input in org.montclairrobotics.alloy.drive

                                      + + + + + + + + + + + + +
                                      Methods in org.montclairrobotics.alloy.drive with parameters of type Input 
                                      Modifier and TypeMethod and Description
                                      voidDTMapper.map(Input<DTInput> input, + MotorModule... modules) 
                                      +

                                    • Uses of Input in org.montclairrobotics.alloy.ftc

                                      + + + + + + + + + + + + +
                                      Classes in org.montclairrobotics.alloy.ftc that implement Input 
                                      Modifier and TypeClass and Description
                                      class FTCJoystick +
                                      Created by MHS Robotics on 11/14/2017.
                                      +
                                      @@ -106,11 +245,34 @@

                                      Uses of -

                                      + + boolean invert) +
                                      Creates a new button specifying a button input and an invert
                                      + +                                       + +
                                      Constructors in org.montclairrobotics.alloy.ftc with parameters of type Input 
                                      FTCButton(Input<java.lang.Boolean> buttonInput) FTCButton(Input<java.lang.Boolean> buttonInput) +
                                      Creates a new button using a buttonInput
                                      +
                                      FTCButton(Input<java.lang.Boolean> buttonInput, - boolean invert) 
                                      +
                                      • +
                                    • + + +

                                      Uses of Input in org.montclairrobotics.alloy.motor

                                      + + + + + + + + + +
                                      Methods in org.montclairrobotics.alloy.motor with parameters of type Input 
                                      Modifier and TypeMethod and Description
                                      voidDefaultMapper.map(Input<java.lang.Double> input, + MotorModule... modules) 
                                      @@ -128,10 +290,69 @@

                                      Uses of class  +BangBang  + + +class  +BooleanToggle  + + +class  +ConstantInput<T> +
                                      Created by MHS Robotics on 3/30/2018.
                                      + + + +class  +Differential +
                                      A class to calculate how an input varies with time
                                      + + + +class  +Monitor +
                                      Created by MHS Robotics on 3/12/2018.
                                      + + + +class  PID
                                      Created by Montclair robotics on 2/27/2018
                                      + +class  +TuneablePID +
                                      A PID class that takes in tunable inputs to make PID tuning easier
                                      + + + + + + + + + + + + + + + + + + + + + + +
                                      Fields in org.montclairrobotics.alloy.utils declared as Input 
                                      Modifier and TypeField and Description
                                      Input<java.lang.Double>Monitor.input +
                                      The input to be checked
                                      +
                                      Input<java.lang.Double>Differential.input +
                                      The dependant variable in the situation
                                      +
                                      Input<java.lang.Double>Monitor.target +
                                      The desired target for the input
                                      +
                                      @@ -142,9 +363,27 @@

                                      Uses of +

                                      + + + + + + + + + + +
                                      BangBangBangBang.setInput(Input input) 
                                      TuneablePIDTuneablePID.setInput(Input input) +
                                      Set the input of the error correction the input should be the source of what correction is + correcting.
                                      +
                                      PID PID.setInput(Input<java.lang.Double> input) 
                                      ErrorCorrection<T>ErrorCorrection.setInput(Input<T> input) +
                                      Set the input of the error correction the input should be the source of what correction is + correcting.
                                      +
                                      @@ -154,6 +393,19 @@

                                      Uses of +

                                      + + + + + + + + - - - - @@ -95,39 +91,6 @@

                                      Us

                                      • Differential(Input in) 
                                      Monitor(Input<java.lang.Double> target, + Input<java.lang.Double> input, + double tolerance) 
                                      Monitor(Input<java.lang.Double> target, + Input<java.lang.Double> input, + double tolerance) 
                                      PID(double p, double i, double d, diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html new file mode 100644 index 0000000..0a38f99 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.Monitor + + + + + + + + +
                                      + + +
                                      Skip navigation links
                                      + + + + +
                                      +
                                      +
                                        +
                                      • Prev
                                        • +
                                      • Next
                                        • +
                                      + + +
                                      + +
                                      + + +
                                      + +
                                      +

                                      Uses of Class
                                      org.montclairrobotics.alloy.utils.Monitor

                                      +
                                      +
                                      No usage of org.montclairrobotics.alloy.utils.Monitor
                                      + +
                                      + + +
                                      Skip navigation links
                                      + + + + +
                                      +
                                      +
                                        +
                                      • Prev
                                        • +
                                      • Next
                                        • +
                                      + + +
                                      + +
                                      + + +
                                      + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html index e2b4b77..a040feb 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.PID - + @@ -83,10 +83,6 @@

                                      Us

                                      org.montclairrobotics.alloy.ftc 
                                      org.montclairrobotics.alloy.utils  
                                      - - - - - - - - - - - -
                                      Methods in org.montclairrobotics.alloy.ftc that return PID 
                                      Modifier and TypeMethod and Description
                                      PIDFTCTargetMotor.getPid() 
                                      - - - - - - - - - - - - -
                                      Methods in org.montclairrobotics.alloy.ftc with parameters of type PID 
                                      Modifier and TypeMethod and Description
                                      voidFTCTargetMotor.setPID(PID pid) -
                                      Set the motor to run using a custom PID
                                      -
                                      -

                                    • @@ -145,7 +108,7 @@

                                      Uses of PID -PID.setTarget(double target)  +PID.setTarget(java.lang.Double target)  diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html new file mode 100644 index 0000000..54822a0 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html @@ -0,0 +1,188 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.Toggleable.Status + + + + + + + + +
                                      + + +
                                      Skip navigation links
                                      + + + + +
                                      +
                                      +
                                        +
                                      • Prev
                                        • +
                                      • Next
                                        • +
                                      + + +
                                      + +
                                      + + +
                                      + +
                                      +

                                      Uses of Class
                                      org.montclairrobotics.alloy.utils.Toggleable.Status

                                      +
                                      +
                                      + +
                                      + +
                                      + + +
                                      Skip navigation links
                                      + + + + +
                                      +
                                      +
                                        +
                                      • Prev
                                        • +
                                      • Next
                                        • +
                                      + + +
                                      + +
                                      + + +
                                      + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html index 4457077..c0c77a6 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Toggleable - + @@ -83,11 +83,31 @@

                                      +org.montclairrobotics.alloy.components +  + + org.montclairrobotics.alloy.control   + +org.montclairrobotics.alloy.core +  + + +org.montclairrobotics.alloy.drive +  + + +org.montclairrobotics.alloy.ftc +  + -org.montclairrobotics.alloy.test +org.montclairrobotics.alloy.motor +  + + +org.montclairrobotics.alloy.utils   @@ -95,6 +115,30 @@

                                        +
                                      • + + +

                                        Uses of Toggleable in org.montclairrobotics.alloy.components

                                        + + + + + + + + + + + + + + + + +
                                        Subclasses of Toggleable in org.montclairrobotics.alloy.components 
                                        Modifier and TypeClass and Description
                                        class Component +
                                        The main component class that all components of alloy should extend
                                        +
                                        class InputComponent<T> 
                                        +
                                      • @@ -112,12 +156,12 @@

                                        Uses of +
                                      • -

                                        Uses of Toggleable in org.montclairrobotics.alloy.test

                                        +

                                        Uses of Toggleable in org.montclairrobotics.alloy.core

                                        - + @@ -125,7 +169,125 @@

                                        Uses of

                                        - + + + +
                                        Subclasses of Toggleable in org.montclairrobotics.alloy.test Subclasses of Toggleable in org.montclairrobotics.alloy.core 
                                        Modifier and Type Class and Descriptionclass Shooter Encoder +
                                        A motor encoder that keeps track of kinematic information about the motor
                                        +
                                        +
                                        • +
                                      • + + +

                                        Uses of Toggleable in org.montclairrobotics.alloy.drive

                                        + + + + + + + + + + + + +
                                        Subclasses of Toggleable in org.montclairrobotics.alloy.drive 
                                        Modifier and TypeClass and Description
                                        class DriveModule 
                                        +
                                        • +
                                      • + + +

                                        Uses of Toggleable in org.montclairrobotics.alloy.ftc

                                        + + + + + + + + + + + + + + + + + + + + +
                                        Subclasses of Toggleable in org.montclairrobotics.alloy.ftc 
                                        Modifier and TypeClass and Description
                                        class FTCJoystick +
                                        Created by MHS Robotics on 11/14/2017.
                                        +
                                        class FTCMotor +
                                        Created by MHS Robotics on 11/14/2017.
                                        +
                                        class FTCTargetMotor +
                                        Created by MHS Robotics on 2/24/2018.
                                        +
                                        +
                                        • +
                                      • + + +

                                        Uses of Toggleable in org.montclairrobotics.alloy.motor

                                        + + + + + + + + + + + + + + + + +
                                        Subclasses of Toggleable in org.montclairrobotics.alloy.motor 
                                        Modifier and TypeClass and Description
                                        class MotorGroup<T> +
                                        A motor group is a group of motor modules that run together
                                        +
                                        class MotorModule +
                                        Highly Functional set of motors that run together
                                        +
                                        +
                                        • +
                                      • + + +

                                        Uses of Toggleable in org.montclairrobotics.alloy.utils

                                        + + + + + + + + + + + + + + + + + + + + + + + + + +
                                        Subclasses of Toggleable in org.montclairrobotics.alloy.utils 
                                        Modifier and TypeClass and Description
                                        class BangBang 
                                        class BooleanToggle 
                                        class Differential +
                                        A class to calculate how an input varies with time
                                        +
                                        class PID +
                                        Created by Montclair robotics on 2/27/2018
                                        +
                                        class TuneablePID +
                                        A PID class that takes in tunable inputs to make PID tuning easier
                                        +
                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html index 52eef58..615576e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.TuneablePID - + @@ -72,7 +72,56 @@

                                        Uses of Class
                                        org.montclairrobotics.alloy.utils.TuneablePID

                                        -
                                        No usage of org.montclairrobotics.alloy.utils.TuneablePID
                                        +
                                        + +
                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html new file mode 100644 index 0000000..49a6c4e --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.Utils + + + + + + + + +
                                        + + +
                                        Skip navigation links
                                        + + + + +
                                        +
                                        +
                                          +
                                        • Prev
                                          • +
                                        • Next
                                          • +
                                        + + +
                                        + +
                                        + + +
                                        + +
                                        +

                                        Uses of Class
                                        org.montclairrobotics.alloy.utils.Utils

                                        +
                                        +
                                        No usage of org.montclairrobotics.alloy.utils.Utils
                                        + +
                                        + + +
                                        Skip navigation links
                                        + + + + +
                                        +
                                        +
                                          +
                                        • Prev
                                          • +
                                        • Next
                                          • +
                                        + + +
                                        + +
                                        + + +
                                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html index cf78a75..7cef9b9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils - + @@ -13,13 +13,25 @@

                                        Interfaces

                                        Classes

                                        +

                                        Enums

                                        +
                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html index efcd9ab..90368a5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils - + @@ -83,6 +83,12 @@

                                        Package org.montclairrobotics.alloy.utils +ErrorCorrection<T> + +
                                        A interface that defines the process of correcting an error
                                        + + + Input<T>
                                        Created by MHS Robotics on 2/2/2018.
                                        @@ -100,6 +106,36 @@

                                        Package org.montclairrobotics.alloy.utils +BangBang +  + + +BooleanToggle +  + + +ConstantInput<T> + +
                                        Created by MHS Robotics on 3/30/2018.
                                        + + + +Differential + +
                                        A class to calculate how an input varies with time
                                        + + + +Initializeable +  + + +Monitor + +
                                        Created by MHS Robotics on 3/12/2018.
                                        + + + PID
                                        Created by Montclair robotics on 2/27/2018
                                        @@ -113,6 +149,29 @@

                                        Package org.montclairrobotics.alloy.utils TuneablePID + +
                                        A PID class that takes in tunable inputs to make PID tuning easier
                                        + + + +Utils + +
                                        A set of common methods that are useful in writing robot code
                                        + + + + +

                                        • +
                                      • + + + + + + + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html index 1cfc4ee..90f1a26 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html @@ -2,9 +2,9 @@ - +org.montclairrobotics.alloy.utils Class Hierarchy - + @@ -81,16 +81,47 @@

                                        Class Hierarchy

                                        • java.lang.Object
                                            -
                                          • org.montclairrobotics.alloy.utils.PID (implements org.montclairrobotics.alloy.utils.Input<T>)
                                            • -
                                          • org.montclairrobotics.alloy.utils.Toggleable
                                            • -
                                          • org.montclairrobotics.alloy.utils.TuneablePID
                                            • +
                                          • org.montclairrobotics.alloy.utils.ConstantInput<T> (implements org.montclairrobotics.alloy.utils.Input<T>)
                                            • +
                                          • org.montclairrobotics.alloy.utils.Initializeable
                                            • +
                                          • org.montclairrobotics.alloy.utils.Monitor (implements org.montclairrobotics.alloy.utils.Input<T>)
                                            • +
                                          • org.montclairrobotics.alloy.utils.Toggleable +
                                              +
                                            • org.montclairrobotics.alloy.utils.BooleanToggle (implements org.montclairrobotics.alloy.utils.Input<T>)
                                              • +
                                            • org.montclairrobotics.alloy.components.Component +
                                                +
                                              • org.montclairrobotics.alloy.components.InputComponent<T> (implements org.montclairrobotics.alloy.utils.Input<T>) + +
                                                • +
                                              +
                                              • +
                                            +
                                            • +
                                          • org.montclairrobotics.alloy.utils.Utils

                                        Interface Hierarchy

                                        +

                                        Enum Hierarchy

                                        +
                                          +
                                        • java.lang.Object +
                                            +
                                          • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable) + +
                                            • +
                                          +
                                          • +
                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html index fd5f27a..5493194 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.utils - + @@ -83,24 +83,58 @@

                                        Uses

                                        + + + + + + + + - + - + + + + +
                                        Enum Summary 
                                        EnumDescription
                                        Toggleable.Status  
                                        org.montclairrobotics.alloy.components 
                                        org.montclairrobotics.alloy.control  
                                        org.montclairrobotics.alloy.core 
                                        org.montclairrobotics.alloy.ftcorg.montclairrobotics.alloy.drive  
                                        org.montclairrobotics.alloy.testorg.montclairrobotics.alloy.ftc  
                                        org.montclairrobotics.alloy.motor 
                                        org.montclairrobotics.alloy.utils  
                                        • +
                                      • + + + + + + + + + + + + + + + +
                                        Classes in org.montclairrobotics.alloy.utils used by org.montclairrobotics.alloy.components 
                                        Class and Description
                                        Input +
                                        Created by MHS Robotics on 2/2/2018.
                                        +
                                        Toggleable +
                                        Created by MHS Robotics on 2/11/2018.
                                        +
                                        +
                                      • @@ -118,6 +152,58 @@

                                        Uses

                                        • +
                                      • + + + + + + + + + + + + + + + + + + +
                                        Classes in org.montclairrobotics.alloy.utils used by org.montclairrobotics.alloy.core 
                                        Class and Description
                                        Initializeable 
                                        Input +
                                        Created by MHS Robotics on 2/2/2018.
                                        +
                                        Toggleable +
                                        Created by MHS Robotics on 2/11/2018.
                                        +
                                        +
                                        • +
                                      • + + + + + + + + + + + + + + + + + + +
                                        Classes in org.montclairrobotics.alloy.utils used by org.montclairrobotics.alloy.drive 
                                        Class and Description
                                        ErrorCorrection +
                                        A interface that defines the process of correcting an error
                                        +
                                        Input +
                                        Created by MHS Robotics on 2/2/2018.
                                        +
                                        Toggleable +
                                        Created by MHS Robotics on 2/11/2018.
                                        +
                                        +
                                      • @@ -128,29 +214,44 @@

                                        Uses +ErrorCorrection +
                                        A interface that defines the process of correcting an error
                                        + + + Input
                                        Created by MHS Robotics on 2/2/2018.
                                        - -PID -
                                        Created by Montclair robotics on 2/27/2018
                                        + +Toggleable +
                                        Created by MHS Robotics on 2/11/2018.

                                        • -
                                      • +
                                      • - + - + + + + + + @@ -167,6 +268,14 @@

                                        Uses

                                        + + + + + + @@ -176,6 +285,19 @@

                                        Uses
                                        Created by Montclair robotics on 2/27/2018

                                        + + + + + + + + +
                                        Classes in org.montclairrobotics.alloy.utils used by org.montclairrobotics.alloy.test Classes in org.montclairrobotics.alloy.utils used by org.montclairrobotics.alloy.motor 
                                        Class and Description
                                        Toggleable +ErrorCorrection +
                                        A interface that defines the process of correcting an error
                                        +
                                        Input +
                                        Created by MHS Robotics on 2/2/2018.
                                        +
                                        Toggleable
                                        Created by MHS Robotics on 2/11/2018.
                                        BangBang 
                                        ErrorCorrection +
                                        A interface that defines the process of correcting an error
                                        +
                                        Input
                                        Created by MHS Robotics on 2/2/2018.
                                        Toggleable +
                                        Created by MHS Robotics on 2/11/2018.
                                        +
                                        Toggleable.Status 
                                        TuneablePID +
                                        A PID class that takes in tunable inputs to make PID tuning easier
                                        +
                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html index c744c04..36fbb49 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html @@ -2,9 +2,9 @@ - + Angle - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html index 4cd55a8..20db6ef 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html @@ -2,9 +2,9 @@ - + Polar - + @@ -139,6 +139,21 @@

                                        Class Polar

                                        • + +
                                            +
                                          • + + +

                                            Field Summary

                                            +
                                              +
                                            • + + +

                                              Fields inherited from interface org.montclairrobotics.alloy.vector.Vector

                                              +ZERO
                                              • +
                                            +
                                            • +
                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html index 491799d..c365ed1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html @@ -2,9 +2,9 @@ - + Vector - + @@ -75,13 +75,13 @@ @@ -140,6 +140,25 @@

                                            Interface Vector

                                            • + +
                                                +
                                              • + + +

                                                Field Summary

                                                + + + + + + + + + + +
                                                Fields 
                                                Modifier and TypeField and Description
                                                static VectorZERO 
                                                +
                                                • +
                                              • @@ -263,6 +282,23 @@

                                                Method Summary

                                                • + +
                                                  • @@ -622,13 +658,13 @@

                                                    copy

                                                     diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html index 444da0b..4a5ffa5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html @@ -2,9 +2,9 @@ - + XY - + @@ -139,6 +139,21 @@

                                                    Class XY

                                                    • + +
                                                        +
                                                      • + + +

                                                        Field Summary

                                                        +
                                                          +
                                                        • + + +

                                                          Fields inherited from interface org.montclairrobotics.alloy.vector.Vector

                                                          +ZERO
                                                          • +
                                                        +
                                                        • +
                                                      • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html index f0a4cae..ddad207 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.vector.Angle - + @@ -83,6 +83,10 @@

                                                        +org.montclairrobotics.alloy.drive +  + + org.montclairrobotics.alloy.vector   @@ -91,6 +95,24 @@

                                                      • diff --git a/docs/javadoc/package-list b/docs/javadoc/package-list index 4fe674f..7ff4f15 100644 --- a/docs/javadoc/package-list +++ b/docs/javadoc/package-list @@ -1,8 +1,11 @@ org.montclairrobotics.alloy.auto +org.montclairrobotics.alloy.components org.montclairrobotics.alloy.control org.montclairrobotics.alloy.core org.montclairrobotics.alloy.drive org.montclairrobotics.alloy.ftc +org.montclairrobotics.alloy.motor +org.montclairrobotics.alloy.motor.steps org.montclairrobotics.alloy.test org.montclairrobotics.alloy.update org.montclairrobotics.alloy.utils diff --git a/src/main/java/org/montclairrobotics/alloy/components/Component.java b/src/main/java/org/montclairrobotics/alloy/components/Component.java index fac39f3..a3da443 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/Component.java +++ b/src/main/java/org/montclairrobotics/alloy/components/Component.java @@ -55,10 +55,11 @@ public abstract class Component extends Toggleable { /** Will debug out information if true */ private boolean debugMode = true; + /** The debugs that will be printed for this component out each loop */ private ArrayList debugs; - /** */ + /** a static reference of all the components that are made */ public static ArrayList components; public Component() { @@ -89,16 +90,18 @@ public void disableDebug() { @Update public void debug() { - if (status.booleanValue() && debugMode) { + if (status.isEnabled() && debugMode) { for (Debug debug : debugs) { debugger.debug(debug); } } } + /** The action that is taken when the component is enabled should be overridden bu the user */ @Override public void enableAction() {} + /** The action that is taken when the component is disabled, should be overridden by the user */ @Override public void disableAction() {} } diff --git a/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java b/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java index 35c3a98..e4a2345 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java +++ b/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java @@ -50,6 +50,7 @@ public void applySteps() { } public InputComponent addStep(Step s) { + // addDebug(new Debug(), ); steps.add(s); return this; } diff --git a/src/main/java/org/montclairrobotics/alloy/core/Debug.java b/src/main/java/org/montclairrobotics/alloy/core/Debug.java index 94412fd..52070d2 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Debug.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Debug.java @@ -23,26 +23,24 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.core; +import org.montclairrobotics.alloy.utils.ConstantInput; import org.montclairrobotics.alloy.utils.Input; public class Debug { + /** The key, label, or name of the information */ + public String key; + /** The information, or object to be debugged */ + public Input value; + /** debug a changing value */ public Debug(String key, Input value) { this.key = key; this.value = value; } + /** debug a constant value */ public Debug(String key, Object value) { this.key = key; - this.value = - new Input() { - @Override - public Object get() { - return value; - } - }; + this.value = new ConstantInput<>(value); } - - public String key; - public Input value; } diff --git a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java index c113c36..95a9ebb 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java @@ -30,37 +30,171 @@ of this software and associated documentation files (the "Software"), to deal * an output to the phone The debug allows for easier usage of the telemetry methods That are most * used for debugging. * + *

                                                        The Debugger also has different debug levels, so that the user can easily switch the amount of + * information they are getting. For example, the user would want a lot of information about a + * particular part when they are fixing a problem or tuning the robot, but only important + * information when they are driving in a competition + * * @author Garrett Burroughs * @version 0.1 * @since 0.1 */ -public interface Debugger { +public abstract class Debugger { + public enum Level { + + /** + * The override can be used to override the level system and ouput any information Overrides + * are always enabled + */ + OVERRIDE(-1), + + /** + * Error Debugs should never be Turned off. Error debugs will display when anything that is + * critical to robot operation occurs + */ + ERROR(0), + + /** + * Competition debugs should contain information that is important to the drive team during + * a competition match. + */ + COMPETITION(1), + + /** Warnings should display when there is a potential problem with robot operation */ + WARNING(2), + + /** + * Test debugs should be used when testing functionality of a process or mechanism, Tests + * should contain simple and important information to the process rather than an in depth + * look on how everything is working. + */ + TEST(3), + + /** + * Debugs should contain the most information about a mechanism or process. For example, + * debug informtion for a motor would include its target speed, current speed, target + * position, current position, direction, % error, and so on. Debugs should only be turned + * on when fixing problems, as the amount of information can be quite cluttering + */ + DEBUG(4); + + /** + * Each debug level has a rank, the lower the rank, the more important. For example, if + * running debug level 3, information from levels 3, 2, 1, and 0 will be debugged. + * + *

                                                        Ranks should not be lower than 0 + */ + int rank; + + private Level(int rank) { + this.rank = rank; + } + + public int getRank() { + return rank; + } + } + + /** Current Debug Level */ + public static Level debugLevel = Level.DEBUG; + /** - * Debugs a value with a Key(Identifier) + * Set the debug level * - * @param key Name of the value + * @param level The level to be set + */ + public static void setDebugLevel(Level level) { + if (level.getRank() < 0) { + Debugger.debugLevel = level; + } else { + Debugger.debugLevel = Level.ERROR; + } + } + + /** + * The most basic debug that simply outputs information given a key and value + * + * @param key Key of the value being debugged * @param value Value to be debugged */ - public void log(String key, Object value); + public abstract void out(String key, Object value); /** - * Debugs any value or message(note) to the user with a default key + * Debugs a value if the level is lower than the current debug level * + * @param key Name of the value * @param value Value to be debugged */ - public void msg(Object value); + public void log(String key, Object value, Level level) { + if (level.getRank() < debugLevel.getRank()) { + out(key, value); + } + } /** * Debugs out a debug object * * @param debug the object to be debugged */ - public void debug(Debug debug); + public void debug(Debug debug) { + log(debug.key, debug.value, Level.DEBUG); + } /** * Gives a warning to the user * * @param warning the warning */ - public void warning(String warning); + public void warn(String warning) { + log("WARNING", warning, Level.WARNING); + } + + /** + * Gives an error message to the user + * + * @param error the error message to be displayed + */ + public void error(String error) { + log("ERROR", error, Level.ERROR); + } + + /** + * Give a message intended for the driver during practice or competition operation + * + * @param key Name of the value + * @param value Value to be displayed + */ + public void driverInfo(String key, Object value) { + log(key, value, Level.COMPETITION); + } + + /** + * Information to be displayed when testing a process or mechanism + * + * @param key Name of the value + * @param value Value to be displayed + */ + public void test(String key, Object value) { + log(key, value, Level.TEST); + } + + /** + * Debug out verbose information + * + * @param key Name of the value + * @param value Value to be displayed + */ + public void debug(String key, Object value) { + log(key, value, Level.DEBUG); + } + + /** + * A message that overrides the debug level system + * + * @param key Name of the value + * @param value Value to be displayed + */ + public void override(String key, Object value) { + log(key, value, Level.OVERRIDE); + } } diff --git a/src/main/java/org/montclairrobotics/alloy/core/Encoder.java b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java index 50fae0b..601b2d5 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Encoder.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java @@ -40,13 +40,13 @@ public abstract class Encoder extends InputComponent { * An Object that calculates the change in position with respect to time (Velocity) Measured in * Ticks per Second */ - Differential calcVelocity; + private Differential calcVelocity; /** * An Object that calculates the change in velocity with respect to time (Acceleration) Measured * in Ticks per Second per Second */ - Differential calcAcceleration; + private Differential calcAcceleration; /** * How far the motor goes for each encoder tick NOTE : It is very important that distances are @@ -66,6 +66,7 @@ public abstract class Encoder extends InputComponent { public Encoder(double distancePerTick, double maxSpeed) { this.distancePerTick = distancePerTick; + this.maxSpeed = maxSpeed; setInput(() -> getTicks()); calcVelocity = new Differential((Input) () -> (double) getTicks()); calcAcceleration = new Differential(calcVelocity); @@ -148,4 +149,14 @@ public double getAcceleration() { public double getScaledVelocity() { return getRawVelocity() / maxSpeed; } + + /** @return the differential object that calculates the velocity */ + public Differential getVelocityDifferential() { + return calcVelocity; + } + + /** @return the differential object that calculates the acceleration */ + public Differential getAccelerationDifferential() { + return calcAcceleration; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java b/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java index ebd5c15..263f409 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java @@ -29,4 +29,9 @@ of this software and associated documentation files (the "Software"), to deal public class DTInput { public Vector translation; public Angle rotation; + + public DTInput(Vector translation, Angle rotation) { + this.translation = translation; + this.rotation = rotation; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.java b/src/main/java/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.java new file mode 100644 index 0000000..ed13bfa --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.java @@ -0,0 +1,38 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.exceptions; + +import org.montclairrobotics.alloy.components.Component; + +/** + * An exception that is thrown when a robot is improperly setup An invalid configuration can be + * thrown when: - Global robot properties are accessed before they exist - Motor, or controller + * ports are improperly specified or accessed + */ +public class InvalidConfigurationException extends RuntimeException { + public InvalidConfigurationException(String message) { + super(message); + Component.debugger.error(message); + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/exceptions/UpdateException.java b/src/main/java/org/montclairrobotics/alloy/exceptions/UpdateException.java new file mode 100644 index 0000000..bc924ce --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/exceptions/UpdateException.java @@ -0,0 +1,34 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.exceptions; + +import org.montclairrobotics.alloy.components.Component; + +/** An exception that is thrown when there is problem with the update system */ +public class UpdateException extends RuntimeException { + public UpdateException(String message) { + super(message); + Component.debugger.error(message); + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java index b248d62..cbfccfb 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java @@ -24,9 +24,9 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.ftc; import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.montclairrobotics.alloy.core.Debug; import org.montclairrobotics.alloy.core.Debugger; import org.montclairrobotics.alloy.core.RobotCore; +import org.montclairrobotics.alloy.exceptions.InvalidConfigurationException; /** * Created by MHS Robotics on 11/14/2017. @@ -37,7 +37,7 @@ of this software and associated documentation files (the "Software"), to deal * @author Garrett Burroughs * @since 0.1 */ -public class FTCDebugger implements Debugger { +public class FTCDebugger extends Debugger { /** The telemetry used for debugging */ Telemetry telemetry; @@ -48,49 +48,19 @@ public FTCDebugger() { this.telemetry = RobotCore.getTelemetry(); } catch (NullPointerException e) { e.printStackTrace(); - throw new RuntimeException( + throw new InvalidConfigurationException( "You tried to access the telemetry before the robotcore has been initialized"); } } /** - * Debugger out information + * The most basic debug that simply outputs information given a key and value * - * @param key Name of the value + * @param key Key of the value being debugged * @param value Value to be debugged */ @Override - public void log(String key, Object value) { + public void out(String key, Object value) { telemetry.addData(key, value); } - - /** - * Debugger out a message - * - * @param value Value to be debugged - */ - @Override - public void msg(Object value) { - telemetry.addData("Debugger", value); - } - - /** - * Debugs out a debug object - * - * @param debug the object to be debugged - */ - @Override - public void debug(Debug debug) { - log(debug.key, debug.value.get()); - } - - /** - * Gives a warning to the user - * - * @param warning the warning - */ - @Override - public void warning(String warning) { - log("WARNING", warning); - } } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java index bd59b54..885ecda 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java @@ -110,9 +110,8 @@ public int getTicks() { @Update public void updateMotor() { - // Set Motor Power if it is enabled - if (status.booleanValue()) { + if (status.isEnabled()) { motor.setPower(power); } else { motor.setPower(0); diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index 1d25799..8e99d12 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -148,7 +148,7 @@ public void disableErrorCorrection() { */ @Update public void update() { - if (status.booleanValue()) { // Check if enabled + if (status.isEnabled()) { // Check if enabled if (motor.getMode() == DcMotor.RunMode.RUN_TO_POSITION) { if (runmode == Mode.CUSTOM) { setTargetPower( diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java index 8ac765d..df3f3e4 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java @@ -135,7 +135,7 @@ public MotorModule setErrorCorrection(ErrorCorrection powerControl) { @Update public void powerCorrection() { - if (status.booleanValue()) { // Check if its enabled + if (status.isEnabled()) { // Check if its enabled for (Motor m : motors) { if (powerControl != null) { m.setMotorPower(targetPower + powerControl.getCorrection()); diff --git a/src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java b/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java similarity index 76% rename from src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java rename to src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java index 0dc40ae..5bc9917 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/steps/Deadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java @@ -21,11 +21,12 @@ of this software and associated documentation files (the "Software"), to deal OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -package org.montclairrobotics.alloy.motor.steps; +package org.montclairrobotics.alloy.steps; import org.montclairrobotics.alloy.components.Step; +import org.montclairrobotics.alloy.utils.Toggleable; -public class Deadzone implements Step { +public class Deadzone extends Toggleable implements Step{ double tolerance; public Deadzone(double tolerance) { @@ -38,6 +39,20 @@ public Deadzone() { @Override public Double getOutput(Double input) { - return (double) input < tolerance ? 0 : input; + if(status.isEnabled()) { + return input < tolerance ? 0 : input; + }else{ + return input; + } + } + + @Override + public void enableAction() { + + } + + @Override + public void disableAction() { + } } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java b/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java similarity index 75% rename from src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java rename to src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java index 619624c..50792d5 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/steps/VectorDeadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java @@ -21,12 +21,13 @@ of this software and associated documentation files (the "Software"), to deal OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -package org.montclairrobotics.alloy.motor.steps; +package org.montclairrobotics.alloy.steps; import org.montclairrobotics.alloy.components.Step; +import org.montclairrobotics.alloy.utils.Toggleable; import org.montclairrobotics.alloy.vector.Vector; -public class VectorDeadzone implements Step { +public class VectorDeadzone extends Toggleable implements Step { double tolerance; public VectorDeadzone(double tolerance) { @@ -35,6 +36,20 @@ public VectorDeadzone(double tolerance) { @Override public Vector getOutput(Vector input) { - return input.getManitude() < tolerance ? Vector.ZERO : input; + if(status.isEnabled()) { + return input.getManitude() < tolerance ? Vector.ZERO : input; + }else{ + return input; + } + } + + @Override + public void enableAction() { + + } + + @Override + public void disableAction() { + } } diff --git a/src/main/java/org/montclairrobotics/alloy/test/Hardware.java b/src/main/java/org/montclairrobotics/alloy/test/Hardware.java index 0068241..d11fcfe 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/Hardware.java +++ b/src/main/java/org/montclairrobotics/alloy/test/Hardware.java @@ -25,8 +25,9 @@ of this software and associated documentation files (the "Software"), to deal import com.qualcomm.robotcore.hardware.DcMotor; import org.montclairrobotics.alloy.core.RobotCore; +import org.montclairrobotics.alloy.utils.Initializeable; -public class Hardware { +public class Hardware extends Initializeable { // ============ // IDS @@ -52,7 +53,7 @@ static class DeviceID { static DcMotor intakeMotorRight; static DcMotor intakeMotorLeft; - public static void init() { + public void init() { shooterMotorRight = RobotCore.getHardwareMap().dcMotor.get(DeviceID.shooterMotorRight); shooterMotorLeft = RobotCore.getHardwareMap().dcMotor.get(DeviceID.shooterMotorLeft); diff --git a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java index 14112b7..1b3bd32 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java +++ b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java @@ -31,7 +31,7 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.ftc.FTCMotor; import org.montclairrobotics.alloy.motor.MotorGroup; import org.montclairrobotics.alloy.motor.MotorModule; -import org.montclairrobotics.alloy.motor.steps.Deadzone; +import org.montclairrobotics.alloy.steps.Deadzone; import org.montclairrobotics.alloy.utils.PID; import org.montclairrobotics.alloy.vector.XY; diff --git a/src/main/java/org/montclairrobotics/alloy/update/Updateable.java b/src/main/java/org/montclairrobotics/alloy/update/Updateable.java index fbd6e30..b12e632 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Updateable.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Updateable.java @@ -28,6 +28,7 @@ of this software and associated documentation files (the "Software"), to deal import java.lang.reflect.Parameter; import java.util.ArrayList; import org.montclairrobotics.alloy.components.Component; +import org.montclairrobotics.alloy.exceptions.UpdateException; /** * A class used for creating objects that can be updated by the Updater @@ -75,7 +76,7 @@ public void getReferences() { public void run() { if (parameters.length != 0) { - throw new RuntimeException("UPDATED METHODS CAN NOT HAVE PARAMETERS"); + throw new UpdateException("UPDATED METHODS CAN NOT HAVE PARAMETERS"); } try { for (Object o : objects) { diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java index 0585405..51c9b04 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java @@ -23,7 +23,6 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.utils; -import java.lang.Double; import org.montclairrobotics.alloy.components.InputComponent; import org.montclairrobotics.alloy.update.Update; diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java index 4e0cbaa..ee9d911 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java @@ -27,7 +27,7 @@ public class BooleanToggle extends Toggleable implements Input { @Override public Boolean get() { - return status.booleanValue(); + return status.isEnabled(); } /** Method to be called when the toggleable is enabled */ diff --git a/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java b/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java index 1a6532a..2e7f409 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java @@ -36,7 +36,7 @@ of this software and associated documentation files (the "Software"), to deal public class ConstantInput implements Input { /** The constant to be returned by the input */ - T constant; + private T constant; public ConstantInput(T constant) { this.constant = constant; @@ -46,4 +46,9 @@ public ConstantInput(T constant) { public T get() { return null; } + + /** Sets the value that the input will return */ + public void setConstantValue(T constant) { + this.constant = constant; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java b/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java new file mode 100644 index 0000000..496b9f5 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java @@ -0,0 +1,12 @@ +package org.montclairrobotics.alloy.utils; + +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.update.Update; + +public class GyroCorrection extends InputComponent { + @Update + void CalculateCorrection(){ + + } + +} diff --git a/src/main/java/org/montclairrobotics/alloy/utils/PID.java b/src/main/java/org/montclairrobotics/alloy/utils/PID.java index 464420e..a156be6 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/PID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/PID.java @@ -142,7 +142,7 @@ public void update() { totalError += error; // Calculate Correction and set the output - if (status.booleanValue()) { + if (status.isEnabled()) { output = p * error + i * totalError + d * errorRate; } else { output = 0d; @@ -151,6 +151,7 @@ public void update() { prevTime = System.currentTimeMillis() / 1000d; } + /** @return the calculated correction */ @Override public Double getCorrection() { return output; diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java b/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java index eb81e05..45c9a0a 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java @@ -51,11 +51,11 @@ public enum Status { boolean enabled; - private Status(boolean enabled) { + Status(boolean enabled) { this.enabled = enabled; } - public boolean booleanValue() { + public boolean isEnabled() { return enabled; } } From 36edad89ead1e9618f72dc79553563e26572a113 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Mon, 20 Aug 2018 19:31:26 -0400 Subject: [PATCH 25/54] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index b5d2416..9526bc0 100644 --- a/README.md +++ b/README.md @@ -3,6 +3,7 @@ ![AlloyLogo](http://gdurl.com/AFl8) Status: **Beta** +Note: Alloy is still under heavy development, and not ready or suggested for use in creating a robot Developed by FTC147 and FRC555 From d40ba25b004b641e50fb9ad6491ccb97a7829d54 Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Mon, 20 Aug 2018 23:34:03 -0400 Subject: [PATCH 26/54] Bringing things up to code standards --- .../alloy/components/Component.java | 9 ++++- .../alloy/ftc/FTCTargetMotor.java | 40 ++++++++++++------- .../alloy/steps/Deadzone.java | 10 ++++- .../alloy/steps/VectorDeadzone.java | 10 ++++- .../alloy/update/Update.java | 6 +++ .../alloy/utils/BooleanToggle.java | 4 +- .../alloy/utils/ConstantInput.java | 2 +- .../alloy/utils/GyroCorrection.java | 8 +++- 8 files changed, 66 insertions(+), 23 deletions(-) diff --git a/src/main/java/org/montclairrobotics/alloy/components/Component.java b/src/main/java/org/montclairrobotics/alloy/components/Component.java index a3da443..75f7faa 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/Component.java +++ b/src/main/java/org/montclairrobotics/alloy/components/Component.java @@ -62,6 +62,7 @@ public abstract class Component extends Toggleable { /** a static reference of all the components that are made */ public static ArrayList components; + public Component() { components.add(this); } @@ -70,20 +71,24 @@ public static ArrayList getComponents() { return components; } + /** Adds a debug to the component, this will be debugged out every loop if debug mode is enabled */ public void addDebug(Debug debug) { debugs.add(debug); } + /** Adds multiple debugs to the components, they will be debugged out every loop if debug mode is enabled*/ public void addDebugs(Iterable debugs) { for (Debug debug : debugs) { this.debugs.add(debug); } } + /** Enabled debug mode, causing any debugs added to the component to be debugged out */ public void enableDebug() { debugMode = false; } + /** Disabled debug mode, stopping all debugs */ public void disableDebug() { debugMode = true; } @@ -97,11 +102,11 @@ public void debug() { } } - /** The action that is taken when the component is enabled should be overridden bu the user */ @Override + /** The action that is taken when the component is enabled should be overridden bu the user */ public void enableAction() {} - /** The action that is taken when the component is disabled, should be overridden by the user */ @Override + /** The action that is taken when the component is disabled, should be overridden by the user */ public void disableAction() {} } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index 8e99d12..8aeda6b 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -45,8 +45,27 @@ of this software and associated documentation files (the "Software"), to deal */ public class FTCTargetMotor extends FTCMotor implements TargetMotor { + /** The power that the motor will aim to be, a value between (-1, 1) */ private double targetPower; + /** PID being used to control the motor in custom mode */ + private ErrorCorrection correction; + + /** Current target motor runmode NOTE: not equal to the DCMotor runmode */ + private Mode runmode = Mode.DEFAULT; + + /** + * Creates a new FTC Target motor, using the motor id from the FTC configuration + * + * The configuration must be set on the phone before accessing it in code + * + * A target motor created like this will have the default FTC motor regulation, + * to set a custom error correction, you can do this by calling 'setErrorCorrection(ErrorCorrection)' + * You should only do this if you know what you are doing + * @see ErrorCorrection + * + * @param motorConfiguration + */ public FTCTargetMotor(String motorConfiguration) { super(motorConfiguration); motor.setMode(DcMotor.RunMode.RUN_TO_POSITION); @@ -75,12 +94,6 @@ enum Mode { CUSTOM } - /** PID being used to control the motor in custom mode */ - private ErrorCorrection correction; - - /** Current target motor runmode NOTE: not equal to the DCMotor runmode */ - private Mode runmode = Mode.DEFAULT; - /** * Sets the motor position * @@ -128,16 +141,16 @@ public double getTargetPower() { } /** - * Set the motor to run using a custom PID + * Set the motor to run using a custom Error Correction * - * @param correction the PID that the motor will be controlled with + * @param correction the correction that the motor will be controlled with */ public void setErrorCorrection(ErrorCorrection correction) { this.correction = correction.copy(); runmode = runmode.CUSTOM; } - /** Stop using the custom PID and return to using the default mode */ + /** Stop using the custom Error Correction and return to using the default mode */ public void disableErrorCorrection() { this.correction = null; runmode = Mode.DEFAULT; @@ -151,12 +164,9 @@ public void update() { if (status.isEnabled()) { // Check if enabled if (motor.getMode() == DcMotor.RunMode.RUN_TO_POSITION) { if (runmode == Mode.CUSTOM) { - setTargetPower( - correction - .getCorrection()); // If running using custom PID mode, set power to PID output + setTargetPower(correction.getCorrection()); // If running using custom PID mode, set power to PID output } else { - motor.setPower( - targetPower); // If running in default target mode, set the target power + motor.setPower(targetPower); // If running in default target mode, set the target power } } else { motor.setPower(power); // If running by power, set the power @@ -166,7 +176,7 @@ public void update() { } } - /** @return the PID being used to control the motor */ + /** @return the Error Correction being used to control the motor */ public ErrorCorrection getErrorCorrection() { return correction; } diff --git a/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java b/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java index 5bc9917..89ec87d 100644 --- a/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java @@ -27,7 +27,7 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.utils.Toggleable; public class Deadzone extends Toggleable implements Step{ - double tolerance; + private double tolerance; public Deadzone(double tolerance) { this.tolerance = tolerance; @@ -55,4 +55,12 @@ public void enableAction() { public void disableAction() { } + + public double getTolerance(){ + return tolerance; + } + + public void setTolerance(int tolerance){ + this.tolerance = tolerance; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java b/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java index 50792d5..4ddad6d 100644 --- a/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java @@ -28,7 +28,7 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.vector.Vector; public class VectorDeadzone extends Toggleable implements Step { - double tolerance; + private double tolerance; public VectorDeadzone(double tolerance) { this.tolerance = tolerance; @@ -52,4 +52,12 @@ public void enableAction() { public void disableAction() { } + + public double getTolerance(){ + return tolerance; + } + + private void setTolerance(double tolerance){ + this.tolerance = tolerance; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/update/Update.java b/src/main/java/org/montclairrobotics/alloy/update/Update.java index a8779f6..a2395c2 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Update.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Update.java @@ -28,6 +28,12 @@ of this software and associated documentation files (the "Software"), to deal import java.lang.annotation.RetentionPolicy; import java.lang.annotation.Target; +/** + * Indicates that the annotated method will be updated by the updater + * + * All methods annotated with @Update, will be added to the updater, + * but can only be successfully updated if the method exists within a {@link org.montclairrobotics.alloy.components.Component} + */ @Retention(RetentionPolicy.RUNTIME) @Target({ElementType.METHOD}) public @interface Update { diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java index ee9d911..dd37b38 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java @@ -30,11 +30,11 @@ public Boolean get() { return status.isEnabled(); } - /** Method to be called when the toggleable is enabled */ @Override + /** Method to be called when the toggleable is enabled */ public void enableAction() {} - /** Method to be called when the toggleable is disabled */ @Override + /** Method to be called when the toggleable is disabled */ public void disableAction() {} } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java b/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java index 2e7f409..947b523 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java @@ -44,7 +44,7 @@ public ConstantInput(T constant) { @Override public T get() { - return null; + return constant; } /** Sets the value that the input will return */ diff --git a/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java b/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java index 496b9f5..72d9310 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java @@ -4,9 +4,15 @@ import org.montclairrobotics.alloy.update.Update; public class GyroCorrection extends InputComponent { + private double correction; + @Update - void CalculateCorrection(){ + public void calculateCorrection(){ + output = correction; + } + public double getCorrection(){ + return correction; } } From 3e50548f7a3079cd33494a7f4c9b743390cd65a1 Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Tue, 21 Aug 2018 00:23:19 -0400 Subject: [PATCH 27/54] updating more to codacity standards --- .../alloy/auto/AlloyAutonomous.java | 10 +++++++-- .../montclairrobotics/alloy/auto/State.java | 2 +- .../alloy/components/Component.java | 12 ++++++---- .../alloy/control/ButtonAction.java | 8 ++++--- .../alloy/control/ToggleButton.java | 14 ++++++++---- .../alloy/ftc/FTCDebugger.java | 6 ++++- .../alloy/ftc/FTCJoystick.java | 22 +++++++++---------- .../alloy/steps/VectorDeadzone.java | 6 ++--- .../alloy/utils/BooleanToggle.java | 8 +++++-- .../montclairrobotics/alloy/utils/PID.java | 8 ++++++- .../alloy/utils/Toggleable.java | 6 ++--- 11 files changed, 67 insertions(+), 35 deletions(-) diff --git a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java index 99ff602..581a38e 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java @@ -24,6 +24,8 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.auto; import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import org.montclairrobotics.alloy.components.Component; +import org.montclairrobotics.alloy.core.Debugger; /** * Created by MHS Robotics on 12/5/2017. @@ -32,8 +34,12 @@ of this software and associated documentation files (the "Software"), to deal */ public abstract class AlloyAutonomous extends OpMode { @Override - public void init() {} + public void init() { + // this code will be run on robot initialization + } @Override - public void loop() {} + public void loop() { + // This code will be run once a loop while the auto mode is running + } } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/State.java b/src/main/java/org/montclairrobotics/alloy/auto/State.java index e9b515d..7887b13 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/State.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/State.java @@ -37,7 +37,7 @@ of this software and associated documentation files (the "Software"), to deal */ public abstract class State { - Integer nextState = null; + private Integer nextState = null; /** The start method is the first thing called when the state is run */ public abstract void start(); diff --git a/src/main/java/org/montclairrobotics/alloy/components/Component.java b/src/main/java/org/montclairrobotics/alloy/components/Component.java index 75f7faa..44443a8 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/Component.java +++ b/src/main/java/org/montclairrobotics/alloy/components/Component.java @@ -102,11 +102,15 @@ public void debug() { } } - @Override /** The action that is taken when the component is enabled should be overridden bu the user */ - public void enableAction() {} - @Override + public void enableAction() { + // Called when enabled + } + /** The action that is taken when the component is disabled, should be overridden by the user */ - public void disableAction() {} + @Override + public void disableAction() { + // Called when disabled + } } diff --git a/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java b/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java index 7d42757..59ebf07 100644 --- a/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java +++ b/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java @@ -36,9 +36,13 @@ of this software and associated documentation files (the "Software"), to deal * @since 0.1 */ public abstract class ButtonAction { - + /** The button that controls the action */ public Button button; + /** Keeps track of if the button was pressed in the previous loop, used for telling when the button is pressed/unpressed */ + public boolean wasPressed = false; + + /** Creates a button action tied to a button */ public ButtonAction(Button button) { this.button = button; } @@ -55,8 +59,6 @@ public ButtonAction(Button button) { /** While released is called every loop while the button is unpressed */ public abstract void whileReleased(); - public boolean wasPressed = false; - @Update public void update() { if (button.getValue()) { diff --git a/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java b/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java index c6d5272..b52e2b5 100644 --- a/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java +++ b/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java @@ -38,7 +38,7 @@ of this software and associated documentation files (the "Software"), to deal * @since 0.1 */ public class ToggleButton extends ButtonAction { - Toggleable toggleable; + private Toggleable toggleable; public ToggleButton(Button button, Toggleable toggleable) { super(button); @@ -53,13 +53,19 @@ public void onPressed() { /** On released is called once, when the button goes from being pressed, to unpressed */ @Override - public void onReleased() {} + public void onReleased() { + // Will be run right after the button is released + } /** While pressed is called every loop while the button is pressed */ @Override - public void whilePressed() {} + public void whilePressed() { + // Will be run while the button is held + } /** While released is called every loop while the button is unpressed */ @Override - public void whileReleased() {} + public void whileReleased() { + // Wil be run while the button is unpressed + } } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java index cbfccfb..32fe767 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java @@ -40,7 +40,7 @@ of this software and associated documentation files (the "Software"), to deal public class FTCDebugger extends Debugger { /** The telemetry used for debugging */ - Telemetry telemetry; + private Telemetry telemetry; /** Create a new FTCDebugger, and throw an exception if it has not been initialized */ public FTCDebugger() { @@ -53,6 +53,10 @@ public FTCDebugger() { } } + public Telemetry getTelemetry(){ + return telemetry; + } + /** * The most basic debug that simply outputs information given a key and value * diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java index ebb2b03..0907582 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java @@ -44,25 +44,25 @@ of this software and associated documentation files (the "Software"), to deal */ public class FTCJoystick extends InputComponent implements Joystick { - /** - * The side in a FTCJoystick is referring to the side of the controller is on, there are 2 - * joysticks, one on the right, one on the left - */ - public enum Side { - RIGHT, - LEFT - } - /** * The gamepad that the joystick is attached to, this will either be joystick 1, or joystick2, * these can be accessed from the RobotCore class * * @see org.montclairrobotics.alloy.core.RobotCore */ - Gamepad gamepad; + private Gamepad gamepad; /** The side that the joystick is on */ - Side side; + private Side side; + + /** + * The side in a FTCJoystick is referring to the side of the controller is on, there are 2 + * joysticks, one on the right, one on the left + */ + public enum Side { + RIGHT, + LEFT + } /** * Create a new Joystick using the gamepad and side diff --git a/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java b/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java index 4ddad6d..d952a12 100644 --- a/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java @@ -45,19 +45,19 @@ public Vector getOutput(Vector input) { @Override public void enableAction() { - + // Do nothing because all action is taken care of } @Override public void disableAction() { - + // Do nothing because all action is taken care of } public double getTolerance(){ return tolerance; } - private void setTolerance(double tolerance){ + public void setTolerance(double tolerance){ this.tolerance = tolerance; } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java index dd37b38..dbd2fd8 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java @@ -32,9 +32,13 @@ public Boolean get() { @Override /** Method to be called when the toggleable is enabled */ - public void enableAction() {} + public void enableAction() { + // Do nothing because all the action it taken care of by toggle() + } @Override /** Method to be called when the toggleable is disabled */ - public void disableAction() {} + public void disableAction() { + // Do nothing because all the action it taken care of by toggle() + } } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/PID.java b/src/main/java/org/montclairrobotics/alloy/utils/PID.java index a156be6..5c7beef 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/PID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/PID.java @@ -24,6 +24,7 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.utils; import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.exceptions.InvalidConfigurationException; import org.montclairrobotics.alloy.update.Update; /** @@ -58,17 +59,22 @@ public class PID extends InputComponent implements ErrorCorrection input), to set it"); } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java b/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java index 45c9a0a..ce27d9a 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Toggleable.java @@ -36,15 +36,15 @@ of this software and associated documentation files (the "Software"), to deal */ public abstract class Toggleable { + /** The status of the toggleable, to keep track of weather it is enabled, or disabled */ + public Status status; + /** Method to be called when the toggleable is enabled */ public abstract void enableAction(); /** Method to be called when the toggleable is disabled */ public abstract void disableAction(); - /** The status of the toggleable, to keep track of weather it is enabled, or disabled */ - public Status status; - public enum Status { ENABLED(true), DISABLED(false); From 9f529f4f073d4f1dbc89b98dbbccfe3133c5937e Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Tue, 21 Aug 2018 00:42:37 -0400 Subject: [PATCH 28/54] moving closer to perfect codacy standards...ATM --- .../alloy/auto/AlloyAutonomous.java | 2 -- .../alloy/auto/StateMachine.java | 22 ++++++++++++++----- .../alloy/ftc/FTCButton.java | 2 +- .../alloy/steps/Deadzone.java | 4 ++-- 4 files changed, 19 insertions(+), 11 deletions(-) diff --git a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java index 581a38e..6288884 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java @@ -24,8 +24,6 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.auto; import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import org.montclairrobotics.alloy.components.Component; -import org.montclairrobotics.alloy.core.Debugger; /** * Created by MHS Robotics on 12/5/2017. diff --git a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java index 4c5f120..0beeb7d 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java @@ -24,6 +24,8 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.auto; import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; /** * Created by MHS Robotics on 12/16/2017. @@ -40,7 +42,7 @@ of this software and associated documentation files (the "Software"), to deal */ public class StateMachine extends State { - ArrayList states; + private ArrayList states; /** * Since state machines can run in a non linear fashion, the last state in the array may not be @@ -53,18 +55,26 @@ public class StateMachine extends State { * Note: even if your state machine is running in a linear fashion, it needs to have a final * state. */ - Integer finalState; + private Integer finalState; - public StateMachine(State... states) {} + public StateMachine(State... states) { + this.states = (ArrayList) Arrays.asList(states); + } @Override - public void start() {} + public void start() { + // Called when the state machine starts + } @Override - public void run() {} + public void run() { + // Called every loop while the state machine is running + } @Override - public void stop() {} + public void stop() { + // Called once when the state machine stops + } @Override public boolean isDone() { diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java index 7dbf2f0..a3a44ab 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java @@ -38,7 +38,7 @@ of this software and associated documentation files (the "Software"), to deal public class FTCButton implements Button { /** Will return the value of the button */ - Input buttonInput; + private Input buttonInput; /** If true inverts the value of the button. */ private boolean inverted; diff --git a/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java b/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java index 89ec87d..ad162a0 100644 --- a/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java @@ -48,12 +48,12 @@ public Double getOutput(Double input) { @Override public void enableAction() { - + // Do nothing because all action is taken care of } @Override public void disableAction() { - + // Do nothing because all action is taken care of } public double getTolerance(){ From d154349e4f859c7b891a00981a6ad166ec9c589b Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Tue, 21 Aug 2018 02:11:49 -0400 Subject: [PATCH 29/54] cleaning up and getting ready for merging --- build.gradle | 1 - docs/javadoc/allclasses-frame.html | 15 +- docs/javadoc/allclasses-noframe.html | 15 +- docs/javadoc/constant-values.html | 4 +- docs/javadoc/deprecated-list.html | 4 +- docs/javadoc/help-doc.html | 4 +- docs/javadoc/index-files/index-1.html | 26 +- docs/javadoc/index-files/index-10.html | 6 +- docs/javadoc/index-files/index-11.html | 8 +- docs/javadoc/index-files/index-12.html | 12 +- docs/javadoc/index-files/index-13.html | 24 +- docs/javadoc/index-files/index-14.html | 4 +- docs/javadoc/index-files/index-15.html | 28 +- docs/javadoc/index-files/index-16.html | 4 +- docs/javadoc/index-files/index-17.html | 6 +- docs/javadoc/index-files/index-18.html | 38 +- docs/javadoc/index-files/index-19.html | 11 +- docs/javadoc/index-files/index-2.html | 27 +- docs/javadoc/index-files/index-20.html | 14 +- docs/javadoc/index-files/index-21.html | 33 +- docs/javadoc/index-files/index-22.html | 13 +- docs/javadoc/index-files/index-23.html | 4 +- docs/javadoc/index-files/index-24.html | 4 +- docs/javadoc/index-files/index-3.html | 10 +- docs/javadoc/index-files/index-4.html | 78 +++- docs/javadoc/index-files/index-5.html | 24 +- docs/javadoc/index-files/index-6.html | 18 +- docs/javadoc/index-files/index-7.html | 32 +- docs/javadoc/index-files/index-8.html | 4 +- docs/javadoc/index-files/index-9.html | 35 +- docs/javadoc/index.html | 2 +- .../alloy/auto/AlloyAutonomous.html | 4 +- .../montclairrobotics/alloy/auto/State.html | 4 +- .../alloy/auto/StateMachine.html | 5 +- .../alloy/auto/class-use/AlloyAutonomous.html | 4 +- .../alloy/auto/class-use/State.html | 4 +- .../alloy/auto/class-use/StateMachine.html | 4 +- .../alloy/auto/package-frame.html | 4 +- .../alloy/auto/package-summary.html | 4 +- .../alloy/auto/package-tree.html | 4 +- .../alloy/auto/package-use.html | 4 +- .../alloy/components/Component.html | 74 ++- .../alloy/components/InputComponent.html | 60 ++- .../alloy/components/Step.html | 27 +- .../alloy/components/class-use/Component.html | 30 +- .../components/class-use/InputComponent.html | 26 +- .../alloy/components/class-use/Step.html | 28 +- .../alloy/components/package-frame.html | 5 +- .../alloy/components/package-summary.html | 16 +- .../alloy/components/package-tree.html | 5 +- .../alloy/components/package-use.html | 42 +- .../alloy/control/ButtonAction.html | 27 +- .../alloy/control/ToggleButton.html | 10 +- .../alloy/control/class-use/ButtonAction.html | 7 +- .../alloy/control/class-use/ToggleButton.html | 4 +- .../alloy/control/package-frame.html | 4 +- .../alloy/control/package-summary.html | 10 +- .../alloy/control/package-tree.html | 4 +- .../alloy/control/package-use.html | 7 +- .../montclairrobotics/alloy/core/Alloy.html | 14 +- .../montclairrobotics/alloy/core/Button.html | 11 +- .../montclairrobotics/alloy/core/Debug.html | 46 +- .../alloy/core/Debugger.Level.html | 436 ++++++++++++++++++ .../alloy/core/Debugger.html | 336 ++++++++++++-- .../montclairrobotics/alloy/core/Encoder.html | 64 ++- .../alloy/core/Joystick.html | 6 +- .../montclairrobotics/alloy/core/Mode.html | 8 +- .../montclairrobotics/alloy/core/Motor.html | 9 +- .../alloy/core/RobotCore.html | 19 +- .../alloy/core/TargetMotor.html | 18 +- .../alloy/core/class-use/Alloy.html | 4 +- .../alloy/core/class-use/Button.html | 14 +- .../alloy/core/class-use/Debug.html | 37 +- .../alloy/core/class-use/Debugger.Level.html | 211 +++++++++ .../alloy/core/class-use/Debugger.html | 30 +- .../alloy/core/class-use/Encoder.html | 4 +- .../alloy/core/class-use/Joystick.html | 6 +- .../alloy/core/class-use/Mode.html | 4 +- .../alloy/core/class-use/Motor.html | 8 +- .../alloy/core/class-use/RobotCore.html | 4 +- .../alloy/core/class-use/TargetMotor.html | 6 +- .../alloy/core/package-frame.html | 7 +- .../alloy/core/package-summary.html | 42 +- .../alloy/core/package-tree.html | 7 +- .../alloy/core/package-use.html | 52 ++- .../alloy/drive/DTInput.html | 12 +- .../alloy/drive/DTMapper.html | 4 +- .../alloy/drive/DriveModule.html | 4 +- .../alloy/drive/DriveTrain.html | 4 +- .../alloy/drive/class-use/DTInput.html | 4 +- .../alloy/drive/class-use/DTMapper.html | 4 +- .../alloy/drive/class-use/DriveModule.html | 4 +- .../alloy/drive/class-use/DriveTrain.html | 4 +- .../alloy/drive/package-frame.html | 4 +- .../alloy/drive/package-summary.html | 8 +- .../alloy/drive/package-tree.html | 8 +- .../alloy/drive/package-use.html | 4 +- .../InvalidConfigurationException.html | 271 +++++++++++ .../alloy/exceptions/UpdateException.html | 268 +++++++++++ .../InvalidConfigurationException.html | 124 +++++ .../exceptions/class-use/UpdateException.html | 124 +++++ .../alloy/exceptions/package-frame.html | 21 + .../alloy/exceptions/package-summary.html | 153 ++++++ .../alloy/exceptions/package-tree.html | 150 ++++++ .../alloy/exceptions/package-use.html | 124 +++++ .../alloy/ftc/FTCButton.html | 10 +- .../alloy/ftc/FTCDebugger.html | 153 +++--- .../alloy/ftc/FTCJoystick.Side.html | 4 +- .../alloy/ftc/FTCJoystick.html | 8 +- .../montclairrobotics/alloy/ftc/FTCMotor.html | 14 +- .../alloy/ftc/FTCTargetMotor.html | 37 +- .../alloy/ftc/class-use/FTCButton.html | 4 +- .../alloy/ftc/class-use/FTCDebugger.html | 4 +- .../alloy/ftc/class-use/FTCJoystick.Side.html | 4 +- .../alloy/ftc/class-use/FTCJoystick.html | 4 +- .../alloy/ftc/class-use/FTCMotor.html | 6 +- .../alloy/ftc/class-use/FTCTargetMotor.html | 4 +- .../alloy/ftc/package-frame.html | 4 +- .../alloy/ftc/package-summary.html | 18 +- .../alloy/ftc/package-tree.html | 14 +- .../alloy/ftc/package-use.html | 8 +- .../alloy/motor/DefaultMapper.html | 10 +- .../montclairrobotics/alloy/motor/Mapper.html | 25 +- .../alloy/motor/MotorGroup.html | 4 +- .../alloy/motor/MotorModule.html | 9 +- .../alloy/motor/class-use/DefaultMapper.html | 4 +- .../alloy/motor/class-use/Mapper.html | 4 +- .../alloy/motor/class-use/MotorGroup.html | 4 +- .../alloy/motor/class-use/MotorModule.html | 8 +- .../alloy/motor/package-frame.html | 4 +- .../alloy/motor/package-summary.html | 12 +- .../alloy/motor/package-tree.html | 8 +- .../alloy/motor/package-use.html | 16 +- .../alloy/steps/Deadzone.html | 428 +++++++++++++++++ .../alloy/steps/VectorDeadzone.html | 428 +++++++++++++++++ .../alloy/steps/class-use/Deadzone.html | 124 +++++ .../alloy/steps/class-use/VectorDeadzone.html | 124 +++++ .../alloy/steps/package-frame.html | 21 + .../alloy/steps/package-summary.html | 150 ++++++ .../alloy/steps/package-tree.html | 142 ++++++ .../alloy/steps/package-use.html | 124 +++++ .../montclairrobotics/alloy/test/Control.html | 4 +- .../alloy/test/Hardware.html | 31 +- .../alloy/test/ShooterMapper.html | 10 +- .../alloy/test/TestRobot.html | 4 +- .../alloy/test/class-use/Control.html | 4 +- .../alloy/test/class-use/Hardware.html | 4 +- .../alloy/test/class-use/ShooterMapper.html | 4 +- .../alloy/test/class-use/TestRobot.html | 4 +- .../alloy/test/package-frame.html | 4 +- .../alloy/test/package-summary.html | 8 +- .../alloy/test/package-tree.html | 12 +- .../alloy/test/package-use.html | 4 +- .../alloy/update/Update.html | 16 +- .../alloy/update/Updateable.html | 6 +- .../alloy/update/Updater.html | 4 +- .../alloy/update/class-use/Update.html | 10 +- .../alloy/update/class-use/Updateable.html | 4 +- .../alloy/update/class-use/Updater.html | 4 +- .../alloy/update/package-frame.html | 4 +- .../alloy/update/package-summary.html | 8 +- .../alloy/update/package-tree.html | 4 +- .../alloy/update/package-use.html | 24 +- .../alloy/utils/BangBang.html | 25 +- .../alloy/utils/BooleanToggle.html | 15 +- .../alloy/utils/ConstantInput.html | 29 +- .../alloy/utils/Differential.html | 17 +- .../alloy/utils/ErrorCorrection.html | 10 +- .../alloy/utils/GyroCorrection.html | 377 +++++++++++++++ .../alloy/utils/Initializeable.html | 26 +- .../montclairrobotics/alloy/utils/Input.html | 14 +- .../alloy/utils/Monitor.html | 4 +- .../montclairrobotics/alloy/utils/PID.html | 14 +- .../alloy/utils/Toggleable.Status.html | 12 +- .../alloy/utils/Toggleable.html | 6 +- .../alloy/utils/TuneablePID.html | 12 +- .../montclairrobotics/alloy/utils/Utils.html | 4 +- .../alloy/utils/class-use/BangBang.html | 4 +- .../alloy/utils/class-use/BooleanToggle.html | 4 +- .../alloy/utils/class-use/ConstantInput.html | 4 +- .../alloy/utils/class-use/Differential.html | 50 +- .../utils/class-use/ErrorCorrection.html | 16 +- .../alloy/utils/class-use/GyroCorrection.html | 124 +++++ .../alloy/utils/class-use/Initializeable.html | 26 +- .../alloy/utils/class-use/Input.html | 52 ++- .../alloy/utils/class-use/Monitor.html | 4 +- .../alloy/utils/class-use/PID.html | 4 +- .../utils/class-use/Toggleable.Status.html | 4 +- .../alloy/utils/class-use/Toggleable.html | 60 ++- .../alloy/utils/class-use/TuneablePID.html | 4 +- .../alloy/utils/class-use/Utils.html | 4 +- .../alloy/utils/package-frame.html | 5 +- .../alloy/utils/package-summary.html | 34 +- .../alloy/utils/package-tree.html | 5 +- .../alloy/utils/package-use.html | 73 ++- .../montclairrobotics/alloy/vector/Angle.html | 4 +- .../montclairrobotics/alloy/vector/Polar.html | 4 +- .../alloy/vector/Vector.html | 4 +- .../montclairrobotics/alloy/vector/XY.html | 4 +- .../alloy/vector/class-use/Angle.html | 16 +- .../alloy/vector/class-use/Polar.html | 4 +- .../alloy/vector/class-use/Vector.html | 26 +- .../alloy/vector/class-use/XY.html | 4 +- .../alloy/vector/package-frame.html | 4 +- .../alloy/vector/package-summary.html | 4 +- .../alloy/vector/package-tree.html | 4 +- .../alloy/vector/package-use.html | 12 +- docs/javadoc/overview-frame.html | 7 +- docs/javadoc/overview-summary.html | 20 +- docs/javadoc/overview-tree.html | 40 +- docs/javadoc/package-list | 3 +- docs/javadoc/serialized-form.html | 142 ++++++ .../alloy/auto/StateMachine.java | 3 +- .../alloy/components/Action.java | 34 -- .../alloy/components/Component.java | 29 +- .../alloy/components/InputComponent.java | 27 ++ .../alloy/components/Step.java | 12 + .../alloy/control/ButtonAction.java | 22 +- .../alloy/control/ToggleButton.java | 5 +- .../montclairrobotics/alloy/core/Alloy.java | 10 +- .../montclairrobotics/alloy/core/Button.java | 7 +- .../montclairrobotics/alloy/core/Debug.java | 15 + .../alloy/core/Debugger.java | 2 +- .../montclairrobotics/alloy/core/Encoder.java | 4 + .../alloy/core/Joystick.java | 2 +- .../montclairrobotics/alloy/core/Mode.java | 4 +- .../montclairrobotics/alloy/core/Motor.java | 5 +- .../alloy/core/RobotCore.java | 13 +- .../alloy/core/TargetMotor.java | 8 + .../InvalidConfigurationException.java | 5 +- .../alloy/ftc/FTCButton.java | 5 +- .../alloy/ftc/FTCDebugger.java | 8 +- .../alloy/ftc/FTCJoystick.java | 3 +- .../montclairrobotics/alloy/ftc/FTCMotor.java | 3 +- .../alloy/ftc/FTCTargetMotor.java | 20 +- .../montclairrobotics/alloy/motor/Mapper.java | 12 + .../alloy/motor/MotorModule.java | 3 +- .../alloy/steps/Deadzone.java | 23 +- .../alloy/steps/VectorDeadzone.java | 26 +- .../alloy/update/Update.java | 8 +- .../alloy/update/Updateable.java | 2 +- .../alloy/utils/BangBang.java | 11 + .../alloy/utils/BooleanToggle.java | 7 + .../alloy/utils/ConstantInput.java | 3 +- .../alloy/utils/Differential.java | 9 +- .../alloy/utils/ErrorCorrection.java | 2 +- .../alloy/utils/GyroCorrection.java | 35 +- .../alloy/utils/Initializeable.java | 9 +- .../montclairrobotics/alloy/utils/Input.java | 7 +- .../montclairrobotics/alloy/utils/PID.java | 2 +- .../alloy/utils/TuneablePID.java | 4 + 251 files changed, 6409 insertions(+), 1103 deletions(-) create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.Level.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/InvalidConfigurationException.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/UpdateException.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/exceptions/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/steps/class-use/Deadzone.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/steps/class-use/VectorDeadzone.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/steps/package-use.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/GyroCorrection.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/utils/class-use/GyroCorrection.html create mode 100644 docs/javadoc/serialized-form.html delete mode 100644 src/main/java/org/montclairrobotics/alloy/components/Action.java diff --git a/build.gradle b/build.gradle index ba48e48..2a76ba4 100644 --- a/build.gradle +++ b/build.gradle @@ -29,7 +29,6 @@ spotless { licenseHeaderFile 'SpotlessLicense' - paddedCell() } } diff --git a/docs/javadoc/allclasses-frame.html b/docs/javadoc/allclasses-frame.html index a1b238d..54102fe 100644 --- a/docs/javadoc/allclasses-frame.html +++ b/docs/javadoc/allclasses-frame.html @@ -2,9 +2,9 @@ - + All Classes - + @@ -12,7 +12,6 @@

                                                        All Classes

                                                        diff --git a/docs/javadoc/allclasses-noframe.html b/docs/javadoc/allclasses-noframe.html index 44d2da5..e3bc4ef 100644 --- a/docs/javadoc/allclasses-noframe.html +++ b/docs/javadoc/allclasses-noframe.html @@ -2,9 +2,9 @@ - + All Classes - + @@ -12,7 +12,6 @@

                                                        All Classes

                                                        diff --git a/docs/javadoc/constant-values.html b/docs/javadoc/constant-values.html index a5d2c10..ea72bdd 100644 --- a/docs/javadoc/constant-values.html +++ b/docs/javadoc/constant-values.html @@ -2,9 +2,9 @@ - + Constant Field Values - + diff --git a/docs/javadoc/deprecated-list.html b/docs/javadoc/deprecated-list.html index bfa54ec..9abe22b 100644 --- a/docs/javadoc/deprecated-list.html +++ b/docs/javadoc/deprecated-list.html @@ -2,9 +2,9 @@ - + Deprecated List - + diff --git a/docs/javadoc/help-doc.html b/docs/javadoc/help-doc.html index d3b48fd..26fc7c4 100644 --- a/docs/javadoc/help-doc.html +++ b/docs/javadoc/help-doc.html @@ -2,9 +2,9 @@ - + API Help - + diff --git a/docs/javadoc/index-files/index-1.html b/docs/javadoc/index-files/index-1.html index ad635fb..89ec665 100644 --- a/docs/javadoc/index-files/index-1.html +++ b/docs/javadoc/index-files/index-1.html @@ -2,9 +2,9 @@ - + A-Index - + @@ -74,8 +74,6 @@

                                                        A

                                                        -
                                                        Action - Interface in org.montclairrobotics.alloy.components
                                                        -
                                                         
                                                        add(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
                                                        Adds two vectors together and returns the result
                                                        @@ -89,18 +87,25 @@

                                                        A

                                                        Adds two vectors together and returns the result
                                                        addDebug(Debug) - Method in class org.montclairrobotics.alloy.components.Component
                                                        -
                                                         
                                                        +
                                                        +
                                                        Adds a debug to the component, this will be debugged out every loop if debug mode is enabled
                                                        +
                                                        addDebugs(Iterable<? extends Debug>) - Method in class org.montclairrobotics.alloy.components.Component
                                                        -
                                                         
                                                        +
                                                        +
                                                        Adds multiple debugs to the components, they will be debugged out every loop if debug mode is + enabled
                                                        +
                                                        addState(State) - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                         
                                                        addStep(Step) - Method in class org.montclairrobotics.alloy.components.InputComponent
                                                        -
                                                         
                                                        +
                                                        +
                                                        A daisy-chainable method that adds a step to the input component
                                                        +
                                                        addStep(Step) - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                         
                                                        Alloy - Class in org.montclairrobotics.alloy.core
                                                        -
                                                        Created by MHS Robotics on 11/13/2017.
                                                        +
                                                        The main class that takes care of setting up the environment, and running all of the main methods
                                                        Alloy() - Constructor for class org.montclairrobotics.alloy.core.Alloy
                                                         
                                                        @@ -135,7 +140,10 @@

                                                        A

                                                        gets the angle between two vectors
                                                        applySteps() - Method in class org.montclairrobotics.alloy.components.InputComponent
                                                        -
                                                         
                                                        +
                                                        +
                                                        Apply all of the steps, in order, taking the output of one step and passing it as the input + to the next
                                                        +
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-10.html b/docs/javadoc/index-files/index-10.html index 2324cea..d1be0e9 100644 --- a/docs/javadoc/index-files/index-10.html +++ b/docs/javadoc/index-files/index-10.html @@ -2,9 +2,9 @@ - + J-Index - + @@ -76,7 +76,7 @@

                                                        J

                                                        Joystick - Interface in org.montclairrobotics.alloy.core
                                                        -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        The fundamental outline for all standard 2-axis joysticks
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-11.html b/docs/javadoc/index-files/index-11.html index 5c81367..542010c 100644 --- a/docs/javadoc/index-files/index-11.html +++ b/docs/javadoc/index-files/index-11.html @@ -2,9 +2,9 @@ - + K-Index - + @@ -75,7 +75,9 @@

                                                        K

                                                        key - Variable in class org.montclairrobotics.alloy.core.Debug
                                                        -
                                                         
                                                        +
                                                        +
                                                        The key, label, or name of the information
                                                        +
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-12.html b/docs/javadoc/index-files/index-12.html index 6c209a3..79a9f48 100644 --- a/docs/javadoc/index-files/index-12.html +++ b/docs/javadoc/index-files/index-12.html @@ -2,9 +2,9 @@ - + L-Index - + @@ -74,13 +74,9 @@

                                                        L

                                                        -
                                                        log(String, Object) - Method in interface org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        log(String, Object, Debugger.Level) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                        -
                                                        Debugs a value with a Key(Identifier)
                                                        -
                                                        -
                                                        log(String, Object) - Method in class org.montclairrobotics.alloy.ftc.FTCDebugger
                                                        -
                                                        -
                                                        Debugger out information
                                                        +
                                                        Debugs a value if the level is lower than the current debug level
                                                        loop() - Method in class org.montclairrobotics.alloy.auto.AlloyAutonomous
                                                         
                                                        diff --git a/docs/javadoc/index-files/index-13.html b/docs/javadoc/index-files/index-13.html index 9e0b252..f0889b2 100644 --- a/docs/javadoc/index-files/index-13.html +++ b/docs/javadoc/index-files/index-13.html @@ -2,9 +2,9 @@ - + M-Index - + @@ -79,7 +79,9 @@

                                                        M

                                                        map(Input<Double>, MotorModule...) - Method in class org.montclairrobotics.alloy.motor.DefaultMapper
                                                         
                                                        map(T, MotorModule...) - Method in interface org.montclairrobotics.alloy.motor.Mapper
                                                        -
                                                         
                                                        +
                                                        +
                                                        map the input to the modules
                                                        +
                                                        map(Vector, MotorModule...) - Method in class org.montclairrobotics.alloy.test.ShooterMapper
                                                         
                                                        map(double, double, double, double, double) - Static method in class org.montclairrobotics.alloy.utils.Utils
                                                        @@ -88,14 +90,16 @@

                                                        M

                                                        specified output range
                                                        Mapper<T> - Interface in org.montclairrobotics.alloy.motor
                                                        -
                                                         
                                                        +
                                                        +
                                                        A mapper takes an input, and maps it to the set of motor modules
                                                        +
                                                        mapper - Variable in class org.montclairrobotics.alloy.motor.MotorGroup
                                                        The mapper that will be used for power assignment and calculation
                                                        Mode - Enum in org.montclairrobotics.alloy.core
                                                        -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        All of the different running states that the robot can be in
                                                        modifier - Variable in class org.montclairrobotics.alloy.motor.MotorModule
                                                         
                                                        @@ -111,7 +115,7 @@

                                                        M

                                                         
                                                        Motor - Interface in org.montclairrobotics.alloy.core
                                                        -
                                                        Created by MHS Robotics on 11/13/2017.
                                                        +
                                                        An outline for all of the basic motor behavior
                                                        motor - Variable in class org.montclairrobotics.alloy.ftc.FTCMotor
                                                        @@ -143,14 +147,6 @@

                                                        M

                                                        The motors that the module will control
                                                        -
                                                        msg(Object) - Method in interface org.montclairrobotics.alloy.core.Debugger
                                                        -
                                                        -
                                                        Debugs any value or message(note) to the user with a default key
                                                        -
                                                        -
                                                        msg(Object) - Method in class org.montclairrobotics.alloy.ftc.FTCDebugger
                                                        -
                                                        -
                                                        Debugger out a message
                                                        -
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-14.html b/docs/javadoc/index-files/index-14.html index dcabd34..31bb152 100644 --- a/docs/javadoc/index-files/index-14.html +++ b/docs/javadoc/index-files/index-14.html @@ -2,9 +2,9 @@ - + N-Index - + diff --git a/docs/javadoc/index-files/index-15.html b/docs/javadoc/index-files/index-15.html index 029d40e..196362a 100644 --- a/docs/javadoc/index-files/index-15.html +++ b/docs/javadoc/index-files/index-15.html @@ -2,9 +2,9 @@ - + O-Index - + @@ -75,7 +75,9 @@

                                                        O

                                                        offset - Variable in class org.montclairrobotics.alloy.motor.MotorModule
                                                        -
                                                         
                                                        +
                                                        +
                                                        the position of the motor, relative to the center of the motor group
                                                        +
                                                        onPressed() - Method in class org.montclairrobotics.alloy.control.ButtonAction
                                                        On pressed is called once, when the button goes from being unpressed, to pressed
                                                        @@ -102,11 +104,13 @@

                                                        O

                                                         
                                                        org.montclairrobotics.alloy.drive - package org.montclairrobotics.alloy.drive
                                                         
                                                        +
                                                        org.montclairrobotics.alloy.exceptions - package org.montclairrobotics.alloy.exceptions
                                                        +
                                                         
                                                        org.montclairrobotics.alloy.ftc - package org.montclairrobotics.alloy.ftc
                                                         
                                                        org.montclairrobotics.alloy.motor - package org.montclairrobotics.alloy.motor
                                                         
                                                        -
                                                        org.montclairrobotics.alloy.motor.steps - package org.montclairrobotics.alloy.motor.steps
                                                        +
                                                        org.montclairrobotics.alloy.steps - package org.montclairrobotics.alloy.steps
                                                         
                                                        org.montclairrobotics.alloy.test - package org.montclairrobotics.alloy.test
                                                         
                                                        @@ -116,8 +120,22 @@

                                                        O

                                                         
                                                        org.montclairrobotics.alloy.vector - package org.montclairrobotics.alloy.vector
                                                         
                                                        +
                                                        out(String, Object) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        +
                                                        The most basic debug that simply outputs information given a key and value
                                                        +
                                                        +
                                                        out(String, Object) - Method in class org.montclairrobotics.alloy.ftc.FTCDebugger
                                                        +
                                                        +
                                                        The most basic debug that simply outputs information given a key and value
                                                        +
                                                        output - Variable in class org.montclairrobotics.alloy.components.InputComponent
                                                        -
                                                         
                                                        +
                                                        +
                                                        The value after steps have been applied
                                                        +
                                                        +
                                                        override(String, Object) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        +
                                                        A message that overrides the debug level system
                                                        +
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-16.html b/docs/javadoc/index-files/index-16.html index c47578a..6c28dcc 100644 --- a/docs/javadoc/index-files/index-16.html +++ b/docs/javadoc/index-files/index-16.html @@ -2,9 +2,9 @@ - + P-Index - + diff --git a/docs/javadoc/index-files/index-17.html b/docs/javadoc/index-files/index-17.html index 8b897e6..3f8a9bd 100644 --- a/docs/javadoc/index-files/index-17.html +++ b/docs/javadoc/index-files/index-17.html @@ -2,9 +2,9 @@ - + R-Index - + @@ -78,7 +78,7 @@

                                                        R

                                                         
                                                        RobotCore - Class in org.montclairrobotics.alloy.core
                                                        -
                                                        Created by MHS Robotics on 12/5/2017.
                                                        +
                                                        Stores all of the global robot objects, including telemetry, the hardware map, and gamepads
                                                        RobotCore(Telemetry, HardwareMap, Gamepad, Gamepad) - Constructor for class org.montclairrobotics.alloy.core.RobotCore
                                                         
                                                        diff --git a/docs/javadoc/index-files/index-18.html b/docs/javadoc/index-files/index-18.html index 822787b..0db9588 100644 --- a/docs/javadoc/index-files/index-18.html +++ b/docs/javadoc/index-files/index-18.html @@ -2,9 +2,9 @@ - + S-Index - + @@ -98,6 +98,14 @@

                                                        S

                                                        Sets the angle in standard position of the vector
                                                        +
                                                        setConstantValue(T) - Method in class org.montclairrobotics.alloy.utils.ConstantInput
                                                        +
                                                        +
                                                        Sets the value that the input will return
                                                        +
                                                        +
                                                        setDebugLevel(Debugger.Level) - Static method in class org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        +
                                                        Set the debug level
                                                        +
                                                        setDegrees(double) - Method in class org.montclairrobotics.alloy.vector.Angle
                                                        set the angle in degrees
                                                        @@ -112,14 +120,16 @@

                                                        S

                                                        setErrorCorrection(ErrorCorrection) - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
                                                        -
                                                        Set the motor to run using a custom PID
                                                        +
                                                        Set the motor to run using a custom Error Correction
                                                        setErrorCorrection(ErrorCorrection) - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                        set the power control for the module
                                                        setInput(Input<T>) - Method in class org.montclairrobotics.alloy.components.InputComponent
                                                        -
                                                         
                                                        +
                                                        +
                                                        A daisy-chainable method that sets the initial input of the input component
                                                        +
                                                        setInput(Input) - Method in class org.montclairrobotics.alloy.utils.BangBang
                                                         
                                                        setInput(Input<T>) - Method in interface org.montclairrobotics.alloy.utils.ErrorCorrection
                                                        @@ -206,6 +216,14 @@

                                                        S

                                                        Sets the motor Power
                                                        +
                                                        setTolerance(int) - Method in class org.montclairrobotics.alloy.steps.Deadzone
                                                        +
                                                        +
                                                        set the threshold value
                                                        +
                                                        +
                                                        setTolerance(double) - Method in class org.montclairrobotics.alloy.steps.VectorDeadzone
                                                        +
                                                        +
                                                        set the threshold value
                                                        +
                                                        setX(double) - Method in class org.montclairrobotics.alloy.vector.Polar
                                                        Sets the x component of the vector
                                                        @@ -248,8 +266,6 @@

                                                        S

                                                        start() - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                         
                                                        -
                                                        start() - Method in interface org.montclairrobotics.alloy.components.Action
                                                        -
                                                         
                                                        State - Class in org.montclairrobotics.alloy.auto
                                                        Created by MHS Robotics on 12/16/2017.
                                                        @@ -267,17 +283,19 @@

                                                        S

                                                        The status of the toggleable, to keep track of weather it is enabled, or disabled
                                                        Step<T> - Interface in org.montclairrobotics.alloy.components
                                                        -
                                                         
                                                        +
                                                        +
                                                        A step is a manipulation or calculation performed on an input
                                                        +
                                                        steps - Variable in class org.montclairrobotics.alloy.components.InputComponent
                                                        -
                                                         
                                                        +
                                                        +
                                                        An arraylist to store all of the steps
                                                        +
                                                        stop() - Method in class org.montclairrobotics.alloy.auto.State
                                                        The Stop method is the last thing called once the state is done
                                                        stop() - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                         
                                                        -
                                                        stop() - Method in interface org.montclairrobotics.alloy.components.Action
                                                        -
                                                         
                                                        subtract(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
                                                        Subtracts a vector and returns the result
                                                        diff --git a/docs/javadoc/index-files/index-19.html b/docs/javadoc/index-files/index-19.html index c2b4b5f..95a7632 100644 --- a/docs/javadoc/index-files/index-19.html +++ b/docs/javadoc/index-files/index-19.html @@ -2,9 +2,9 @@ - + T-Index - + @@ -97,6 +97,10 @@

                                                        T

                                                        Telemetry is used for reading out information on the phones and is useful for debugging, The telemetry is also used in Debug
                                                        +
                                                        test(String, Object) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        +
                                                        Information to be displayed when testing a process or mechanism
                                                        +
                                                        TestRobot - Class in org.montclairrobotics.alloy.test
                                                         
                                                        TestRobot() - Constructor for class org.montclairrobotics.alloy.test.TestRobot
                                                        @@ -116,7 +120,8 @@

                                                        T

                                                         
                                                        ToggleButton - Class in org.montclairrobotics.alloy.control
                                                        -
                                                        Created by MHS Robotics on 2/11/2018.
                                                        +
                                                        A ToggleButton is tied to a button and a toggleable, when the button is pressed the toggleable + will toggle between states
                                                        ToggleButton(Button, Toggleable) - Constructor for class org.montclairrobotics.alloy.control.ToggleButton
                                                         
                                                        diff --git a/docs/javadoc/index-files/index-2.html b/docs/javadoc/index-files/index-2.html index 6bc9187..9babe4b 100644 --- a/docs/javadoc/index-files/index-2.html +++ b/docs/javadoc/index-files/index-2.html @@ -2,9 +2,9 @@ - + B-Index - + @@ -75,29 +75,36 @@

                                                        B

                                                        BangBang - Class in org.montclairrobotics.alloy.utils
                                                        -
                                                         
                                                        +
                                                        +
                                                        Simple error correction, that returns one value if the error is high, and another if it is low
                                                        +
                                                        BangBang(double, double) - Constructor for class org.montclairrobotics.alloy.utils.BangBang
                                                         
                                                        BangBang(double) - Constructor for class org.montclairrobotics.alloy.utils.BangBang
                                                         
                                                        BooleanToggle - Class in org.montclairrobotics.alloy.utils
                                                        -
                                                         
                                                        +
                                                        +
                                                        An input that can be toggled between true and false
                                                        +
                                                        BooleanToggle() - Constructor for class org.montclairrobotics.alloy.utils.BooleanToggle
                                                         
                                                        -
                                                        booleanValue() - Method in enum org.montclairrobotics.alloy.utils.Toggleable.Status
                                                        -
                                                         
                                                        button - Variable in class org.montclairrobotics.alloy.control.ButtonAction
                                                        -
                                                         
                                                        +
                                                        +
                                                        The button that controls the action
                                                        +
                                                        Button - Interface in org.montclairrobotics.alloy.core
                                                        -
                                                        Created by MHS Robotics on 11/13/2017.
                                                        +
                                                        An outline for the fundamental behavior of a button
                                                        ButtonAction - Class in org.montclairrobotics.alloy.control
                                                        -
                                                        Created by MHS Robotics on 2/11/2018.
                                                        +
                                                        Every Button action is tied to a button, and controls what happens when the button is pressed, + held, unpressed, and released
                                                        ButtonAction(Button) - Constructor for class org.montclairrobotics.alloy.control.ButtonAction
                                                        -
                                                         
                                                        +
                                                        +
                                                        Creates a button action tied to a button
                                                        +
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-20.html b/docs/javadoc/index-files/index-20.html index b0634c9..ee039bc 100644 --- a/docs/javadoc/index-files/index-20.html +++ b/docs/javadoc/index-files/index-20.html @@ -2,9 +2,9 @@ - + U-Index - + @@ -81,7 +81,9 @@

                                                        U

                                                        If the mode is custom, then the update method will set the motor power using the custom PID
                                                        Update - Annotation Type in org.montclairrobotics.alloy.update
                                                        -
                                                         
                                                        +
                                                        +
                                                        Indicates that the annotated method will be updated by the updater
                                                        +
                                                        update() - Static method in class org.montclairrobotics.alloy.update.Updater
                                                        The update method takes care of updating all of the methods in the project that are within a @@ -96,6 +98,12 @@

                                                        U

                                                        updateControls() - Method in class org.montclairrobotics.alloy.ftc.FTCJoystick
                                                         
                                                        +
                                                        UpdateException - Exception in org.montclairrobotics.alloy.exceptions
                                                        +
                                                        +
                                                        An exception that is thrown when there is problem with the update system
                                                        +
                                                        +
                                                        UpdateException(String) - Constructor for exception org.montclairrobotics.alloy.exceptions.UpdateException
                                                        +
                                                         
                                                        updateMotor() - Method in class org.montclairrobotics.alloy.ftc.FTCMotor
                                                         
                                                        Updater - Class in org.montclairrobotics.alloy.update
                                                        diff --git a/docs/javadoc/index-files/index-21.html b/docs/javadoc/index-files/index-21.html index a4a349d..bd6e246 100644 --- a/docs/javadoc/index-files/index-21.html +++ b/docs/javadoc/index-files/index-21.html @@ -2,9 +2,9 @@ - + V-Index - + @@ -75,7 +75,13 @@

                                                        V

                                                        value - Variable in class org.montclairrobotics.alloy.core.Debug
                                                        -
                                                         
                                                        +
                                                        +
                                                        The information, or object to be debugged
                                                        +
                                                        +
                                                        valueOf(String) - Static method in enum org.montclairrobotics.alloy.core.Debugger.Level
                                                        +
                                                        +
                                                        Returns the enum constant of this type with the specified name.
                                                        +
                                                        valueOf(String) - Static method in enum org.montclairrobotics.alloy.core.Mode
                                                        Returns the enum constant of this type with the specified name.
                                                        @@ -88,6 +94,11 @@

                                                        V

                                                        Returns the enum constant of this type with the specified name.
                                                        +
                                                        values() - Static method in enum org.montclairrobotics.alloy.core.Debugger.Level
                                                        +
                                                        +
                                                        Returns an array containing the constants of this enum type, in +the order they are declared.
                                                        +
                                                        values() - Static method in enum org.montclairrobotics.alloy.core.Mode
                                                        Returns an array containing the constants of this enum type, in @@ -107,10 +118,18 @@

                                                        V

                                                        Created by MHS Robotics on 11/14/2017.
                                                        -
                                                        VectorDeadzone - Class in org.montclairrobotics.alloy.motor.steps
                                                        -
                                                         
                                                        -
                                                        VectorDeadzone(double) - Constructor for class org.montclairrobotics.alloy.motor.steps.VectorDeadzone
                                                        -
                                                         
                                                        +
                                                        VectorDeadzone - Class in org.montclairrobotics.alloy.steps
                                                        +
                                                        +
                                                        A step that returns 0 if the inputs magnitude is under a certain threshold
                                                        +
                                                        +
                                                        VectorDeadzone(double) - Constructor for class org.montclairrobotics.alloy.steps.VectorDeadzone
                                                        +
                                                        +
                                                        Create a VectorDeadzone specifying the tolerance
                                                        +
                                                        +
                                                        VectorDeadzone() - Constructor for class org.montclairrobotics.alloy.steps.VectorDeadzone
                                                        +
                                                        +
                                                        Create a VectorDeadzone with a default tolerance of 0.05
                                                        +
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-22.html b/docs/javadoc/index-files/index-22.html index 1e8bb8d..96378d3 100644 --- a/docs/javadoc/index-files/index-22.html +++ b/docs/javadoc/index-files/index-22.html @@ -2,9 +2,9 @@ - + W-Index - + @@ -74,16 +74,15 @@

                                                        W

                                                        -
                                                        warning(String) - Method in interface org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        warn(String) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                        Gives a warning to the user
                                                        -
                                                        warning(String) - Method in class org.montclairrobotics.alloy.ftc.FTCDebugger
                                                        +
                                                        wasPressed - Variable in class org.montclairrobotics.alloy.control.ButtonAction
                                                        -
                                                        Gives a warning to the user
                                                        +
                                                        Keeps track of if the button was pressed in the previous loop, used for telling when the + button is pressed/unpressed
                                                        -
                                                        wasPressed - Variable in class org.montclairrobotics.alloy.control.ButtonAction
                                                        -
                                                         
                                                        whilePressed() - Method in class org.montclairrobotics.alloy.control.ButtonAction
                                                        While pressed is called every loop while the button is pressed
                                                        diff --git a/docs/javadoc/index-files/index-23.html b/docs/javadoc/index-files/index-23.html index c70a787..189377e 100644 --- a/docs/javadoc/index-files/index-23.html +++ b/docs/javadoc/index-files/index-23.html @@ -2,9 +2,9 @@ - + X-Index - + diff --git a/docs/javadoc/index-files/index-24.html b/docs/javadoc/index-files/index-24.html index 35ff1fb..11061f3 100644 --- a/docs/javadoc/index-files/index-24.html +++ b/docs/javadoc/index-files/index-24.html @@ -2,9 +2,9 @@ - + Z-Index - + diff --git a/docs/javadoc/index-files/index-3.html b/docs/javadoc/index-files/index-3.html index 3f58b01..55e58f2 100644 --- a/docs/javadoc/index-files/index-3.html +++ b/docs/javadoc/index-files/index-3.html @@ -2,9 +2,9 @@ - + C-Index - + @@ -76,6 +76,8 @@

                                                        C

                                                        calculateCorrection() - Method in class org.montclairrobotics.alloy.utils.BangBang
                                                         
                                                        +
                                                        calculateCorrection() - Method in class org.montclairrobotics.alloy.utils.GyroCorrection
                                                        +
                                                         
                                                        calculateDifferential() - Method in class org.montclairrobotics.alloy.utils.Differential
                                                         
                                                        Component - Class in org.montclairrobotics.alloy.components
                                                        @@ -85,7 +87,9 @@

                                                        C

                                                        Component() - Constructor for class org.montclairrobotics.alloy.components.Component
                                                         
                                                        components - Static variable in class org.montclairrobotics.alloy.components.Component
                                                        -
                                                         
                                                        +
                                                        +
                                                        a static reference of all the components that are made
                                                        +
                                                        ConstantInput<T> - Class in org.montclairrobotics.alloy.utils
                                                        Created by MHS Robotics on 3/30/2018.
                                                        diff --git a/docs/javadoc/index-files/index-4.html b/docs/javadoc/index-files/index-4.html index 09b5721..d146ed7 100644 --- a/docs/javadoc/index-files/index-4.html +++ b/docs/javadoc/index-files/index-4.html @@ -2,9 +2,9 @@ - + D-Index - + @@ -74,35 +74,55 @@

                                                        D

                                                        -
                                                        Deadzone - Class in org.montclairrobotics.alloy.motor.steps
                                                        -
                                                         
                                                        -
                                                        Deadzone(double) - Constructor for class org.montclairrobotics.alloy.motor.steps.Deadzone
                                                        -
                                                         
                                                        -
                                                        Deadzone() - Constructor for class org.montclairrobotics.alloy.motor.steps.Deadzone
                                                        -
                                                         
                                                        +
                                                        Deadzone - Class in org.montclairrobotics.alloy.steps
                                                        +
                                                        +
                                                        A step that returns 0 if the input is under a certain threshold
                                                        +
                                                        +
                                                        Deadzone(double) - Constructor for class org.montclairrobotics.alloy.steps.Deadzone
                                                        +
                                                        +
                                                        Create a deadzone specifying the tolerance
                                                        +
                                                        +
                                                        Deadzone() - Constructor for class org.montclairrobotics.alloy.steps.Deadzone
                                                        +
                                                        +
                                                        Create a deadzone with a default tolerance of 0.05
                                                        +
                                                        debug() - Method in class org.montclairrobotics.alloy.components.Component
                                                         
                                                        Debug - Class in org.montclairrobotics.alloy.core
                                                        -
                                                         
                                                        +
                                                        +
                                                        Contains the necessary information for a debug
                                                        +
                                                        Debug(String, Input<Object>) - Constructor for class org.montclairrobotics.alloy.core.Debug
                                                        -
                                                         
                                                        +
                                                        +
                                                        debug a changing value
                                                        +
                                                        Debug(String, Object) - Constructor for class org.montclairrobotics.alloy.core.Debug
                                                        -
                                                         
                                                        -
                                                        debug(Debug) - Method in interface org.montclairrobotics.alloy.core.Debugger
                                                        -
                                                        Debugs out a debug object
                                                        +
                                                        debug a constant value
                                                        -
                                                        debug(Debug) - Method in class org.montclairrobotics.alloy.ftc.FTCDebugger
                                                        +
                                                        debug(Debug) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                        Debugs out a debug object
                                                        +
                                                        debug(String, Object) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        +
                                                        Debug out verbose information
                                                        +
                                                        debugger - Static variable in class org.montclairrobotics.alloy.components.Component
                                                        The object used for debugging information about all components
                                                        -
                                                        Debugger - Interface in org.montclairrobotics.alloy.core
                                                        +
                                                        Debugger - Class in org.montclairrobotics.alloy.core
                                                        -
                                                        Created by MHS Robotics on 11/13/2017.
                                                        +
                                                        Controls the flow of how debug information is read out
                                                        +
                                                        +
                                                        Debugger() - Constructor for class org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                         
                                                        +
                                                        Debugger.Level - Enum in org.montclairrobotics.alloy.core
                                                        +
                                                         
                                                        +
                                                        debugLevel - Static variable in class org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        +
                                                        Current Debug Level
                                                        DefaultMapper - Class in org.montclairrobotics.alloy.motor
                                                        @@ -125,28 +145,32 @@

                                                        D

                                                        Disables the toggleable
                                                        disableAction() - Method in class org.montclairrobotics.alloy.components.Component
                                                        -
                                                         
                                                        +
                                                        +
                                                        The action that is taken when the component is disabled, should be overridden by the user
                                                        +
                                                        disableAction() - Method in class org.montclairrobotics.alloy.ftc.FTCMotor
                                                         
                                                        disableAction() - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                        Method to be called when the toggleable is disabled
                                                        +
                                                        disableAction() - Method in class org.montclairrobotics.alloy.steps.Deadzone
                                                        +
                                                         
                                                        +
                                                        disableAction() - Method in class org.montclairrobotics.alloy.steps.VectorDeadzone
                                                        +
                                                         
                                                        disableAction() - Method in class org.montclairrobotics.alloy.utils.BooleanToggle
                                                        -
                                                        -
                                                        Method to be called when the toggleable is disabled
                                                        -
                                                        +
                                                         
                                                        disableAction() - Method in class org.montclairrobotics.alloy.utils.Toggleable
                                                        Method to be called when the toggleable is disabled
                                                        -
                                                        disabled() - Method in interface org.montclairrobotics.alloy.components.Action
                                                        -
                                                         
                                                        disableDebug() - Method in class org.montclairrobotics.alloy.components.Component
                                                        -
                                                         
                                                        +
                                                        +
                                                        Disabled debug mode, stopping all debugs
                                                        +
                                                        disableErrorCorrection() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
                                                        -
                                                        Stop using the custom PID and return to using the default mode
                                                        +
                                                        Stop using the custom Error Correction and return to using the default mode
                                                        dot(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
                                                        @@ -166,6 +190,10 @@

                                                        D

                                                        Create a fully functioning motor module
                                                        +
                                                        driverInfo(String, Object) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        +
                                                        Give a message intended for the driver during practice or competition operation
                                                        +
                                                        DriveTrain - Class in org.montclairrobotics.alloy.drive
                                                        Created by MHS Robotics on 12/16/2017.
                                                        @@ -174,7 +202,7 @@

                                                        D

                                                         
                                                        DTInput - Class in org.montclairrobotics.alloy.drive
                                                         
                                                        -
                                                        DTInput() - Constructor for class org.montclairrobotics.alloy.drive.DTInput
                                                        +
                                                        DTInput(Vector, Angle) - Constructor for class org.montclairrobotics.alloy.drive.DTInput
                                                         
                                                        DTMapper - Interface in org.montclairrobotics.alloy.drive
                                                        diff --git a/docs/javadoc/index-files/index-5.html b/docs/javadoc/index-files/index-5.html index 4eae69e..47750a2 100644 --- a/docs/javadoc/index-files/index-5.html +++ b/docs/javadoc/index-files/index-5.html @@ -2,9 +2,9 @@ - + E-Index - + @@ -79,19 +79,23 @@

                                                        E

                                                        Enables the toggleable
                                                        enableAction() - Method in class org.montclairrobotics.alloy.components.Component
                                                        -
                                                         
                                                        -
                                                        enableAction() - Method in class org.montclairrobotics.alloy.utils.BooleanToggle
                                                        -
                                                        Method to be called when the toggleable is enabled
                                                        +
                                                        The action that is taken when the component is enabled should be overridden bu the user
                                                        +
                                                        enableAction() - Method in class org.montclairrobotics.alloy.steps.Deadzone
                                                        +
                                                         
                                                        +
                                                        enableAction() - Method in class org.montclairrobotics.alloy.steps.VectorDeadzone
                                                        +
                                                         
                                                        +
                                                        enableAction() - Method in class org.montclairrobotics.alloy.utils.BooleanToggle
                                                        +
                                                         
                                                        enableAction() - Method in class org.montclairrobotics.alloy.utils.Toggleable
                                                        Method to be called when the toggleable is enabled
                                                        -
                                                        enabled() - Method in interface org.montclairrobotics.alloy.components.Action
                                                        -
                                                         
                                                        enableDebug() - Method in class org.montclairrobotics.alloy.components.Component
                                                        -
                                                         
                                                        +
                                                        +
                                                        Enabled debug mode, causing any debugs added to the component to be debugged out
                                                        +
                                                        Encoder - Class in org.montclairrobotics.alloy.core
                                                        A motor encoder that keeps track of kinematic information about the motor
                                                        @@ -106,6 +110,10 @@

                                                        E

                                                        The encoder that keeps track of the position and controls the motors
                                                        +
                                                        error(String) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                        +
                                                        +
                                                        Gives an error message to the user
                                                        +
                                                        ErrorCorrection<T> - Interface in org.montclairrobotics.alloy.utils
                                                        A interface that defines the process of correcting an error
                                                        diff --git a/docs/javadoc/index-files/index-6.html b/docs/javadoc/index-files/index-6.html index 9cac832..165d9f6 100644 --- a/docs/javadoc/index-files/index-6.html +++ b/docs/javadoc/index-files/index-6.html @@ -2,9 +2,9 @@ - + F-Index - + @@ -76,7 +76,7 @@

                                                        F

                                                        FTCButton - Class in org.montclairrobotics.alloy.ftc
                                                        -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        An FTC button provides implementation for a button used in the FTC competition
                                                        FTCButton(Input<Boolean>) - Constructor for class org.montclairrobotics.alloy.ftc.FTCButton
                                                        @@ -88,7 +88,7 @@

                                                        F

                                                        FTCDebugger - Class in org.montclairrobotics.alloy.ftc
                                                        -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        implementation of the debugger for the FTC competition
                                                        FTCDebugger() - Constructor for class org.montclairrobotics.alloy.ftc.FTCDebugger
                                                        @@ -96,7 +96,7 @@

                                                        F

                                                        FTCJoystick - Class in org.montclairrobotics.alloy.ftc
                                                        -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        Implementation of the Joystick class for FTC
                                                        FTCJoystick(Gamepad, FTCJoystick.Side) - Constructor for class org.montclairrobotics.alloy.ftc.FTCJoystick
                                                        @@ -109,16 +109,18 @@

                                                        F

                                                        FTCMotor - Class in org.montclairrobotics.alloy.ftc
                                                        -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        Implementation of a basic motor for the FTC competition
                                                        FTCMotor(String) - Constructor for class org.montclairrobotics.alloy.ftc.FTCMotor
                                                         
                                                        FTCTargetMotor - Class in org.montclairrobotics.alloy.ftc
                                                        -
                                                        Created by MHS Robotics on 2/24/2018.
                                                        +
                                                        Implementation of a target motor for the FTC competition
                                                        FTCTargetMotor(String) - Constructor for class org.montclairrobotics.alloy.ftc.FTCTargetMotor
                                                        -
                                                         
                                                        +
                                                        +
                                                        Creates a new FTC Target motor, using the motor id from the FTC configuration
                                                        +
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-7.html b/docs/javadoc/index-files/index-7.html index 8eb7f2e..4a8bd66 100644 --- a/docs/javadoc/index-files/index-7.html +++ b/docs/javadoc/index-files/index-7.html @@ -2,9 +2,9 @@ - + G-Index - + @@ -99,6 +99,8 @@

                                                        G

                                                        Get the acceleration in distance per second The distance is set by the distance per tick method, it is important to keep distances consistent throughout
                                                        +
                                                        getAccelerationDifferential() - Method in class org.montclairrobotics.alloy.core.Encoder
                                                        +
                                                         
                                                        getAngle() - Method in class org.montclairrobotics.alloy.vector.Polar
                                                        Gets the angle in standard position that the vector makes
                                                        @@ -123,6 +125,8 @@

                                                        G

                                                        Get the value to apply the correction
                                                        +
                                                        getCorrection() - Method in class org.montclairrobotics.alloy.utils.GyroCorrection
                                                        +
                                                         
                                                        getCorrection() - Method in class org.montclairrobotics.alloy.utils.PID
                                                         
                                                        getCorrection() - Method in class org.montclairrobotics.alloy.utils.TuneablePID
                                                        @@ -207,10 +211,12 @@

                                                        G

                                                        getNextState(int) - Method in class org.montclairrobotics.alloy.auto.State
                                                         
                                                        getOutput(T) - Method in interface org.montclairrobotics.alloy.components.Step
                                                        +
                                                        +
                                                        The operation to be performed on the input, to get the output
                                                        +
                                                        +
                                                        getOutput(Double) - Method in class org.montclairrobotics.alloy.steps.Deadzone
                                                         
                                                        -
                                                        getOutput(Double) - Method in class org.montclairrobotics.alloy.motor.steps.Deadzone
                                                        -
                                                         
                                                        -
                                                        getOutput(Vector) - Method in class org.montclairrobotics.alloy.motor.steps.VectorDeadzone
                                                        +
                                                        getOutput(Vector) - Method in class org.montclairrobotics.alloy.steps.VectorDeadzone
                                                         
                                                        getPosition() - Method in interface org.montclairrobotics.alloy.core.TargetMotor
                                                        @@ -226,6 +232,8 @@

                                                        G

                                                        Get the angle measure in radians
                                                        +
                                                        getRank() - Method in enum org.montclairrobotics.alloy.core.Debugger.Level
                                                        +
                                                         
                                                        getRawVelocity() - Method in class org.montclairrobotics.alloy.core.Encoder
                                                        Get the velocity in Ticks per Second
                                                        @@ -260,10 +268,16 @@

                                                        G

                                                        Gets the telemetry object of the robot
                                                        +
                                                        getTelemetry() - Method in class org.montclairrobotics.alloy.ftc.FTCDebugger
                                                        +
                                                         
                                                        getTicks() - Method in class org.montclairrobotics.alloy.core.Encoder
                                                        A method that should be overridden by the encoder
                                                        +
                                                        getTolerance() - Method in class org.montclairrobotics.alloy.steps.Deadzone
                                                        +
                                                         
                                                        +
                                                        getTolerance() - Method in class org.montclairrobotics.alloy.steps.VectorDeadzone
                                                        +
                                                         
                                                        getUpdateRate() - Method in class org.montclairrobotics.alloy.update.Updateable
                                                         
                                                        getValue() - Method in interface org.montclairrobotics.alloy.core.Button
                                                        @@ -287,6 +301,8 @@

                                                        G

                                                        Get the velocity in distance per second The distance is set by the distance per tick method, it is important to keep distances consistent throughout the project.
                                                        +
                                                        getVelocityDifferential() - Method in class org.montclairrobotics.alloy.core.Encoder
                                                        +
                                                         
                                                        getX() - Method in class org.montclairrobotics.alloy.vector.Polar
                                                        Gets the X component of the vector
                                                        @@ -317,6 +333,12 @@

                                                        G

                                                         
                                                        getYDPADRight(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
                                                         
                                                        +
                                                        GyroCorrection - Class in org.montclairrobotics.alloy.utils
                                                        +
                                                        +
                                                        A correction based on a gyroscope, to keep a consistent heading
                                                        +
                                                        +
                                                        GyroCorrection() - Constructor for class org.montclairrobotics.alloy.utils.GyroCorrection
                                                        +
                                                         
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-8.html b/docs/javadoc/index-files/index-8.html index 65310dd..665dbc4 100644 --- a/docs/javadoc/index-files/index-8.html +++ b/docs/javadoc/index-files/index-8.html @@ -2,9 +2,9 @@ - + H-Index - + diff --git a/docs/javadoc/index-files/index-9.html b/docs/javadoc/index-files/index-9.html index 5f74909..15a63f7 100644 --- a/docs/javadoc/index-files/index-9.html +++ b/docs/javadoc/index-files/index-9.html @@ -2,9 +2,9 @@ - + I-Index - + @@ -78,10 +78,12 @@

                                                        I

                                                         
                                                        init() - Method in class org.montclairrobotics.alloy.core.Alloy
                                                         
                                                        -
                                                        init() - Static method in class org.montclairrobotics.alloy.test.Hardware
                                                        +
                                                        init() - Method in class org.montclairrobotics.alloy.test.Hardware
                                                         
                                                        init() - Method in class org.montclairrobotics.alloy.utils.Initializeable
                                                        -
                                                         
                                                        +
                                                        +
                                                        the method that is called at the beginning of the teleop mode
                                                        +
                                                        initialization() - Method in class org.montclairrobotics.alloy.core.Alloy
                                                        The initialization method is were everything specific to the OpMode Should be set up.
                                                        @@ -89,13 +91,17 @@

                                                        I

                                                        initialization() - Method in class org.montclairrobotics.alloy.test.TestRobot
                                                         
                                                        Initializeable - Class in org.montclairrobotics.alloy.utils
                                                        -
                                                         
                                                        +
                                                        +
                                                        An object that gets initialized once at the beginning of the teleop mode
                                                        +
                                                        Initializeable() - Constructor for class org.montclairrobotics.alloy.utils.Initializeable
                                                         
                                                        initObjects - Static variable in class org.montclairrobotics.alloy.core.Alloy
                                                         
                                                        input - Variable in class org.montclairrobotics.alloy.components.InputComponent
                                                        -
                                                         
                                                        +
                                                        +
                                                        The initial input value
                                                        +
                                                        input - Variable in class org.montclairrobotics.alloy.motor.MotorGroup
                                                        The control input for the motor group
                                                        @@ -106,22 +112,35 @@

                                                        I

                                                        Input<T> - Interface in org.montclairrobotics.alloy.utils
                                                        -
                                                        Created by MHS Robotics on 2/2/2018.
                                                        +
                                                        A dynamically stored input
                                                        input - Variable in class org.montclairrobotics.alloy.utils.Monitor
                                                        The input to be checked
                                                        InputComponent<T> - Class in org.montclairrobotics.alloy.components
                                                        -
                                                         
                                                        +
                                                        +
                                                        An input component is an extension of a regular component, used for input and control systems
                                                        +
                                                        InputComponent() - Constructor for class org.montclairrobotics.alloy.components.InputComponent
                                                         
                                                        +
                                                        InvalidConfigurationException - Exception in org.montclairrobotics.alloy.exceptions
                                                        +
                                                        +
                                                        An exception that is thrown when a robot is improperly setup An invalid configuration can be + thrown when:
                                                        + - Global robot properties are accessed before they exist
                                                        + - Motor, or controller ports are improperly specified or accessed
                                                        +
                                                        +
                                                        InvalidConfigurationException(String) - Constructor for exception org.montclairrobotics.alloy.exceptions.InvalidConfigurationException
                                                        +
                                                         
                                                        isDone() - Method in class org.montclairrobotics.alloy.auto.State
                                                        IsDone should return true when the state is finished
                                                        isDone() - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                         
                                                        +
                                                        isEnabled() - Method in enum org.montclairrobotics.alloy.utils.Toggleable.Status
                                                        +
                                                         
                                                        A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index.html b/docs/javadoc/index.html index 8d44cdc..7a2725e 100644 --- a/docs/javadoc/index.html +++ b/docs/javadoc/index.html @@ -2,7 +2,7 @@ - + Generated Documentation (Untitled) diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/State.html b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html index f40001b..366cb76 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/State.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html @@ -2,9 +2,9 @@ - + State - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html index 0968d06..f7006a7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html @@ -2,9 +2,9 @@ - + StateMachine - + @@ -126,6 +126,7 @@

                                                        Class StateMachine

                                                        pre coded instructions that make driving easier.
                                                        Since:
                                                        +
                                                        0.1
                                                        Author:
                                                        Garrett Burroughs
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html index 456a74c..360d199 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.auto.AlloyAutonomous - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html index d164a05..44d02e0 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.auto.State - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html index 4a21b19..1d2a124 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.auto.StateMachine - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html index 15ccea0..2a8f702 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html index 536de25..c76afb4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html index e29b505..92828d2 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html index 1a6be1c..80d4a5d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.auto - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/Component.html b/docs/javadoc/org/montclairrobotics/alloy/components/Component.html index a5afce9..137c3cf 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/Component.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/Component.html @@ -2,9 +2,9 @@ - + Component - + @@ -49,7 +49,7 @@
                                                          @@ -123,21 +123,32 @@

                                                          Class Component

                                                          The main component class that all components of alloy should extend

                                                          Alloy is built of a system of components that all work together to operate a robot Components - can be broken down into 2 simple parts -Physical Component -Input Component + can be broken down into 2 simple parts
                                                          + -Physical Component
                                                          + -Input Component

                                                          A physical component would include any part, feature, or function that is physically on the robot This can include things like motors, manipulators shooters, drivetrain, etc.

                                                          An input component is more control based and includes things like buttons, joysticks, triggers, sensors, flow camera, optical control and anything else that would send an input to a - physical component

                                                          + physical component + +

                                                          All components have the ability to be toggled on and off as well as built in debug capability + for easier testing and debugging of specific components. + +

                                                          There is also a static list of all components that are created so that the updater can + reference them. This means that you can have a method in a component be updated just by adding + the @Update annotation

                                                        +
                                                        Since:
                                                        +
                                                        0.1
                                                        +
                                                        Version:
                                                        +
                                                        0.1
                                                        +
                                                        Author:
                                                        +
                                                        Garrett Burroughs
                                                        See Also:
                                                        -

                                                        All components have the ability to be toggled on and off as well as built in debug - capability for easier testing and debugging of specific components. -

                                                        There is also a static list of all components that are created so that the updater can - reference them. This means that you can have a method in a component be updated just by - addint the @Update annotation @Author Garrett Burroughs @Version 0.1 @Since 0.1

                                                        +
                                                        InputComponent
                                                        @@ -174,10 +185,12 @@

                                                        Field Summary

                                                        static java.util.ArrayList<Component> -components  +components +
                                                        a static reference of all the components that are made
                                                        + -static Debugger +static Debugger debugger
                                                        The object used for debugging information about all components
                                                        @@ -223,11 +236,16 @@

                                                        Method Summary

                                                        void -addDebug(Debug debug)  +addDebug(Debug debug) +
                                                        Adds a debug to the component, this will be debugged out every loop if debug mode is enabled
                                                        + void -addDebugs(java.lang.Iterable<? extends Debug> debugs)  +addDebugs(java.lang.Iterable<? extends Debug> debugs) +
                                                        Adds multiple debugs to the components, they will be debugged out every loop if debug mode is + enabled
                                                        + void @@ -236,22 +254,26 @@

                                                        Method Summary

                                                        void disableAction() -
                                                        Method to be called when the toggleable is disabled
                                                        +
                                                        The action that is taken when the component is disabled, should be overridden by the user
                                                        void -disableDebug()  +disableDebug() +
                                                        Disabled debug mode, stopping all debugs
                                                        + void enableAction() -
                                                        Method to be called when the toggleable is enabled
                                                        +
                                                        The action that is taken when the component is enabled should be overridden bu the user
                                                        void -enableDebug()  +enableDebug() +
                                                        Enabled debug mode, causing any debugs added to the component to be debugged out
                                                        + static java.util.ArrayList<Component> @@ -292,7 +314,7 @@

                                                        Field Detail

                                                        • debugger

                                                          -
                                                          public static Debugger debugger
                                                          +
                                                          public static Debugger debugger
                                                          The object used for debugging information about all components
                                                        @@ -303,6 +325,7 @@

                                                        debugger

                                                      • components

                                                        public static java.util.ArrayList<Component> components
                                                        +
                                                        a static reference of all the components that are made
                                                        • @@ -346,6 +369,7 @@

                                                        getComponents

                                                      • addDebug

                                                        public void addDebug(Debug debug)
                                                        +
                                                        Adds a debug to the component, this will be debugged out every loop if debug mode is enabled
                                                        • @@ -355,6 +379,8 @@

                                                        addDebug

                                                      • addDebugs

                                                        public void addDebugs(java.lang.Iterable<? extends Debug> debugs)
                                                        +
                                                        Adds multiple debugs to the components, they will be debugged out every loop if debug mode is + enabled
                                                        • @@ -364,6 +390,7 @@

                                                        addDebugs

                                                      • enableDebug

                                                        public void enableDebug()
                                                        +
                                                        Enabled debug mode, causing any debugs added to the component to be debugged out
                                                        •  @@ -373,6 +400,7 @@

                                                        enableDebug

                                                      • disableDebug

                                                        public void disableDebug()
                                                        +
                                                        Disabled debug mode, stopping all debugs
                                                        •  @@ -391,8 +419,7 @@

                                                        debug

                                                      • enableAction

                                                        public void enableAction()
                                                        -
                                                        Description copied from class: Toggleable
                                                        -
                                                        Method to be called when the toggleable is enabled
                                                        +
                                                        The action that is taken when the component is enabled should be overridden bu the user
                                                        Specified by:
                                                        enableAction in class Toggleable
                                                        @@ -406,8 +433,7 @@

                                                        enableAction

                                                      • disableAction

                                                        public void disableAction()
                                                        -
                                                        Description copied from class: Toggleable
                                                        -
                                                        Method to be called when the toggleable is disabled
                                                        +
                                                        The action that is taken when the component is disabled, should be overridden by the user
                                                        Specified by:
                                                        disableAction in class Toggleable
                                                        @@ -442,7 +468,7 @@

                                                        disableAction

                                                          diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html b/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html index 8ad7c0c..ffadf73 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html @@ -2,9 +2,9 @@ - + InputComponent - + @@ -118,18 +118,40 @@

                                                          Class InputComponent<T>

                                                        • +
                                                          Type Parameters:
                                                          +
                                                          T - the type of the input
                                                          +
                                                          +
                                                          All Implemented Interfaces:
                                                          Input
                                                          Direct Known Subclasses:
                                                          -
                                                          BangBang, Differential, Encoder, FTCJoystick, PID, TuneablePID
                                                          +
                                                          BangBang, Differential, Encoder, FTCJoystick, GyroCorrection, PID, TuneablePID

                                                          public abstract class InputComponent<T>
 extends Component
 implements Input
                                                          +
                                                          An input component is an extension of a regular component, used for input and control systems + +

                                                          Input components take in a standard input, and have the ability to manipulate them using a + number of steps that can be added. Steps take in the input, perform some sort of manipulation or + calculation and then return the new value. Steps are applied in order of them being added, and + the output of one step gets passed in as the input of the next step. The steps are only applied + if the applySteps() method is called + +

                                                          Input components can also be enabled, or disabled just like regular components, and will + return their calculated value as a regular input

                                                          +
                                                          +
                                                          Since:
                                                          +
                                                          0.1
                                                          +
                                                          Version:
                                                          +
                                                          0.1
                                                          +
                                                          Author:
                                                          +
                                                          Garrett Burroughs
                                                          +
                                                        @@ -165,15 +187,21 @@

                                                        Field Summary

                                                        Input<T> -input  +input +
                                                        The initial input value
                                                        + T -output  +output +
                                                        The value after steps have been applied
                                                        + java.util.ArrayList<Step<T>> -steps  +steps +
                                                        An arraylist to store all of the steps
                                                        + @@ -298,6 +335,7 @@

                                                        output

                                                      • steps

                                                        public java.util.ArrayList<Step<T>> steps
                                                        +
                                                        An arraylist to store all of the steps
                                                        • @@ -345,6 +383,8 @@

                                                        get

                                                      • applySteps

                                                        public void applySteps()
                                                        +
                                                        Apply all of the steps, in order, taking the output of one step and passing it as the input + to the next
                                                        • @@ -354,6 +394,7 @@

                                                        applySteps

                                                      • addStep

                                                        public InputComponent addStep(Step s)
                                                        +
                                                        A daisy-chainable method that adds a step to the input component
                                                        • @@ -363,6 +404,7 @@

                                                        addStep

                                                      • setInput

                                                        public InputComponent<T> setInput(Input<T> input)
                                                        +
                                                        A daisy-chainable method that sets the initial input of the input component
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/Step.html b/docs/javadoc/org/montclairrobotics/alloy/components/Step.html index cf3aa57..1acd1b0 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/Step.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/Step.html @@ -2,9 +2,9 @@ - + Step - + @@ -100,12 +100,28 @@

                                                        Interface Step<T>

                                                        • +
                                                          Type Parameters:
                                                          +
                                                          T - the type that the step will be manipulating
                                                          +
                                                          +
                                                          All Known Implementing Classes:
                                                          -
                                                          Deadzone, VectorDeadzone
                                                          +
                                                          Deadzone, VectorDeadzone

                                                          public interface Step<T>
                                                          +
                                                          A step is a manipulation or calculation performed on an input + +

                                                          When used in conjunction with an InputComponent, the steps will be applied in order, passing + in the output of one step, into the input of the next step.

                                                          +
                                                          +
                                                          Since:
                                                          +
                                                          0.1
                                                          +
                                                          Version:
                                                          +
                                                          0.1
                                                          +
                                                          Author:
                                                          +
                                                          Garrett Burroughs
                                                          +
                                                        @@ -126,7 +142,9 @@

                                                        Method Summary

                                                        T -getOutput(T input)  +getOutput(T input) +
                                                        The operation to be performed on the input, to get the output
                                                        + @@ -152,6 +170,7 @@

                                                        Method Detail

                                                      • getOutput

                                                        T getOutput(T input)
                                                        +
                                                        The operation to be performed on the input, to get the output
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Component.html b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Component.html index 5bac576..2c8bc1f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Component.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Component.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.components.Component - + @@ -124,7 +124,9 @@

                                                        Uses of class  -InputComponent<T>  +InputComponent<T> +
                                                        An input component is an extension of a regular component, used for input and control systems
                                                        + @@ -137,7 +139,9 @@

                                                        Uses of static java.util.ArrayList<Component> -Component.components  +Component.components +
                                                        a static reference of all the components that are made
                                                        + @@ -207,19 +211,19 @@

                                                        Uses of class  FTCJoystick -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        Implementation of the Joystick class for FTC
                                                        class  FTCMotor -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        Implementation of a basic motor for the FTC competition
                                                        class  FTCTargetMotor -
                                                        Created by MHS Robotics on 2/24/2018.
                                                        +
                                                        Implementation of a target motor for the FTC competition
                                                        @@ -264,7 +268,9 @@

                                                        Uses of class  -BangBang  +BangBang +
                                                        Simple error correction, that returns one value if the error is high, and another if it is low
                                                        + class  @@ -274,11 +280,17 @@

                                                        Uses of class  +GyroCorrection +
                                                        A correction based on a gyroscope, to keep a consistent heading
                                                        + + + +class  PID
                                                        Created by Montclair robotics on 2/27/2018
                                                        - + class  TuneablePID
                                                        A PID class that takes in tunable inputs to make PID tuning easier
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/InputComponent.html b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/InputComponent.html index 1b230ed..b4fe84c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/InputComponent.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/InputComponent.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.components.InputComponent - + @@ -120,11 +120,15 @@

                                                        Uses of InputComponent -InputComponent.addStep(Step s)  +InputComponent.addStep(Step s) +
                                                        A daisy-chainable method that adds a step to the input component
                                                        + InputComponent<T> -InputComponent.setInput(Input<T> input)  +InputComponent.setInput(Input<T> input) +
                                                        A daisy-chainable method that sets the initial input of the input component
                                                        + @@ -163,7 +167,7 @@

                                                        Uses of class  FTCJoystick -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        Implementation of the Joystick class for FTC
                                                        @@ -251,7 +255,9 @@

                                                        Uses of class  -BangBang  +BangBang +
                                                        Simple error correction, that returns one value if the error is high, and another if it is low
                                                        + class  @@ -261,11 +267,17 @@

                                                        Uses of class  +GyroCorrection +
                                                        A correction based on a gyroscope, to keep a consistent heading
                                                        + + + +class  PID
                                                        Created by Montclair robotics on 2/27/2018
                                                        - + class  TuneablePID
                                                        A PID class that takes in tunable inputs to make PID tuning easier
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Step.html b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Step.html index efc5213..5ab3cb4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Step.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Step.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.components.Step - + @@ -91,7 +91,7 @@

                                                          -org.montclairrobotics.alloy.motor.steps +org.montclairrobotics.alloy.steps   @@ -112,7 +112,9 @@

                                                        Uses of java.util.ArrayList<Step<T>> -InputComponent.steps  +InputComponent.steps +
                                                        An arraylist to store all of the steps
                                                        + @@ -125,7 +127,9 @@

                                                        Uses of InputComponent -InputComponent.addStep(Step s)  +InputComponent.addStep(Step s) +
                                                        A daisy-chainable method that adds a step to the input component
                                                        + @@ -148,12 +152,12 @@

                                                        Uses of +
                                                      • -

                                                        Uses of Step in org.montclairrobotics.alloy.motor.steps

                                                        +

                                                        Uses of Step in org.montclairrobotics.alloy.steps

                                                        - + @@ -161,11 +165,15 @@

                                                        Uses of

                                                        - + - +
                                                        Classes in org.montclairrobotics.alloy.motor.steps that implement Step Classes in org.montclairrobotics.alloy.steps that implement Step 
                                                        Modifier and Type Class and Descriptionclass Deadzone Deadzone +
                                                        A step that returns 0 if the input is under a certain threshold
                                                        +
                                                        class VectorDeadzone VectorDeadzone +
                                                        A step that returns 0 if the inputs magnitude is under a certain threshold
                                                        +
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html index 8a277ba..c997b3f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.components - + @@ -13,7 +13,6 @@

                                                        Interfaces

                                                        Classes

                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html index 8b4e717..308327a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.components - + @@ -83,12 +83,10 @@

                                                        Package org.montclairrobotics.alloy.compo -Action -  - - Step<T> -  + +
                                                        A step is a manipulation or calculation performed on an input
                                                        + @@ -109,7 +107,9 @@

                                                        Package org.montclairrobotics.alloy.compo InputComponent<T> -  + +
                                                        An input component is an extension of a regular component, used for input and control systems
                                                        + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html index b3a4860..4bb6741 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.components Class Hierarchy - + @@ -95,7 +95,6 @@

                                                        Class Hierarchy

                                                        Interface Hierarchy

                                                          -
                                                        • org.montclairrobotics.alloy.components.Action
                                                        • org.montclairrobotics.alloy.components.Step<T>
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-use.html index e8dd69e..657418c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.components - + @@ -103,7 +103,7 @@

                                                          -org.montclairrobotics.alloy.motor.steps +org.montclairrobotics.alloy.steps   @@ -128,10 +128,14 @@

                                                        -InputComponent  +InputComponent +
                                                        An input component is an extension of a regular component, used for input and control systems
                                                        + -Step  +Step +
                                                        A step is a manipulation or calculation performed on an input
                                                        + @@ -151,7 +155,9 @@

                                                        -InputComponent  +InputComponent +
                                                        An input component is an extension of a regular component, used for input and control systems
                                                        + @@ -188,7 +194,9 @@

                                                        -InputComponent  +InputComponent +
                                                        An input component is an extension of a regular component, used for input and control systems
                                                        + @@ -208,25 +216,31 @@

                                                        -InputComponent  +InputComponent +
                                                        An input component is an extension of a regular component, used for input and control systems
                                                        + -Step  +Step +
                                                        A step is a manipulation or calculation performed on an input
                                                        +

                                                        • -
                                                      • +
                                                      • - + - +
                                                        Classes in org.montclairrobotics.alloy.components used by org.montclairrobotics.alloy.motor.steps Classes in org.montclairrobotics.alloy.components used by org.montclairrobotics.alloy.steps 
                                                        Class and Description
                                                        Step Step +
                                                        A step is a manipulation or calculation performed on an input
                                                        +
                                                        @@ -246,7 +260,9 @@

                                                        -InputComponent  +InputComponent +
                                                        An input component is an extension of a regular component, used for input and control systems
                                                        + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html b/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html index de89721..337899f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html @@ -2,9 +2,9 @@ - + ButtonAction - + @@ -115,13 +115,13 @@

                                                        Class ButtonAction


                                                        public abstract class ButtonAction
 extends java.lang.Object
                                                        -
                                                        Created by MHS Robotics on 2/11/2018. - -

                                                        Every Button action is tied to a button, and controls what happens when the button is pressed, +

                                                        Every Button action is tied to a button, and controls what happens when the button is pressed, held, unpressed, and released
                                                        Since:
                                                        0.1
                                                        +
                                                        Version:
                                                        +
                                                        0.1
                                                        Author:
                                                        Garrett Burroughs
                                                        @@ -145,11 +145,16 @@

                                                        Field Summary

                                                        Button -button  +button +
                                                        The button that controls the action
                                                        + boolean -wasPressed  +wasPressed +
                                                        Keeps track of if the button was pressed in the previous loop, used for telling when the + button is pressed/unpressed
                                                        +
                                                        • @@ -166,7 +171,9 @@

                                                        Constructor Summary

                                                        Constructor and Description -ButtonAction(Button button)  +ButtonAction(Button button) +
                                                        Creates a button action tied to a button
                                                        + @@ -240,6 +247,7 @@

                                                        Field Detail

                                                      • button

                                                        public Button button
                                                        +
                                                        The button that controls the action
                                                        • @@ -249,6 +257,8 @@

                                                        button

                                                      • wasPressed

                                                        public boolean wasPressed
                                                        +
                                                        Keeps track of if the button was pressed in the previous loop, used for telling when the + button is pressed/unpressed
                                                        • @@ -266,6 +276,7 @@

                                                        Constructor Detail

                                                      • ButtonAction

                                                        public ButtonAction(Button button)
                                                        +
                                                        Creates a button action tied to a button
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html b/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html index b7d47cc..8606ea2 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html @@ -2,9 +2,9 @@ - + ToggleButton - + @@ -116,13 +116,13 @@

                                                        Class ToggleButton


                                                        public class ToggleButton
 extends ButtonAction
                                                        -
                                                        Created by MHS Robotics on 2/11/2018. - -

                                                        A ToggleButton is tied to a button and a toggleable, when the button is pressed the toggleable +

                                                        A ToggleButton is tied to a button and a toggleable, when the button is pressed the toggleable will toggle between states
                                                        Since:
                                                        0.1
                                                        +
                                                        Version:
                                                        +
                                                        0.1
                                                        Author:
                                                        Garrett Burroughs
                                                        See Also:
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html index a60feb4..979d554 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.control.ButtonAction - + @@ -105,7 +105,8 @@

                                                        Uses of class  ToggleButton -
                                                        Created by MHS Robotics on 2/11/2018.
                                                        +
                                                        A ToggleButton is tied to a button and a toggleable, when the button is pressed the toggleable + will toggle between states
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html index 98210c1..ee1e78c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.control.ToggleButton - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html index 9b666a0..7801eca 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html index 332347a..7cd8d05 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control - + @@ -85,13 +85,15 @@

                                                        Package org.montclairrobotics.alloy.contr ButtonAction -
                                                        Created by MHS Robotics on 2/11/2018.
                                                        +
                                                        Every Button action is tied to a button, and controls what happens when the button is pressed, + held, unpressed, and released
                                                        ToggleButton -
                                                        Created by MHS Robotics on 2/11/2018.
                                                        +
                                                        A ToggleButton is tied to a button and a toggleable, when the button is pressed the toggleable + will toggle between states
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html index 257fd7d..b62a171 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html index 19fd1e7..6363b79 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.control - + @@ -100,7 +100,8 @@

                                                        Us ButtonAction -
                                                        Created by MHS Robotics on 2/11/2018.
                                                        +
                                                        Every Button action is tied to a button, and controls what happens when the button is pressed, + held, unpressed, and released
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html index aa48593..595f834 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html @@ -2,9 +2,9 @@ - + Alloy - + @@ -120,10 +120,14 @@

                                                        Class Alloy


                                                        public abstract class Alloy
 extends com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                        -
                                                        Created by MHS Robotics on 11/13/2017. +
                                                        The main class that takes care of setting up the environment, and running all of the main methods -

                                                        The main purpose behind the alloy class is to controll how and when all of the mehotds in - Robot are run as well as initialize all global variables

                                                        +

                                                        The alloy class is an extension of the FTC OpMode class, and takes care of preliminary setup + of:
                                                        + - Setting up the global FTC variables in RobotCore
                                                        + - Setting up the global Debugger
                                                        + - Initializing any "initializeables" in the project
                                                        + - Running the users defined methods

                                                        Since:
                                                        0.1
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Button.html b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html index e07b93f..3737589 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Button.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html @@ -2,9 +2,9 @@ - + Button - + @@ -106,10 +106,11 @@

                                                        Interface Button


                                                        public interface Button
                                                        -
                                                        Created by MHS Robotics on 11/13/2017. +
                                                        An outline for the fundamental behavior of a button -

                                                        The button interface is implemented in ftc button The user can get the value of the button, In - most cases this will be a Boolean (True if pressed, false if not),

                                                        +

                                                        A button can either be pressed, or unpressed, so the button interface has a method that + returns a boolean value. When implemented, getValue() should return true when the button is + pressed and false when it is unpressed

                                                        Since:
                                                        0.1
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html index b5ab0ba..e0ff567 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html @@ -2,9 +2,9 @@ - + Debug - + @@ -44,7 +44,7 @@
                                                        • Frames
                                                          • @@ -105,6 +105,24 @@

                                                          Class Debug


                                                          public class Debug
 extends java.lang.Object
                                                          +
                                                          Contains the necessary information for a debug + +

                                                          Every debug has a key, which is a title or label of the information being debugged This can be + the type of information ex. 'ERROR', where the information is coming from and what it is ex. + "Right Left Motor encoder value", or any other descriptor of the information + +

                                                          Every debug also has the actual value that is being debugged The part where it is actually + debugged is taken care of the Debugger

                                                          +
                                                          +
                                                          Since:
                                                          +
                                                          0.1
                                                          +
                                                          Version:
                                                          +
                                                          0.1
                                                          +
                                                          Author:
                                                          +
                                                          Garrett Burroughs
                                                          +
                                                          See Also:
                                                          +
                                                          Debugger
                                                          +
                                                        @@ -125,11 +143,15 @@

                                                        Field Summary

                                                        java.lang.String -key  +key +
                                                        The key, label, or name of the information
                                                        + Input<java.lang.Object> -value  +value +
                                                        The information, or object to be debugged
                                                        + @@ -147,11 +169,15 @@

                                                        Constructor Summary

                                                        Debug(java.lang.String key, - Input<java.lang.Object> value)  + Input<java.lang.Object> value) +
                                                        debug a changing value
                                                        + Debug(java.lang.String key, - java.lang.Object value)  + java.lang.Object value) +
                                                        debug a constant value
                                                        + @@ -190,6 +216,7 @@

                                                        Field Detail

                                                      • key

                                                        public java.lang.String key
                                                        +
                                                        The key, label, or name of the information
                                                        • @@ -199,6 +226,7 @@

                                                        key

                                                      • value

                                                        public Input<java.lang.Object> value
                                                        +
                                                        The information, or object to be debugged
                                                        • @@ -217,6 +245,7 @@

                                                        Constructor Detail

                                                        Debug

                                                        public Debug(java.lang.String key,
              Input<java.lang.Object> value)
                                                        +
                                                        debug a changing value
                                                        @@ -227,6 +256,7 @@

                                                        Debug

                                                        Debug

                                                        public Debug(java.lang.String key,
              java.lang.Object value)
                                                        +
                                                        debug a constant value
                                                        @@ -258,7 +288,7 @@

                                                        Debug

                                                        • Frames
                                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html new file mode 100644 index 0000000..554f54c --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html @@ -0,0 +1,436 @@ + + + + + +Debugger.Level + + + + + + + + +
                                                          + + +
                                                          Skip navigation links
                                                          + + + + +
                                                          +
                                                          + + + +
                                                          + +
                                                          +
                                                          + + +
                                                          + + +
                                                          + + +
                                                          +
                                                          org.montclairrobotics.alloy.core
                                                          +

                                                          Enum Debugger.Level

                                                          +
                                                          +
                                                          +
                                                            +
                                                          • java.lang.Object
                                                            • +
                                                          • +
                                                              +
                                                            • java.lang.Enum<Debugger.Level>
                                                              • +
                                                            • +
                                                                +
                                                              • org.montclairrobotics.alloy.core.Debugger.Level
                                                                • +
                                                              +
                                                              • +
                                                            +
                                                            • +
                                                          +
                                                          +
                                                            +
                                                          • +
                                                            +
                                                            All Implemented Interfaces:
                                                            +
                                                            java.io.Serializable, java.lang.Comparable<Debugger.Level>
                                                            +
                                                            +
                                                            +
                                                            Enclosing class:
                                                            +
                                                            Debugger
                                                            +
                                                            +
                                                            +
                                                            +
                                                            public static enum Debugger.Level
+extends java.lang.Enum<Debugger.Level>
                                                            +
                                                            • +
                                                          +
                                                          +
                                                          +
                                                            +
                                                          • + +
                                                              +
                                                            • + + +

                                                              Enum Constant Summary

                                                              + + + + + + + + + + + + + + + + + + + + + + + +
                                                              Enum Constants 
                                                              Enum Constant and Description
                                                              COMPETITION +
                                                              Competition debugs should contain information that is important to the drive team during + a competition match.
                                                              +
                                                              DEBUG +
                                                              Debugs should contain the most information about a mechanism or process.
                                                              +
                                                              ERROR +
                                                              Error Debugs should never be Turned off.
                                                              +
                                                              OVERRIDE +
                                                              The override can be used to override the level system and ouput any information Overrides + are always enabled
                                                              +
                                                              TEST +
                                                              Test debugs should be used when testing functionality of a process or mechanism, Tests + should contain simple and important information to the process rather than an in depth + look on how everything is working.
                                                              +
                                                              WARNING +
                                                              Warnings should display when there is a potential problem with robot operation
                                                              +
                                                              +
                                                              • +
                                                            + +
                                                              +
                                                            • + + +

                                                              Method Summary

                                                              + + + + + + + + + + + + + + + + + + +
                                                              All Methods Static Methods Instance Methods Concrete Methods 
                                                              Modifier and TypeMethod and Description
                                                              intgetRank() 
                                                              static Debugger.LevelvalueOf(java.lang.String name) +
                                                              Returns the enum constant of this type with the specified name.
                                                              +
                                                              static Debugger.Level[]values() +
                                                              Returns an array containing the constants of this enum type, in +the order they are declared.
                                                              +
                                                              +
                                                                +
                                                              • + + +

                                                                Methods inherited from class java.lang.Enum

                                                                +clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
                                                                • +
                                                              +
                                                                +
                                                              • + + +

                                                                Methods inherited from class java.lang.Object

                                                                +getClass, notify, notifyAll, wait, wait, wait
                                                                • +
                                                              +
                                                              • +
                                                            +
                                                            • +
                                                          +
                                                          +
                                                          +
                                                            +
                                                          • + +
                                                              +
                                                            • + + +

                                                              Enum Constant Detail

                                                              + + + +
                                                                +
                                                              • +

                                                                OVERRIDE

                                                                +
                                                                public static final Debugger.Level OVERRIDE
                                                                +
                                                                The override can be used to override the level system and ouput any information Overrides + are always enabled
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                ERROR

                                                                +
                                                                public static final Debugger.Level ERROR
                                                                +
                                                                Error Debugs should never be Turned off. Error debugs will display when anything that is + critical to robot operation occurs
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                COMPETITION

                                                                +
                                                                public static final Debugger.Level COMPETITION
                                                                +
                                                                Competition debugs should contain information that is important to the drive team during + a competition match.
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                WARNING

                                                                +
                                                                public static final Debugger.Level WARNING
                                                                +
                                                                Warnings should display when there is a potential problem with robot operation
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                TEST

                                                                +
                                                                public static final Debugger.Level TEST
                                                                +
                                                                Test debugs should be used when testing functionality of a process or mechanism, Tests + should contain simple and important information to the process rather than an in depth + look on how everything is working.
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                DEBUG

                                                                +
                                                                public static final Debugger.Level DEBUG
                                                                +
                                                                Debugs should contain the most information about a mechanism or process. For example, + debug informtion for a motor would include its target speed, current speed, target + position, current position, direction, % error, and so on. Debugs should only be turned + on when fixing problems, as the amount of information can be quite cluttering
                                                                +
                                                                • +
                                                              +
                                                              • +
                                                            + +
                                                              +
                                                            • + + +

                                                              Method Detail

                                                              + + + +
                                                                +
                                                              • +

                                                                values

                                                                +
                                                                public static Debugger.Level[] values()
                                                                +
                                                                Returns an array containing the constants of this enum type, in +the order they are declared. This method may be used to iterate +over the constants as follows: +
                                                                +for (Debugger.Level c : Debugger.Level.values())
+    System.out.println(c);
+
                                                                +
                                                                +
                                                                Returns:
                                                                +
                                                                an array containing the constants of this enum type, in the order they are declared
                                                                +
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                valueOf

                                                                +
                                                                public static Debugger.Level valueOf(java.lang.String name)
                                                                +
                                                                Returns the enum constant of this type with the specified name. +The string must match exactly an identifier used to declare an +enum constant in this type. (Extraneous whitespace characters are +not permitted.)
                                                                +
                                                                +
                                                                Parameters:
                                                                +
                                                                name - the name of the enum constant to be returned.
                                                                +
                                                                Returns:
                                                                +
                                                                the enum constant with the specified name
                                                                +
                                                                Throws:
                                                                +
                                                                java.lang.IllegalArgumentException - if this enum type has no constant with the specified name
                                                                +
                                                                java.lang.NullPointerException - if the argument is null
                                                                +
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                getRank

                                                                +
                                                                public int getRank()
                                                                +
                                                                • +
                                                              +
                                                              • +
                                                            +
                                                            • +
                                                          +
                                                          +
                                                          + + +
                                                          + + +
                                                          Skip navigation links
                                                          + + + + +
                                                          +
                                                          + + + +
                                                          + +
                                                          +
                                                          + + +
                                                          + + +
                                                          + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html index be44822..ee16d8e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html @@ -2,9 +2,9 @@ - + Debugger - + @@ -18,8 +18,8 @@ catch(err) { } //--> -var methods = {"i0":6,"i1":6,"i2":6,"i3":6}; -var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"]}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":6,"i6":10,"i7":9,"i8":10,"i9":10}; +var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; var tableTab = "tableTab"; @@ -50,7 +50,7 @@
                                                          • Frames
                                                            • @@ -74,15 +74,15 @@
                                                            @@ -93,24 +93,38 @@
                                                            org.montclairrobotics.alloy.core
                                                            -

                                                            Interface Debugger

                                                            +

                                                            Class Debugger

                                                            +
                                                              +
                                                            • java.lang.Object
                                                              • +
                                                            • +
                                                                +
                                                              • org.montclairrobotics.alloy.core.Debugger
                                                                • +
                                                              +
                                                              • +
                                                            • -
                                                              All Known Implementing Classes:
                                                              +
                                                              Direct Known Subclasses:
                                                              FTCDebugger

                                                              -
                                                              public interface Debugger
                                                              -
                                                              Created by MHS Robotics on 11/13/2017. +
                                                              public abstract class Debugger
+extends java.lang.Object
                                                              +
                                                              Controls the flow of how debug information is read out

                                                              Debugs are used for debugging information to the user In ftc the debugs use Telemetry to read an output to the phone The debug allows for easier usage of the telemetry methods That are most - used for debugging.

                                                              + used for debugging. + +

                                                              The Debugger also has different debug levels, so that the user can easily switch the amount of + information they are getting. For example, the user would want a lot of information about a + particular part when they are fixing a problem or tuning the robot, but only important + information when they are driving in a competition

                                                              Since:
                                                              0.1
                                                              @@ -125,6 +139,63 @@

                                                              Interface Debugger

                                                              • + +
                                                                  +
                                                                • + + +

                                                                  Nested Class Summary

                                                                  + + + + + + + + + + +
                                                                  Nested Classes 
                                                                  Modifier and TypeClass and Description
                                                                  static class Debugger.Level 
                                                                  +
                                                                  • +
                                                                + +
                                                                  +
                                                                • + + +

                                                                  Field Summary

                                                                  + + + + + + + + + + +
                                                                  Fields 
                                                                  Modifier and TypeField and Description
                                                                  static Debugger.LeveldebugLevel +
                                                                  Current Debug Level
                                                                  +
                                                                  +
                                                                  • +
                                                                + +
                                                                  +
                                                                • + + +

                                                                  Constructor Summary

                                                                  + + + + + + + + +
                                                                  Constructors 
                                                                  Constructor and Description
                                                                  Debugger() 
                                                                  +
                                                                  • +
                                                                • @@ -132,7 +203,7 @@

                                                                  Interface Debugger

                                                                  Method Summary

                                                                  - + @@ -145,24 +216,73 @@

                                                                  Method Summary

                                                                  - - - + + + + + + + + + + + + + + + + + + + + + + + +
                                                                  All Methods Instance Methods Abstract Methods All Methods Static Methods Instance Methods Abstract Methods Concrete Methods 
                                                                  Modifier and Type Method and Description
                                                                  voidlog(java.lang.String key, - java.lang.Object value) -
                                                                  Debugs a value with a Key(Identifier)
                                                                  +                                                                  		debug(java.lang.String key, + java.lang.Object value) +
                                                                  Debug out verbose information
                                                                  voidmsg(java.lang.Object value) -
                                                                  Debugs any value or message(note) to the user with a default key
                                                                  +                                                                  		driverInfo(java.lang.String key, + java.lang.Object value) +
                                                                  Give a message intended for the driver during practice or competition operation
                                                                  voidwarning(java.lang.String warning) +error(java.lang.String error) +
                                                                  Gives an error message to the user
                                                                  +
                                                                  voidlog(java.lang.String key, + java.lang.Object value, + Debugger.Level level) +
                                                                  Debugs a value if the level is lower than the current debug level
                                                                  +
                                                                  abstract voidout(java.lang.String key, + java.lang.Object value) +
                                                                  The most basic debug that simply outputs information given a key and value
                                                                  +
                                                                  voidoverride(java.lang.String key, + java.lang.Object value) +
                                                                  A message that overrides the debug level system
                                                                  +
                                                                  static voidsetDebugLevel(Debugger.Level level) +
                                                                  Set the debug level
                                                                  +
                                                                  voidtest(java.lang.String key, + java.lang.Object value) +
                                                                  Information to be displayed when testing a process or mechanism
                                                                  +
                                                                  voidwarn(java.lang.String warning)
                                                                  Gives a warning to the user
                                                                  +
                                                                    +
                                                                  • + + +

                                                                    Methods inherited from class java.lang.Object

                                                                    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                                                    • +
                                                                • @@ -171,38 +291,90 @@

                                                                Method Summary

                                                                • + +
                                                                    +
                                                                  • + + +

                                                                    Field Detail

                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      debugLevel

                                                                      +
                                                                      public static Debugger.Level debugLevel
                                                                      +
                                                                      Current Debug Level
                                                                      +
                                                                      • +
                                                                    +
                                                                    • +
                                                                  + +
                                                                    +
                                                                  • + + +

                                                                    Constructor Detail

                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      Debugger

                                                                      +
                                                                      public Debugger()
                                                                      +
                                                                      • +
                                                                    +
                                                                    • +

                                                                  • Method Detail

                                                                    - +
                                                                    • -

                                                                      log

                                                                      -
                                                                      void log(java.lang.String key,
-         java.lang.Object value)
                                                                      -
                                                                      Debugs a value with a Key(Identifier)
                                                                      +

                                                                      setDebugLevel

                                                                      +
                                                                      public static void setDebugLevel(Debugger.Level level)
                                                                      +
                                                                      Set the debug level
                                                                      Parameters:
                                                                      -
                                                                      key - Name of the value
                                                                      +
                                                                      level - The level to be set
                                                                      +
                                                                      +
                                                                      • +
                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      out

                                                                      +
                                                                      public abstract void out(java.lang.String key,
+                         java.lang.Object value)
                                                                      +
                                                                      The most basic debug that simply outputs information given a key and value
                                                                      +
                                                                      +
                                                                      Parameters:
                                                                      +
                                                                      key - Key of the value being debugged
                                                                      value - Value to be debugged
                                                                    - +
                                                                    • -

                                                                      msg

                                                                      -
                                                                      void msg(java.lang.Object value)
                                                                      -
                                                                      Debugs any value or message(note) to the user with a default key
                                                                      +

                                                                      log

                                                                      +
                                                                      public void log(java.lang.String key,
+                java.lang.Object value,
+                Debugger.Level level)
                                                                      +
                                                                      Debugs a value if the level is lower than the current debug level
                                                                      Parameters:
                                                                      +
                                                                      key - Name of the value
                                                                      value - Value to be debugged
                                                                      • @@ -213,7 +385,7 @@

                                                                      msg

                                                                      • debug

                                                                        -
                                                                        void debug(Debug debug)
                                                                        +
                                                                        public void debug(Debug debug)
                                                                        Debugs out a debug object
                                                                        Parameters:
                                                                        @@ -221,13 +393,13 @@

                                                                        debug

                                                                      - + -
                                                                        +
                                                                        • -

                                                                          warning

                                                                          -
                                                                          void warning(java.lang.String warning)
                                                                          +

                                                                          warn

                                                                          +
                                                                          public void warn(java.lang.String warning)
                                                                          Gives a warning to the user
                                                                          Parameters:
                                                                          @@ -235,6 +407,84 @@

                                                                          warning

                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          error

                                                                          +
                                                                          public void error(java.lang.String error)
                                                                          +
                                                                          Gives an error message to the user
                                                                          +
                                                                          +
                                                                          Parameters:
                                                                          +
                                                                          error - the error message to be displayed
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          driverInfo

                                                                          +
                                                                          public void driverInfo(java.lang.String key,
+                       java.lang.Object value)
                                                                          +
                                                                          Give a message intended for the driver during practice or competition operation
                                                                          +
                                                                          +
                                                                          Parameters:
                                                                          +
                                                                          key - Name of the value
                                                                          +
                                                                          value - Value to be displayed
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          test

                                                                          +
                                                                          public void test(java.lang.String key,
+                 java.lang.Object value)
                                                                          +
                                                                          Information to be displayed when testing a process or mechanism
                                                                          +
                                                                          +
                                                                          Parameters:
                                                                          +
                                                                          key - Name of the value
                                                                          +
                                                                          value - Value to be displayed
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          debug

                                                                          +
                                                                          public void debug(java.lang.String key,
+                  java.lang.Object value)
                                                                          +
                                                                          Debug out verbose information
                                                                          +
                                                                          +
                                                                          Parameters:
                                                                          +
                                                                          key - Name of the value
                                                                          +
                                                                          value - Value to be displayed
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          override

                                                                          +
                                                                          public void override(java.lang.String key,
+                     java.lang.Object value)
                                                                          +
                                                                          A message that overrides the debug level system
                                                                          +
                                                                          +
                                                                          Parameters:
                                                                          +
                                                                          key - Name of the value
                                                                          +
                                                                          value - Value to be displayed
                                                                          +
                                                                          +
                                                                          • +
                                                                      @@ -264,7 +514,7 @@

                                                                      warning

                                                                      • Frames
                                                                        • @@ -288,15 +538,15 @@

                                                                        warning

                                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html b/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html index 1fc3b05..c223bdd 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html @@ -2,9 +2,9 @@ - + Encoder - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":6,"i4":10,"i5":10,"i6":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":6,"i5":10,"i6":10,"i7":10,"i8":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -49,7 +49,7 @@
                                                                        @@ -135,6 +135,14 @@

                                                                        Class Encoder

                                                                        At a basic level hardware encoders are able to get how far a motor has gone as a unit of encoder ticks. The encoder class also calculates the acceleration anc velocity of the motor in terms of encoder ticks, and then the user can define the distance of unit to measure the motor in

                                                                      +
                                                                      +
                                                                      Since:
                                                                      +
                                                                      0.1
                                                                      +
                                                                      Version:
                                                                      +
                                                                      0.1
                                                                      +
                                                                      Author:
                                                                      +
                                                                      Garrett Burroughs
                                                                      +
                                                                @@ -228,37 +236,45 @@

                                                                Method Summary

                                                                +Differential +getAccelerationDifferential()  + + double getRawVelocity()
                                                                Get the velocity in Ticks per Second
                                                                - + double getScaledVelocity()
                                                                Get a scaled value (0 - 1) of how fast the motor is going
                                                                - + abstract int getTicks()
                                                                A method that should be overridden by the encoder
                                                                - + double getVelocity()
                                                                Get the velocity in distance per second The distance is set by the distance per tick method, it is important to keep distances consistent throughout the project.
                                                                - + +Differential +getVelocityDifferential()  + + Encoder setDistancePerTick(double distancePerTick)
                                                                Set the distance per tick
                                                                - + Encoder setMaxSpeed(double maxSpeed)
                                                                Set the max speed (In Ticks per Second) that the motor can run
                                                                @@ -432,7 +448,7 @@

                                                                getAcceleration

                                                                -
                                                                  +

                                                                  • getScaledVelocity

                                                                    public double getScaledVelocity()
                                                                    @@ -443,6 +459,32 @@

                                                                    getScaledVelocity

                                                            + + + +
                                                              +
                                                            • +

                                                              getVelocityDifferential

                                                              +
                                                              public Differential getVelocityDifferential()
                                                              +
                                                              +
                                                              Returns:
                                                              +
                                                              the differential object that calculates the velocity
                                                              +
                                                              +
                                                              • +
                                                            + + + +
                                                              +
                                                            • +

                                                              getAccelerationDifferential

                                                              +
                                                              public Differential getAccelerationDifferential()
                                                              +
                                                              +
                                                              Returns:
                                                              +
                                                              the differential object that calculates the acceleration
                                                              +
                                                              +
                                                              • +
                                                          @@ -471,7 +513,7 @@

                                                          getScaledVelocity

                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html b/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html index 387506e..dc79438 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html @@ -2,9 +2,9 @@ - + Joystick - + @@ -106,7 +106,7 @@

                                                            Interface Joystick


                                                            public interface Joystick
                                                            -
                                                            Created by MHS Robotics on 11/14/2017. +
                                                            The fundamental outline for all standard 2-axis joysticks

                                                            Joysticks should return a vector made up of the X and Y values of their position

                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html b/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html index 7834e34..6daea89 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html @@ -2,9 +2,9 @@ - + Mode - + @@ -120,9 +120,7 @@

                                                            Enum Mode


                                                            public enum Mode
 extends java.lang.Enum<Mode>
                                                            -
                                                            Created by MHS Robotics on 11/14/2017. - -

                                                            Mode stores all the different run modes that a robot can run in

                                                            +
                                                            All of the different running states that the robot can be in
                                                            Since:
                                                            0.1
                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html b/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html index da18ad6..3fc9782 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html @@ -2,9 +2,9 @@ - + Motor - + @@ -110,7 +110,10 @@

                                                            Interface Motor


                                                            public interface Motor
                                                            -
                                                            Created by MHS Robotics on 11/13/2017.
                                                            +
                                                            An outline for all of the basic motor behavior + +

                                                            The very basic functionality of any mechanical motor This includes setting power, and + inverting the motor

                                                            Since:
                                                            0.1
                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html b/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html index 78be791..9a90c27 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html @@ -2,9 +2,9 @@ - + RobotCore - + @@ -111,9 +111,14 @@

                                                            Class RobotCore


                                                            public class RobotCore
 extends java.lang.Object
                                                            -
                                                            Created by MHS Robotics on 12/5/2017. +
                                                            Stores all of the global robot objects, including telemetry, the hardware map, and gamepads -

                                                            Since essential parts to the robots operation are stored in OpMode

                                                            +

                                                            Since essential parts to the robots operation are stored in OpMode + +

                                                            With this, the user can acess all of the objects throughout the project. + +

                                                            The robot core class creates static instances of all of the essential objects on + initialization The actual objects are passed in in the alloy class

                                                            Since:
                                                            0.1
                                                            @@ -122,10 +127,8 @@

                                                            Class RobotCore

                                                            Author:
                                                            Garrett Burroughs
                                                            See Also:
                                                            -
                                                            The robot core class creates static instances - of all of the essentail objects on initialization The actual objects are passed in in the - alloy class, -With this, the user can acess all of the objects throughout the project.
                                                            +
                                                            OpMode, +Alloy
                                                          diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html index 880fe00..826d9d9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html @@ -2,9 +2,9 @@ - + TargetMotor - + @@ -112,7 +112,19 @@

                                                          Interface TargetMotor

                                                          public interface TargetMotor
 extends Motor
                                                          Target motor is a motor interface for motors that have encoders. Target motors can set encoder - positions using PID control
                                                          + positions using PID control + +

                                                          Target motors define the action for more advanced motors, that have access to more information + and are able to be more finely tuned. Because they have encoders, more advanced control + mechanisms can be used such as PID control, to gain better, more accurate control over the motors

                                                          +
                                                          +
                                                          Since:
                                                          +
                                                          0.1
                                                          +
                                                          Version:
                                                          +
                                                          0.1
                                                          +
                                                          Author:
                                                          +
                                                          Garrett Burroughs
                                                          +
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html index 7d8ba1c..889f373 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Alloy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html index 293d97f..193d462 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.Button - + @@ -108,7 +108,9 @@

                                                        Uses of Button -ButtonAction.button  +ButtonAction.button +
                                                        The button that controls the action
                                                        + @@ -119,7 +121,9 @@

                                                        Uses of -ButtonAction(Button button)  +ButtonAction(Button button) +
                                                        Creates a button action tied to a button
                                                        + ToggleButton(Button button, @@ -142,7 +146,7 @@

                                                        Uses of class  FTCButton -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        An FTC button provides implementation for a button used in the FTC competition
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html index 0fb131c..3f10738 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Debug - + @@ -90,10 +90,6 @@

                                                        U org.montclairrobotics.alloy.core   - -org.montclairrobotics.alloy.ftc -  - @@ -112,7 +108,9 @@

                                                        Uses of void -Component.addDebug(Debug debug)  +Component.addDebug(Debug debug) +
                                                        Adds a debug to the component, this will be debugged out every loop if debug mode is enabled
                                                        + @@ -125,7 +123,10 @@

                                                        Uses of void -Component.addDebugs(java.lang.Iterable<? extends Debug> debugs)  +Component.addDebugs(java.lang.Iterable<? extends Debug> debugs) +
                                                        Adds multiple debugs to the components, they will be debugged out every loop if debug mode is + enabled
                                                        + @@ -150,26 +151,6 @@

                                                        Uses of -
                                                      • - - -

                                                        Uses of Debug in org.montclairrobotics.alloy.ftc

                                                        - - - - - - - - - - - - -
                                                        Methods in org.montclairrobotics.alloy.ftc with parameters of type Debug 
                                                        Modifier and TypeMethod and Description
                                                        voidFTCDebugger.debug(Debug debug) -
                                                        Debugs out a debug object
                                                        -
                                                        -
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.Level.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.Level.html new file mode 100644 index 0000000..97c866a --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.Level.html @@ -0,0 +1,211 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.core.Debugger.Level + + + + + + + + +
                                                        + + +
                                                        Skip navigation links
                                                        + + + + +
                                                        +
                                                        +
                                                          +
                                                        • Prev
                                                          • +
                                                        • Next
                                                          • +
                                                        + + +
                                                        + +
                                                        + + +
                                                        + +
                                                        +

                                                        Uses of Class
                                                        org.montclairrobotics.alloy.core.Debugger.Level

                                                        +
                                                        +
                                                        + +
                                                        + +
                                                        + + +
                                                        Skip navigation links
                                                        + + + + +
                                                        +
                                                        +
                                                          +
                                                        • Prev
                                                          • +
                                                        • Next
                                                          • +
                                                        + + +
                                                        + +
                                                        + + +
                                                        + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.html index 67b3b53..386bb96 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.html @@ -2,9 +2,9 @@ - -Uses of Interface org.montclairrobotics.alloy.core.Debugger - + +Uses of Class org.montclairrobotics.alloy.core.Debugger + @@ -12,7 +12,7 @@ diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html index 7e59aa4..d9b70a2 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.Joystick - + @@ -105,7 +105,7 @@

                                                        Uses of class  FTCJoystick -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        Implementation of the Joystick class for FTC
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html index c099b30..5c4bebd 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Mode - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html index d32e46c..d1cb90e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.Motor - + @@ -158,13 +158,13 @@

                                                        Uses of class  FTCMotor -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        Implementation of a basic motor for the FTC competition
                                                        class  FTCTargetMotor -
                                                        Created by MHS Robotics on 2/24/2018.
                                                        +
                                                        Implementation of a target motor for the FTC competition
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html index 1008798..ea444ea 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.RobotCore - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html index 506617c..0c69d30 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.TargetMotor - + @@ -105,7 +105,7 @@

                                                        Uses of class  FTCTargetMotor -
                                                        Created by MHS Robotics on 2/24/2018.
                                                        +
                                                        Implementation of a target motor for the FTC competition
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html index a15fd55..4564c8d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core - + @@ -14,7 +14,6 @@

                                                        Interfaces

                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html index 8456526..f2a2ead 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core - + @@ -85,28 +85,22 @@

                                                        Package org.montclairrobotics.alloy.core< Button -
                                                        Created by MHS Robotics on 11/13/2017.
                                                        +
                                                        An outline for the fundamental behavior of a button
                                                        -Debugger - -
                                                        Created by MHS Robotics on 11/13/2017.
                                                        - - - Joystick -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        The fundamental outline for all standard 2-axis joysticks
                                                        - + Motor -
                                                        Created by MHS Robotics on 11/13/2017.
                                                        +
                                                        An outline for all of the basic motor behavior
                                                        - + TargetMotor
                                                        Target motor is a motor interface for motors that have encoders.
                                                        @@ -126,23 +120,31 @@

                                                        Package org.montclairrobotics.alloy.core< Alloy -
                                                        Created by MHS Robotics on 11/13/2017.
                                                        +
                                                        The main class that takes care of setting up the environment, and running all of the main methods
                                                        Debug -  + +
                                                        Contains the necessary information for a debug
                                                        + +Debugger + +
                                                        Controls the flow of how debug information is read out
                                                        + + + Encoder
                                                        A motor encoder that keeps track of kinematic information about the motor
                                                        - + RobotCore -
                                                        Created by MHS Robotics on 12/5/2017.
                                                        +
                                                        Stores all of the global robot objects, including telemetry, the hardware map, and gamepads
                                                        @@ -157,9 +159,13 @@

                                                        Package org.montclairrobotics.alloy.core< +Debugger.Level +  + + Mode -
                                                        Created by MHS Robotics on 11/14/2017.
                                                        +
                                                        All of the different running states that the robot can be in
                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html index c2468c9..750ca27 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core Class Hierarchy - + @@ -82,6 +82,7 @@

                                                        Class Hierarchy

                                                      • java.lang.Object
                                                        • org.montclairrobotics.alloy.core.Debug
                                                          • +
                                                        • org.montclairrobotics.alloy.core.Debugger
                                                        • com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                          • org.montclairrobotics.alloy.core.Alloy
                                                            • @@ -107,7 +108,6 @@

                                                            Class Hierarchy

                                                            Interface Hierarchy

                                                            • org.montclairrobotics.alloy.core.Button
                                                              • -
                                                            • org.montclairrobotics.alloy.core.Debugger
                                                            • org.montclairrobotics.alloy.core.Joystick
                                                            • org.montclairrobotics.alloy.core.Motor
                                                                @@ -121,6 +121,7 @@

                                                                Enum Hierarchy

                                                                • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable)
                                                                  • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html index 9ef823d..1b48a74 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.core - + @@ -123,11 +123,13 @@

                                                                  Uses -Debug  +Debug +
                                                                  Contains the necessary information for a debug
                                                                  + Debugger -
                                                                  Created by MHS Robotics on 11/13/2017.
                                                                  +
                                                                  Controls the flow of how debug information is read out
                                                                  @@ -144,7 +146,7 @@

                                                                  Uses Button -
                                                                  Created by MHS Robotics on 11/13/2017.
                                                                  +
                                                                  An outline for the fundamental behavior of a button
                                                                  @@ -160,21 +162,26 @@

                                                                  Uses -Debug  +Debug +
                                                                  Contains the necessary information for a debug
                                                                  + +Debugger.Level  + + Encoder
                                                                  A motor encoder that keeps track of kinematic information about the motor
                                                                  - + Mode -
                                                                  Created by MHS Robotics on 11/14/2017.
                                                                  +
                                                                  All of the different running states that the robot can be in
                                                                  - + Motor -
                                                                  Created by MHS Robotics on 11/13/2017.
                                                                  +
                                                                  An outline for all of the basic motor behavior
                                                                  @@ -196,7 +203,7 @@

                                                                  Uses Motor -
                                                                  Created by MHS Robotics on 11/13/2017.
                                                                  +
                                                                  An outline for all of the basic motor behavior
                                                                  @@ -213,33 +220,30 @@

                                                                  Uses Button -
                                                                  Created by MHS Robotics on 11/13/2017.
                                                                  +
                                                                  An outline for the fundamental behavior of a button
                                                                  -Debug  - - Debugger -
                                                                  Created by MHS Robotics on 11/13/2017.
                                                                  +
                                                                  Controls the flow of how debug information is read out
                                                                  - + Encoder
                                                                  A motor encoder that keeps track of kinematic information about the motor
                                                                  - + Joystick -
                                                                  Created by MHS Robotics on 11/14/2017.
                                                                  +
                                                                  The fundamental outline for all standard 2-axis joysticks
                                                                  - + Motor -
                                                                  Created by MHS Robotics on 11/13/2017.
                                                                  +
                                                                  An outline for all of the basic motor behavior
                                                                  - + TargetMotor
                                                                  Target motor is a motor interface for motors that have encoders.
                                                                  @@ -263,7 +267,7 @@

                                                                  Uses Motor -
                                                                  Created by MHS Robotics on 11/13/2017.
                                                                  +
                                                                  An outline for all of the basic motor behavior
                                                                  @@ -280,7 +284,7 @@

                                                                  Uses Alloy -
                                                                  Created by MHS Robotics on 11/13/2017.
                                                                  +
                                                                  The main class that takes care of setting up the environment, and running all of the main methods
                                                                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html index a0dc0bc..36ca3ab 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html @@ -2,9 +2,9 @@ - + DTInput - + @@ -146,7 +146,8 @@

                                                                  Constructor Summary

                                                                  Constructor and Description -DTInput()  +DTInput(Vector translation, + Angle rotation)  @@ -204,13 +205,14 @@

                                                                  rotation

                                                                  Constructor Detail

                                                                  - +

                                                                  • DTInput

                                                                    -
                                                                    public DTInput()
                                                                    +
                                                                    public DTInput(Vector translation,
+               Angle rotation)
                                                                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html index 3a347f6..1f9cad1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html @@ -2,9 +2,9 @@ - + DTMapper - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html index 5d888e0..0e64b39 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html @@ -2,9 +2,9 @@ - + DriveModule - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html index 7d5e91a..754e7ca 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html @@ -2,9 +2,9 @@ - + DriveTrain - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTInput.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTInput.html index 55e378a..c5234ce 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTInput.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTInput.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.drive.DTInput - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html index b72562d..f2af4e5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DTMapper.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.drive.DTMapper - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveModule.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveModule.html index 9c638e1..985c14d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveModule.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveModule.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.drive.DriveModule - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html index 90a7c88..67230e6 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/class-use/DriveTrain.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.drive.DriveTrain - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html index 58c3ba3..ecc924e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html index 3c38187..1d6cc84 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive - + @@ -44,7 +44,7 @@
                                                                  • Frames
                                                                    • @@ -140,7 +140,7 @@

                                                                    Package org.montclairrobotics.alloy.drive
                                                                    • Frames
                                                                      • diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html index 72c9052..793dc77 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive Class Hierarchy - + @@ -44,7 +44,7 @@
                                                                      • Frames
                                                                        • @@ -130,7 +130,7 @@

                                                                        Interface Hierarchy

                                                                        • Frames
                                                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html index c8b7373..f37b1c5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.drive - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html new file mode 100644 index 0000000..935b631 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html @@ -0,0 +1,271 @@ + + + + + +InvalidConfigurationException + + + + + + + + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          + + + +
                                                                          + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Summary: 
                                                                            • +
                                                                          • Nested | 
                                                                            • +
                                                                          • Field | 
                                                                            • +
                                                                          • Constr | 
                                                                            • +
                                                                          • Method
                                                                            • +
                                                                          +
                                                                            +
                                                                          • Detail: 
                                                                            • +
                                                                          • Field | 
                                                                            • +
                                                                          • Constr | 
                                                                            • +
                                                                          • Method
                                                                            • +
                                                                          +
                                                                          + + +
                                                                          + + +
                                                                          +
                                                                          org.montclairrobotics.alloy.exceptions
                                                                          +

                                                                          Class InvalidConfigurationException

                                                                          +
                                                                          +
                                                                          +
                                                                            +
                                                                          • java.lang.Object
                                                                            • +
                                                                          • +
                                                                              +
                                                                            • java.lang.Throwable
                                                                              • +
                                                                            • +
                                                                                +
                                                                              • java.lang.Exception
                                                                                • +
                                                                              • +
                                                                                  +
                                                                                • java.lang.RuntimeException
                                                                                  • +
                                                                                • +
                                                                                    +
                                                                                  • org.montclairrobotics.alloy.exceptions.InvalidConfigurationException
                                                                                    • +
                                                                                  +
                                                                                  • +
                                                                                +
                                                                                • +
                                                                              +
                                                                              • +
                                                                            +
                                                                            • +
                                                                          +
                                                                          +
                                                                            +
                                                                          • +
                                                                            +
                                                                            All Implemented Interfaces:
                                                                            +
                                                                            java.io.Serializable
                                                                            +
                                                                            +
                                                                            +
                                                                            +
                                                                            public class InvalidConfigurationException
+extends java.lang.RuntimeException
                                                                            +
                                                                            An exception that is thrown when a robot is improperly setup An invalid configuration can be + thrown when:
                                                                            + - Global robot properties are accessed before they exist
                                                                            + - Motor, or controller ports are improperly specified or accessed
                                                                            +
                                                                            +
                                                                            See Also:
                                                                            +
                                                                            Serialized Form
                                                                            +
                                                                            +
                                                                            • +
                                                                          +
                                                                          +
                                                                          +
                                                                            +
                                                                          • + + + +
                                                                              +
                                                                            • + + +

                                                                              Method Summary

                                                                              +
                                                                                +
                                                                              • + + +

                                                                                Methods inherited from class java.lang.Throwable

                                                                                +addSuppressed, fillInStackTrace, getCause, getLocalizedMessage, getMessage, getStackTrace, getSuppressed, initCause, printStackTrace, printStackTrace, printStackTrace, setStackTrace, toString
                                                                                • +
                                                                              +
                                                                                +
                                                                              • + + +

                                                                                Methods inherited from class java.lang.Object

                                                                                +clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
                                                                                • +
                                                                              +
                                                                              • +
                                                                            +
                                                                            • +
                                                                          +
                                                                          +
                                                                          +
                                                                            +
                                                                          • + +
                                                                              +
                                                                            • + + +

                                                                              Constructor Detail

                                                                              + + + +
                                                                                +
                                                                              • +

                                                                                InvalidConfigurationException

                                                                                +
                                                                                public InvalidConfigurationException(java.lang.String message)
                                                                                +
                                                                                • +
                                                                              +
                                                                              • +
                                                                            +
                                                                            • +
                                                                          +
                                                                          +
                                                                          + + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          + + + +
                                                                          + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Summary: 
                                                                            • +
                                                                          • Nested | 
                                                                            • +
                                                                          • Field | 
                                                                            • +
                                                                          • Constr | 
                                                                            • +
                                                                          • Method
                                                                            • +
                                                                          +
                                                                            +
                                                                          • Detail: 
                                                                            • +
                                                                          • Field | 
                                                                            • +
                                                                          • Constr | 
                                                                            • +
                                                                          • Method
                                                                            • +
                                                                          +
                                                                          + + +
                                                                          + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html new file mode 100644 index 0000000..5ba61f5 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html @@ -0,0 +1,268 @@ + + + + + +UpdateException + + + + + + + + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          + + + +
                                                                          + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Summary: 
                                                                            • +
                                                                          • Nested | 
                                                                            • +
                                                                          • Field | 
                                                                            • +
                                                                          • Constr | 
                                                                            • +
                                                                          • Method
                                                                            • +
                                                                          +
                                                                            +
                                                                          • Detail: 
                                                                            • +
                                                                          • Field | 
                                                                            • +
                                                                          • Constr | 
                                                                            • +
                                                                          • Method
                                                                            • +
                                                                          +
                                                                          + + +
                                                                          + + +
                                                                          +
                                                                          org.montclairrobotics.alloy.exceptions
                                                                          +

                                                                          Class UpdateException

                                                                          +
                                                                          +
                                                                          +
                                                                            +
                                                                          • java.lang.Object
                                                                            • +
                                                                          • +
                                                                              +
                                                                            • java.lang.Throwable
                                                                              • +
                                                                            • +
                                                                                +
                                                                              • java.lang.Exception
                                                                                • +
                                                                              • +
                                                                                  +
                                                                                • java.lang.RuntimeException
                                                                                  • +
                                                                                • +
                                                                                    +
                                                                                  • org.montclairrobotics.alloy.exceptions.UpdateException
                                                                                    • +
                                                                                  +
                                                                                  • +
                                                                                +
                                                                                • +
                                                                              +
                                                                              • +
                                                                            +
                                                                            • +
                                                                          +
                                                                          +
                                                                            +
                                                                          • +
                                                                            +
                                                                            All Implemented Interfaces:
                                                                            +
                                                                            java.io.Serializable
                                                                            +
                                                                            +
                                                                            +
                                                                            +
                                                                            public class UpdateException
+extends java.lang.RuntimeException
                                                                            +
                                                                            An exception that is thrown when there is problem with the update system
                                                                            +
                                                                            +
                                                                            See Also:
                                                                            +
                                                                            Serialized Form
                                                                            +
                                                                            +
                                                                            • +
                                                                          +
                                                                          +
                                                                          +
                                                                            +
                                                                          • + +
                                                                              +
                                                                            • + + +

                                                                              Constructor Summary

                                                                              + + + + + + + + +
                                                                              Constructors 
                                                                              Constructor and Description
                                                                              UpdateException(java.lang.String message) 
                                                                              +
                                                                              • +
                                                                            + +
                                                                              +
                                                                            • + + +

                                                                              Method Summary

                                                                              +
                                                                                +
                                                                              • + + +

                                                                                Methods inherited from class java.lang.Throwable

                                                                                +addSuppressed, fillInStackTrace, getCause, getLocalizedMessage, getMessage, getStackTrace, getSuppressed, initCause, printStackTrace, printStackTrace, printStackTrace, setStackTrace, toString
                                                                                • +
                                                                              +
                                                                                +
                                                                              • + + +

                                                                                Methods inherited from class java.lang.Object

                                                                                +clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
                                                                                • +
                                                                              +
                                                                              • +
                                                                            +
                                                                            • +
                                                                          +
                                                                          +
                                                                          +
                                                                            +
                                                                          • + +
                                                                              +
                                                                            • + + +

                                                                              Constructor Detail

                                                                              + + + +
                                                                                +
                                                                              • +

                                                                                UpdateException

                                                                                +
                                                                                public UpdateException(java.lang.String message)
                                                                                +
                                                                                • +
                                                                              +
                                                                              • +
                                                                            +
                                                                            • +
                                                                          +
                                                                          +
                                                                          + + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          + + + +
                                                                          + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Summary: 
                                                                            • +
                                                                          • Nested | 
                                                                            • +
                                                                          • Field | 
                                                                            • +
                                                                          • Constr | 
                                                                            • +
                                                                          • Method
                                                                            • +
                                                                          +
                                                                            +
                                                                          • Detail: 
                                                                            • +
                                                                          • Field | 
                                                                            • +
                                                                          • Constr | 
                                                                            • +
                                                                          • Method
                                                                            • +
                                                                          +
                                                                          + + +
                                                                          + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/InvalidConfigurationException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/InvalidConfigurationException.html new file mode 100644 index 0000000..5804fc4 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/InvalidConfigurationException.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.exceptions.InvalidConfigurationException + + + + + + + + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Prev
                                                                            • +
                                                                          • Next
                                                                            • +
                                                                          + + +
                                                                          + +
                                                                          + + +
                                                                          + +
                                                                          +

                                                                          Uses of Class
                                                                          org.montclairrobotics.alloy.exceptions.InvalidConfigurationException

                                                                          +
                                                                          +
                                                                          No usage of org.montclairrobotics.alloy.exceptions.InvalidConfigurationException
                                                                          + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Prev
                                                                            • +
                                                                          • Next
                                                                            • +
                                                                          + + +
                                                                          + +
                                                                          + + +
                                                                          + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/UpdateException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/UpdateException.html new file mode 100644 index 0000000..6dc4fae --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/UpdateException.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.exceptions.UpdateException + + + + + + + + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Prev
                                                                            • +
                                                                          • Next
                                                                            • +
                                                                          + + +
                                                                          + +
                                                                          + + +
                                                                          + +
                                                                          +

                                                                          Uses of Class
                                                                          org.montclairrobotics.alloy.exceptions.UpdateException

                                                                          +
                                                                          +
                                                                          No usage of org.montclairrobotics.alloy.exceptions.UpdateException
                                                                          + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Prev
                                                                            • +
                                                                          • Next
                                                                            • +
                                                                          + + +
                                                                          + +
                                                                          + + +
                                                                          + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html new file mode 100644 index 0000000..cacee94 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html @@ -0,0 +1,21 @@ + + + + + +org.montclairrobotics.alloy.exceptions + + + + + +

                                                                          org.montclairrobotics.alloy.exceptions

                                                                          +
                                                                          +

                                                                          Exceptions

                                                                          + +
                                                                          + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html new file mode 100644 index 0000000..d35428e --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html @@ -0,0 +1,153 @@ + + + + + +org.montclairrobotics.alloy.exceptions + + + + + + + + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          + + + +
                                                                          + +
                                                                          + + +
                                                                          + +
                                                                          +

                                                                          Package org.montclairrobotics.alloy.exceptions

                                                                          +
                                                                          +
                                                                          +
                                                                            +
                                                                          • + + + + + + + + + + + + + + + + +
                                                                            Exception Summary 
                                                                            ExceptionDescription
                                                                            InvalidConfigurationException +
                                                                            An exception that is thrown when a robot is improperly setup An invalid configuration can be + thrown when:
                                                                            + - Global robot properties are accessed before they exist
                                                                            + - Motor, or controller ports are improperly specified or accessed
                                                                            +
                                                                            UpdateException +
                                                                            An exception that is thrown when there is problem with the update system
                                                                            +
                                                                            +
                                                                            • +
                                                                          +
                                                                          + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          + + + +
                                                                          + +
                                                                          + + +
                                                                          + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html new file mode 100644 index 0000000..22def1f --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html @@ -0,0 +1,150 @@ + + + + + +org.montclairrobotics.alloy.exceptions Class Hierarchy + + + + + + + + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          + + + +
                                                                          + +
                                                                          + + +
                                                                          + +
                                                                          +

                                                                          Hierarchy For Package org.montclairrobotics.alloy.exceptions

                                                                          +Package Hierarchies: + +
                                                                          +
                                                                          +

                                                                          Class Hierarchy

                                                                          +
                                                                            +
                                                                          • java.lang.Object +
                                                                              +
                                                                            • java.lang.Throwable (implements java.io.Serializable) + +
                                                                              • +
                                                                            +
                                                                            • +
                                                                          +
                                                                          + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          + + + +
                                                                          + +
                                                                          + + +
                                                                          + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-use.html new file mode 100644 index 0000000..bdfef43 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-use.html @@ -0,0 +1,124 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.exceptions + + + + + + + + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Prev
                                                                            • +
                                                                          • Next
                                                                            • +
                                                                          + + +
                                                                          + +
                                                                          + + +
                                                                          + +
                                                                          +

                                                                          Uses of Package
                                                                          org.montclairrobotics.alloy.exceptions

                                                                          +
                                                                          +
                                                                          No usage of org.montclairrobotics.alloy.exceptions
                                                                          + +
                                                                          + + +
                                                                          Skip navigation links
                                                                          + + + + +
                                                                          +
                                                                          +
                                                                            +
                                                                          • Prev
                                                                            • +
                                                                          • Next
                                                                            • +
                                                                          + + +
                                                                          + +
                                                                          + + +
                                                                          + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html index b5401b1..033f205 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html @@ -2,9 +2,9 @@ - + FTCButton - + @@ -116,12 +116,12 @@

                                                                          Class FTCButton

                                                                          public class FTCButton
 extends java.lang.Object
 implements Button
                                                                          -
                                                                          Created by MHS Robotics on 11/14/2017. - -

                                                                          An FTC button provides implementation for a button used in the FTC competition

                                                                          +
                                                                          An FTC button provides implementation for a button used in the FTC competition
                                                                          Since:
                                                                          0.1
                                                                          +
                                                                          Version:
                                                                          +
                                                                          0.1
                                                                          Author:
                                                                          Garrett Burroughs
                                                                          diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html index df87b7d..8027577 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html @@ -2,9 +2,9 @@ - + FTCDebugger - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10}; +var methods = {"i0":10,"i1":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -74,8 +74,8 @@
                                                                          @@ -100,29 +100,28 @@

                                                                          Class FTCDebugger

                                                                        • java.lang.Object
                                                                        • +
                                                                          • +
                                                                        • -
                                                                          -
                                                                          All Implemented Interfaces:
                                                                          -
                                                                          Debugger
                                                                          -

                                                                          public class FTCDebugger
-extends java.lang.Object
-implements Debugger
                                                                          -
                                                                          Created by MHS Robotics on 11/14/2017. - -

                                                                          The FTCDebugger class is a basic wrapper around the ftc telemetry framework and allows - telemetry to be used in any class as well as making debugging information easier

                                                                          +extends Debugger +
                                                                          implementation of the debugger for the FTC competition
                                                                          Since:
                                                                          0.1
                                                                          +
                                                                          Version:
                                                                          +
                                                                          0.1
                                                                          Author:
                                                                          Garrett Burroughs
                                                                          @@ -132,6 +131,36 @@

                                                                          Class FTCDebugger

                                                                          • + + + +
                                                                            • @@ -164,32 +193,25 @@

                                                                              Method Summary

                                                                              Method and Description -void -                                                                              debug(Debug debug) -
                                                                              Debugs out a debug object
                                                                              - +org.firstinspires.ftc.robotcore.external.Telemetry +getTelemetry()  void -log(java.lang.String key, +out(java.lang.String key, java.lang.Object value) -
                                                                              Debugger out information
                                                                              - - - -void -msg(java.lang.Object value) -
                                                                              Debugger out a message
                                                                              - - - -void -warning(java.lang.String warning) -
                                                                              Gives a warning to the user
                                                                              +
                                                                              The most basic debug that simply outputs information given a key and value
                                                                              +
                                                                              • @@ -228,69 +250,30 @@

                                                                                FTCDebugger

                                                                                Method Detail

                                                                                - - - -
                                                                                  -
                                                                                • -

                                                                                  log

                                                                                  -
                                                                                  public void log(java.lang.String key,
-                java.lang.Object value)
                                                                                  -
                                                                                  Debugger out information
                                                                                  -
                                                                                  -
                                                                                  Specified by:
                                                                                  -
                                                                                  log in interface Debugger
                                                                                  -
                                                                                  Parameters:
                                                                                  -
                                                                                  key - Name of the value
                                                                                  -
                                                                                  value - Value to be debugged
                                                                                  -
                                                                                  -
                                                                                  • -
                                                                                - - - -
                                                                                  -
                                                                                • -

                                                                                  msg

                                                                                  -
                                                                                  public void msg(java.lang.Object value)
                                                                                  -
                                                                                  Debugger out a message
                                                                                  -
                                                                                  -
                                                                                  Specified by:
                                                                                  -
                                                                                  msg in interface Debugger
                                                                                  -
                                                                                  Parameters:
                                                                                  -
                                                                                  value - Value to be debugged
                                                                                  -
                                                                                  -
                                                                                  • -
                                                                                - +
                                                                                • -

                                                                                  debug

                                                                                  -
                                                                                  public void debug(Debug debug)
                                                                                  -
                                                                                  Debugs out a debug object
                                                                                  -
                                                                                  -
                                                                                  Specified by:
                                                                                  -
                                                                                  debug in interface Debugger
                                                                                  -
                                                                                  Parameters:
                                                                                  -
                                                                                  debug - the object to be debugged
                                                                                  -
                                                                                  +

                                                                                  getTelemetry

                                                                                  +
                                                                                  public org.firstinspires.ftc.robotcore.external.Telemetry getTelemetry()
                                                                                - +
                                                                                • -

                                                                                  warning

                                                                                  -
                                                                                  public void warning(java.lang.String warning)
                                                                                  -
                                                                                  Gives a warning to the user
                                                                                  +

                                                                                  out

                                                                                  +
                                                                                  public void out(java.lang.String key,
+                java.lang.Object value)
                                                                                  +
                                                                                  The most basic debug that simply outputs information given a key and value
                                                                                  Specified by:
                                                                                  -
                                                                                  warning in interface Debugger
                                                                                  +
                                                                                  out in class Debugger
                                                                                  Parameters:
                                                                                  -
                                                                                  warning - the warning
                                                                                  +
                                                                                  key - Key of the value being debugged
                                                                                  +
                                                                                  value - Value to be debugged
                                                                                @@ -347,8 +330,8 @@

                                                                                warning

                                                                                diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html index b42e842..33af962 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html @@ -2,9 +2,9 @@ - + FTCJoystick.Side - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html index 97db01e..e1b48aa 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html @@ -2,9 +2,9 @@ - + FTCJoystick - + @@ -131,7 +131,7 @@

                                                                                Class FTCJoystick

                                                                                public class FTCJoystick
 extends InputComponent<Vector>
 implements Joystick
                                                                                -
                                                                                Created by MHS Robotics on 11/14/2017. +
                                                                                Implementation of the Joystick class for FTC

                                                                                There are a total of 4 accessible joysticks when controlling an FTC robot, There are 2 controllers and each one has 2 joysticks, (One right, one left). A joystick can be defined using @@ -141,6 +141,8 @@

                                                                                Class FTCJoystick

                                                                                Since:
                                                                                0.1
                                                                                +
                                                                                Version:
                                                                                +
                                                                                0.1
                                                                                Author:
                                                                                Garrett Burroughs
                                                                                diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html index b01776b..fd40529 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html @@ -2,9 +2,9 @@ - + FTCMotor - + @@ -130,13 +130,15 @@

                                                                                Class FTCMotor

                                                                                public class FTCMotor
 extends Component
 implements Motor
                                                                                -
                                                                                Created by MHS Robotics on 11/14/2017. +
                                                                                Implementation of a basic motor for the FTC competition

                                                                                The basic motor for use in FTC. Basic motors are not aware of encoders and are not recommended for use in FTC as all motors come with encoders

                                                                                Since:
                                                                                0.1
                                                                                +
                                                                                Version:
                                                                                +
                                                                                0.1
                                                                                Author:
                                                                                Garrett Burroughs
                                                                                See Also:
                                                                                @@ -236,7 +238,7 @@

                                                                                Method Summary

                                                                                void disableAction() -
                                                                                Method to be called when the toggleable is disabled
                                                                                +
                                                                                The action that is taken when the component is disabled, should be overridden by the user
                                                                                @@ -441,8 +443,8 @@

                                                                                updateMotor

                                                                              • disableAction

                                                                                public void disableAction()
                                                                                -
                                                                                Description copied from class: Toggleable
                                                                                -
                                                                                Method to be called when the toggleable is disabled
                                                                                +
                                                                                Description copied from class: Component
                                                                                +
                                                                                The action that is taken when the component is disabled, should be overridden by the user
                                                                                Overrides:
                                                                                disableAction in class Component
                                                                                diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html index 97d16e6..ff4465e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html @@ -2,9 +2,9 @@ - + FTCTargetMotor - + @@ -131,7 +131,7 @@

                                                                                Class FTCTargetMotor

                                                                                public class FTCTargetMotor
 extends FTCMotor
 implements TargetMotor
                                                                                -
                                                                                Created by MHS Robotics on 2/24/2018. +
                                                                                Implementation of a target motor for the FTC competition

                                                                                A target motor is a motor that can use encoders to be set to a certain position Since FTC motors have their own PIDs that they are controlled with by default, the user has the ability to @@ -141,6 +141,8 @@

                                                                                Class FTCTargetMotor

                                                                                Since:
                                                                                0.1
                                                                                +
                                                                                Version:
                                                                                +
                                                                                0.1
                                                                                Author:
                                                                                Garrett Burroughs
                                                                                @@ -206,7 +208,9 @@

                                                                                Constructor Summary

                                                                                Constructor and Description -FTCTargetMotor(java.lang.String motorConfiguration)  +FTCTargetMotor(java.lang.String motorConfiguration) +
                                                                                Creates a new FTC Target motor, using the motor id from the FTC configuration
                                                                                +
                                                                                • @@ -226,7 +230,7 @@

                                                                                Method Summary

                                                                                void disableErrorCorrection() -
                                                                                Stop using the custom PID and return to using the default mode
                                                                                +
                                                                                Stop using the custom Error Correction and return to using the default mode
                                                                                @@ -265,7 +269,7 @@

                                                                                Method Summary

                                                                                void setErrorCorrection(ErrorCorrection correction) -
                                                                                Set the motor to run using a custom PID
                                                                                +
                                                                                Set the motor to run using a custom Error Correction
                                                                                @@ -343,6 +347,19 @@

                                                                                Constructor Detail

                                                                              • FTCTargetMotor

                                                                                public FTCTargetMotor(java.lang.String motorConfiguration)
                                                                                +
                                                                                Creates a new FTC Target motor, using the motor id from the FTC configuration + +

                                                                                The configuration must be set on the phone before accessing it in code + +

                                                                                A target motor created like this will have the default FTC motor regulation, to set a + custom error correction, you can do this by calling 'setErrorCorrection(ErrorCorrection)' You + should only do this if you know what you are doing

                                                                                +
                                                                                +
                                                                                Parameters:
                                                                                +
                                                                                motorConfiguration -
                                                                                +
                                                                                See Also:
                                                                                +
                                                                                ErrorCorrection
                                                                                +
                                                                              • @@ -424,10 +441,10 @@

                                                                              getTargetPower

                                                                            • setErrorCorrection

                                                                              public void setErrorCorrection(ErrorCorrection correction)
                                                                              -
                                                                              Set the motor to run using a custom PID
                                                                              +
                                                                              Set the motor to run using a custom Error Correction
                                                                              Parameters:
                                                                              -
                                                                              correction - the PID that the motor will be controlled with
                                                                              +
                                                                              correction - the correction that the motor will be controlled with
                                                                            @@ -438,7 +455,7 @@

                                                                            setErrorCorrection

                                                                          • disableErrorCorrection

                                                                            public void disableErrorCorrection()
                                                                            -
                                                                            Stop using the custom PID and return to using the default mode
                                                                            +
                                                                            Stop using the custom Error Correction and return to using the default mode
                                                                          @@ -460,7 +477,7 @@

                                                                          getErrorCorrection

                                                                          public ErrorCorrection<java.lang.Double> getErrorCorrection()
                                                                          Returns:
                                                                          -
                                                                          the PID being used to control the motor
                                                                          +
                                                                          the Error Correction being used to control the motor
                                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html index 5a2270c..f2d64fb 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCButton - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html index 42cea21..7b5f956 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCDebugger - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html index 6cca9f1..80e14ef 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCJoystick.Side - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html index fdf433b..783afda 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCJoystick - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html index f575b3b..8768463 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCMotor - + @@ -105,7 +105,7 @@

                                                                        Uses of class  FTCTargetMotor -
                                                                        Created by MHS Robotics on 2/24/2018.
                                                                        +
                                                                        Implementation of a target motor for the FTC competition
                                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html index ed740ec..c14eba1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCTargetMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html index 37e8e06..c8116b3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html index 0af777b..365213d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc - + @@ -43,7 +43,7 @@

                                                                          @@ -85,31 +85,31 @@

                                                                          Package org.montclairrobotics.alloy.ftc FTCButton -
                                                                          Created by MHS Robotics on 11/14/2017.
                                                                          +
                                                                          An FTC button provides implementation for a button used in the FTC competition
                                                                          FTCDebugger -
                                                                          Created by MHS Robotics on 11/14/2017.
                                                                          +
                                                                          implementation of the debugger for the FTC competition
                                                                          FTCJoystick -
                                                                          Created by MHS Robotics on 11/14/2017.
                                                                          +
                                                                          Implementation of the Joystick class for FTC
                                                                          FTCMotor -
                                                                          Created by MHS Robotics on 11/14/2017.
                                                                          +
                                                                          Implementation of a basic motor for the FTC competition
                                                                          FTCTargetMotor -
                                                                          Created by MHS Robotics on 2/24/2018.
                                                                          +
                                                                          Implementation of a target motor for the FTC competition
                                                                          @@ -156,7 +156,7 @@

                                                                          Package org.montclairrobotics.alloy.ftc
                                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html index cb85dcb..8ff3f45 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc Class Hierarchy - + @@ -43,7 +43,7 @@
                                                                            @@ -81,8 +81,12 @@

                                                                            Class Hierarchy

                                                                            • java.lang.Object
                                                                                +
                                                                              • org.montclairrobotics.alloy.core.Debugger + +
                                                                              • org.montclairrobotics.alloy.ftc.FTCButton (implements org.montclairrobotics.alloy.core.Button)
                                                                                • -
                                                                              • org.montclairrobotics.alloy.ftc.FTCDebugger (implements org.montclairrobotics.alloy.core.Debugger)
                                                                              • org.montclairrobotics.alloy.utils.Toggleable
                                                                                • org.montclairrobotics.alloy.components.Component @@ -138,7 +142,7 @@

                                                                                  Enum Hierarchy

                                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html index 495b9e2..a44cef4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.ftc - + @@ -100,7 +100,7 @@

                                                                            Uses o FTCButton -
                                                                            Created by MHS Robotics on 11/14/2017.
                                                                            +
                                                                            An FTC button provides implementation for a button used in the FTC competition
                                                                            @@ -111,7 +111,7 @@

                                                                            Uses o FTCMotor -
                                                                            Created by MHS Robotics on 11/14/2017.
                                                                            +
                                                                            Implementation of a basic motor for the FTC competition
                                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html index 7699568..b7a0836 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html @@ -2,9 +2,9 @@ - + DefaultMapper - + @@ -157,7 +157,9 @@

                                                                            Method Summary

                                                                            void map(Input<java.lang.Double> input, - MotorModule... modules)  + MotorModule... modules)                                                                             +
                                                                            map the input to the modules
                                                                            +
                                                                              @@ -206,6 +208,8 @@

                                                                              Method Detail

                                                                              map

                                                                              public void map(Input<java.lang.Double> input,
                 MotorModule... modules)
                                                                              +
                                                                              Description copied from interface: Mapper
                                                                              +
                                                                              map the input to the modules
                                                                              Specified by:
                                                                              map in interface Mapper<Input<java.lang.Double>>
                                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html index ac9d9d7..3b236ab 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html @@ -2,9 +2,9 @@ - + Mapper - + @@ -100,6 +100,10 @@

                                                                              Interface Mapper<T>

                                                                              • +
                                                                                Type Parameters:
                                                                                +
                                                                                T - the type of input the mapper takes in
                                                                                +
                                                                                +
                                                                                All Known Subinterfaces:
                                                                                DTMapper
                                                                                @@ -110,6 +114,18 @@

                                                                                Interface Mapper<T>


                                                                                public interface Mapper<T>
                                                                                +
                                                                                A mapper takes an input, and maps it to the set of motor modules + +

                                                                                For example, a tank drive mapper might map a 2D vector to the drive modules by calculating the + rotation, and the power based on the x&y components of the vector

                                                                                +
                                                                                +
                                                                                Since:
                                                                                +
                                                                                0.1
                                                                                +
                                                                                Version:
                                                                                +
                                                                                0.1
                                                                                +
                                                                                Author:
                                                                                +
                                                                                Garrett Burroughs
                                                                                +
                                                                          @@ -131,7 +147,9 @@

                                                                          Method Summary

                                                                          void map(T input, - MotorModule... modules)  + MotorModule... modules) +
                                                                          map the input to the modules
                                                                          + @@ -158,6 +176,7 @@

                                                                          Method Detail

                                                                          map

                                                                          void map(T input,
          MotorModule... modules)
                                                                          +
                                                                          map the input to the modules
                                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html index d655a78..399f490 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html @@ -2,9 +2,9 @@ - + MotorGroup - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html index d6d20ca..0a5417a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html @@ -2,9 +2,9 @@ - + MotorModule - + @@ -200,7 +200,9 @@

                                                                        Field Summary

                                                                        Vector -offset  +offset +
                                                                        the position of the motor, relative to the center of the motor group
                                                                        + ErrorCorrection<java.lang.Double> @@ -394,6 +396,7 @@

                                                                        direction

                                                                      • offset

                                                                        public Vector offset
                                                                        +
                                                                        the position of the motor, relative to the center of the motor group
                                                                      diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html index 60e5bb8..014754f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.motor.DefaultMapper - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html index 6cd3779..c109c14 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.motor.Mapper - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html index 66420b2..1e3245a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.motor.MotorGroup - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html index 32e26e1..24fa164 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.motor.MotorModule - + @@ -194,7 +194,9 @@

                                                                      Uses of void Mapper.map(T input, - MotorModule... modules)  + MotorModule... modules) +
                                                                      map the input to the modules
                                                                      + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html index 4dbe38c..d2eab8c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.motor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html index 9aec458..3e06c0d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.motor - + @@ -44,7 +44,7 @@
                                                                      • Frames
                                                                        • @@ -84,7 +84,9 @@

                                                                        Package org.montclairrobotics.alloy.motor Mapper<T> -  + +
                                                                        A mapper takes an input, and maps it to the set of motor modules
                                                                        + @@ -142,7 +144,7 @@

                                                                        Package org.montclairrobotics.alloy.motor
                                                                        • Frames
                                                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html index 991de59..c3a94e0 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.motor Class Hierarchy - + @@ -44,7 +44,7 @@
                                                                          • Frames
                                                                            • @@ -122,7 +122,7 @@

                                                                            Interface Hierarchy

                                                                            • Frames
                                                                              • diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html index b4fe9c1..75ff2b8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.motor - + @@ -107,7 +107,9 @@

                                                                              Uses -Mapper  +Mapper +
                                                                              A mapper takes an input, and maps it to the set of motor modules
                                                                              + MotorModule @@ -127,7 +129,9 @@

                                                                              Uses -Mapper  +Mapper +
                                                                              A mapper takes an input, and maps it to the set of motor modules
                                                                              + MotorModule @@ -147,7 +151,9 @@

                                                                              Uses -Mapper  +Mapper +
                                                                              A mapper takes an input, and maps it to the set of motor modules
                                                                              + MotorModule diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html new file mode 100644 index 0000000..7d616f6 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html @@ -0,0 +1,428 @@ + + + + + +Deadzone + + + + + + + + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              + + + +
                                                                              + +
                                                                              +
                                                                              + + +
                                                                              + + +
                                                                              + + +
                                                                              +
                                                                              org.montclairrobotics.alloy.steps
                                                                              +

                                                                              Class Deadzone

                                                                              +
                                                                              +
                                                                              + +
                                                                              +
                                                                                +
                                                                              • +
                                                                                +
                                                                                All Implemented Interfaces:
                                                                                +
                                                                                Step<java.lang.Double>
                                                                                +
                                                                                +
                                                                                +
                                                                                +
                                                                                public class Deadzone
+extends Toggleable
+implements Step<java.lang.Double>
                                                                                +
                                                                                A step that returns 0 if the input is under a certain threshold
                                                                                +
                                                                                +
                                                                                Since:
                                                                                +
                                                                                0.1
                                                                                +
                                                                                Version:
                                                                                +
                                                                                0.1
                                                                                +
                                                                                Author:
                                                                                +
                                                                                Garrett Burroughs
                                                                                +
                                                                                +
                                                                                • +
                                                                              +
                                                                              +
                                                                              +
                                                                                +
                                                                              • + + + + + +
                                                                                  +
                                                                                • + + +

                                                                                  Constructor Summary

                                                                                  + + + + + + + + + + + +
                                                                                  Constructors 
                                                                                  Constructor and Description
                                                                                  Deadzone() +
                                                                                  Create a deadzone with a default tolerance of 0.05
                                                                                  +
                                                                                  Deadzone(double tolerance) +
                                                                                  Create a deadzone specifying the tolerance
                                                                                  +
                                                                                  +
                                                                                  • +
                                                                                + +
                                                                                  +
                                                                                • + + +

                                                                                  Method Summary

                                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                  All Methods Instance Methods Concrete Methods 
                                                                                  Modifier and TypeMethod and Description
                                                                                  voiddisableAction() +
                                                                                  Method to be called when the toggleable is disabled
                                                                                  +
                                                                                  voidenableAction() +
                                                                                  Method to be called when the toggleable is enabled
                                                                                  +
                                                                                  java.lang.DoublegetOutput(java.lang.Double input) +
                                                                                  The operation to be performed on the input, to get the output
                                                                                  +
                                                                                  doublegetTolerance() 
                                                                                  voidsetTolerance(int tolerance) +
                                                                                  set the threshold value
                                                                                  +
                                                                                  + +
                                                                                    +
                                                                                  • + + +

                                                                                    Methods inherited from class java.lang.Object

                                                                                    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                                                                    • +
                                                                                  +
                                                                                  • +
                                                                                +
                                                                                • +
                                                                              +
                                                                              +
                                                                              +
                                                                                +
                                                                              • + +
                                                                                  +
                                                                                • + + +

                                                                                  Constructor Detail

                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    Deadzone

                                                                                    +
                                                                                    public Deadzone(double tolerance)
                                                                                    +
                                                                                    Create a deadzone specifying the tolerance
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    Deadzone

                                                                                    +
                                                                                    public Deadzone()
                                                                                    +
                                                                                    Create a deadzone with a default tolerance of 0.05
                                                                                    +
                                                                                    • +
                                                                                  +
                                                                                  • +
                                                                                + +
                                                                                  +
                                                                                • + + +

                                                                                  Method Detail

                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    getOutput

                                                                                    +
                                                                                    public java.lang.Double getOutput(java.lang.Double input)
                                                                                    +
                                                                                    Description copied from interface: Step
                                                                                    +
                                                                                    The operation to be performed on the input, to get the output
                                                                                    +
                                                                                    +
                                                                                    Specified by:
                                                                                    +
                                                                                    getOutput in interface Step<java.lang.Double>
                                                                                    +
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    enableAction

                                                                                    +
                                                                                    public void enableAction()
                                                                                    +
                                                                                    Description copied from class: Toggleable
                                                                                    +
                                                                                    Method to be called when the toggleable is enabled
                                                                                    +
                                                                                    +
                                                                                    Specified by:
                                                                                    +
                                                                                    enableAction in class Toggleable
                                                                                    +
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    disableAction

                                                                                    +
                                                                                    public void disableAction()
                                                                                    +
                                                                                    Description copied from class: Toggleable
                                                                                    +
                                                                                    Method to be called when the toggleable is disabled
                                                                                    +
                                                                                    +
                                                                                    Specified by:
                                                                                    +
                                                                                    disableAction in class Toggleable
                                                                                    +
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    getTolerance

                                                                                    +
                                                                                    public double getTolerance()
                                                                                    +
                                                                                    +
                                                                                    Returns:
                                                                                    +
                                                                                    the threshold value
                                                                                    +
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    setTolerance

                                                                                    +
                                                                                    public void setTolerance(int tolerance)
                                                                                    +
                                                                                    set the threshold value
                                                                                    +
                                                                                    • +
                                                                                  +
                                                                                  • +
                                                                                +
                                                                                • +
                                                                              +
                                                                              +
                                                                              + + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              + + + +
                                                                              + +
                                                                              +
                                                                              + + +
                                                                              + + +
                                                                              + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html new file mode 100644 index 0000000..69239ac --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html @@ -0,0 +1,428 @@ + + + + + +VectorDeadzone + + + + + + + + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              + + + +
                                                                              + +
                                                                              +
                                                                              + + +
                                                                              + + +
                                                                              + + +
                                                                              +
                                                                              org.montclairrobotics.alloy.steps
                                                                              +

                                                                              Class VectorDeadzone

                                                                              +
                                                                              +
                                                                              + +
                                                                              +
                                                                                +
                                                                              • +
                                                                                +
                                                                                All Implemented Interfaces:
                                                                                +
                                                                                Step<Vector>
                                                                                +
                                                                                +
                                                                                +
                                                                                +
                                                                                public class VectorDeadzone
+extends Toggleable
+implements Step<Vector>
                                                                                +
                                                                                A step that returns 0 if the inputs magnitude is under a certain threshold
                                                                                +
                                                                                +
                                                                                Since:
                                                                                +
                                                                                0.1
                                                                                +
                                                                                Version:
                                                                                +
                                                                                0.1
                                                                                +
                                                                                Author:
                                                                                +
                                                                                Garrett Burroughs
                                                                                +
                                                                                +
                                                                                • +
                                                                              +
                                                                              +
                                                                              +
                                                                                +
                                                                              • + + + + + +
                                                                                  +
                                                                                • + + +

                                                                                  Constructor Summary

                                                                                  + + + + + + + + + + + +
                                                                                  Constructors 
                                                                                  Constructor and Description
                                                                                  VectorDeadzone() +
                                                                                  Create a VectorDeadzone with a default tolerance of 0.05
                                                                                  +
                                                                                  VectorDeadzone(double tolerance) +
                                                                                  Create a VectorDeadzone specifying the tolerance
                                                                                  +
                                                                                  +
                                                                                  • +
                                                                                + +
                                                                                  +
                                                                                • + + +

                                                                                  Method Summary

                                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                  All Methods Instance Methods Concrete Methods 
                                                                                  Modifier and TypeMethod and Description
                                                                                  voiddisableAction() +
                                                                                  Method to be called when the toggleable is disabled
                                                                                  +
                                                                                  voidenableAction() +
                                                                                  Method to be called when the toggleable is enabled
                                                                                  +
                                                                                  VectorgetOutput(Vector input) +
                                                                                  The operation to be performed on the input, to get the output
                                                                                  +
                                                                                  doublegetTolerance() 
                                                                                  voidsetTolerance(double tolerance) +
                                                                                  set the threshold value
                                                                                  +
                                                                                  + +
                                                                                    +
                                                                                  • + + +

                                                                                    Methods inherited from class java.lang.Object

                                                                                    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                                                                    • +
                                                                                  +
                                                                                  • +
                                                                                +
                                                                                • +
                                                                              +
                                                                              +
                                                                              +
                                                                                +
                                                                              • + +
                                                                                  +
                                                                                • + + +

                                                                                  Constructor Detail

                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    VectorDeadzone

                                                                                    +
                                                                                    public VectorDeadzone(double tolerance)
                                                                                    +
                                                                                    Create a VectorDeadzone specifying the tolerance
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    VectorDeadzone

                                                                                    +
                                                                                    public VectorDeadzone()
                                                                                    +
                                                                                    Create a VectorDeadzone with a default tolerance of 0.05
                                                                                    +
                                                                                    • +
                                                                                  +
                                                                                  • +
                                                                                + +
                                                                                  +
                                                                                • + + +

                                                                                  Method Detail

                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    getOutput

                                                                                    +
                                                                                    public Vector getOutput(Vector input)
                                                                                    +
                                                                                    Description copied from interface: Step
                                                                                    +
                                                                                    The operation to be performed on the input, to get the output
                                                                                    +
                                                                                    +
                                                                                    Specified by:
                                                                                    +
                                                                                    getOutput in interface Step<Vector>
                                                                                    +
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    enableAction

                                                                                    +
                                                                                    public void enableAction()
                                                                                    +
                                                                                    Description copied from class: Toggleable
                                                                                    +
                                                                                    Method to be called when the toggleable is enabled
                                                                                    +
                                                                                    +
                                                                                    Specified by:
                                                                                    +
                                                                                    enableAction in class Toggleable
                                                                                    +
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    disableAction

                                                                                    +
                                                                                    public void disableAction()
                                                                                    +
                                                                                    Description copied from class: Toggleable
                                                                                    +
                                                                                    Method to be called when the toggleable is disabled
                                                                                    +
                                                                                    +
                                                                                    Specified by:
                                                                                    +
                                                                                    disableAction in class Toggleable
                                                                                    +
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    getTolerance

                                                                                    +
                                                                                    public double getTolerance()
                                                                                    +
                                                                                    +
                                                                                    Returns:
                                                                                    +
                                                                                    the threshold value
                                                                                    +
                                                                                    +
                                                                                    • +
                                                                                  + + + +
                                                                                    +
                                                                                  • +

                                                                                    setTolerance

                                                                                    +
                                                                                    public void setTolerance(double tolerance)
                                                                                    +
                                                                                    set the threshold value
                                                                                    +
                                                                                    • +
                                                                                  +
                                                                                  • +
                                                                                +
                                                                                • +
                                                                              +
                                                                              +
                                                                              + + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              + + + +
                                                                              + +
                                                                              +
                                                                              + + +
                                                                              + + +
                                                                              + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/Deadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/Deadzone.html new file mode 100644 index 0000000..9cc1a7f --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/Deadzone.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.steps.Deadzone + + + + + + + + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              +
                                                                                +
                                                                              • Prev
                                                                                • +
                                                                              • Next
                                                                                • +
                                                                              + + +
                                                                              + +
                                                                              + + +
                                                                              + +
                                                                              +

                                                                              Uses of Class
                                                                              org.montclairrobotics.alloy.steps.Deadzone

                                                                              +
                                                                              +
                                                                              No usage of org.montclairrobotics.alloy.steps.Deadzone
                                                                              + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              +
                                                                                +
                                                                              • Prev
                                                                                • +
                                                                              • Next
                                                                                • +
                                                                              + + +
                                                                              + +
                                                                              + + +
                                                                              + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/VectorDeadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/VectorDeadzone.html new file mode 100644 index 0000000..0dd1a0c --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/VectorDeadzone.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.steps.VectorDeadzone + + + + + + + + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              +
                                                                                +
                                                                              • Prev
                                                                                • +
                                                                              • Next
                                                                                • +
                                                                              + + +
                                                                              + +
                                                                              + + +
                                                                              + +
                                                                              +

                                                                              Uses of Class
                                                                              org.montclairrobotics.alloy.steps.VectorDeadzone

                                                                              +
                                                                              +
                                                                              No usage of org.montclairrobotics.alloy.steps.VectorDeadzone
                                                                              + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              +
                                                                                +
                                                                              • Prev
                                                                                • +
                                                                              • Next
                                                                                • +
                                                                              + + +
                                                                              + +
                                                                              + + +
                                                                              + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html new file mode 100644 index 0000000..41bd045 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html @@ -0,0 +1,21 @@ + + + + + +org.montclairrobotics.alloy.steps + + + + + +

                                                                              org.montclairrobotics.alloy.steps

                                                                              +
                                                                              +

                                                                              Classes

                                                                              + +
                                                                              + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html new file mode 100644 index 0000000..80dbb1d --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html @@ -0,0 +1,150 @@ + + + + + +org.montclairrobotics.alloy.steps + + + + + + + + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              + + + +
                                                                              + +
                                                                              + + +
                                                                              + +
                                                                              +

                                                                              Package org.montclairrobotics.alloy.steps

                                                                              +
                                                                              +
                                                                              +
                                                                                +
                                                                              • + + + + + + + + + + + + + + + + +
                                                                                Class Summary 
                                                                                ClassDescription
                                                                                Deadzone +
                                                                                A step that returns 0 if the input is under a certain threshold
                                                                                +
                                                                                VectorDeadzone +
                                                                                A step that returns 0 if the inputs magnitude is under a certain threshold
                                                                                +
                                                                                +
                                                                                • +
                                                                              +
                                                                              + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              + + + +
                                                                              + +
                                                                              + + +
                                                                              + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html new file mode 100644 index 0000000..7a81ad4 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html @@ -0,0 +1,142 @@ + + + + + +org.montclairrobotics.alloy.steps Class Hierarchy + + + + + + + + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              + + + +
                                                                              + +
                                                                              + + +
                                                                              + +
                                                                              +

                                                                              Hierarchy For Package org.montclairrobotics.alloy.steps

                                                                              +Package Hierarchies: + +
                                                                              +
                                                                              +

                                                                              Class Hierarchy

                                                                              +
                                                                                +
                                                                              • java.lang.Object +
                                                                                  +
                                                                                • org.montclairrobotics.alloy.utils.Toggleable +
                                                                                    +
                                                                                  • org.montclairrobotics.alloy.steps.Deadzone (implements org.montclairrobotics.alloy.components.Step<T>)
                                                                                    • +
                                                                                  • org.montclairrobotics.alloy.steps.VectorDeadzone (implements org.montclairrobotics.alloy.components.Step<T>)
                                                                                    • +
                                                                                  +
                                                                                  • +
                                                                                +
                                                                                • +
                                                                              +
                                                                              + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              + + + +
                                                                              + +
                                                                              + + +
                                                                              + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-use.html new file mode 100644 index 0000000..ef997b5 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-use.html @@ -0,0 +1,124 @@ + + + + + +Uses of Package org.montclairrobotics.alloy.steps + + + + + + + + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              +
                                                                                +
                                                                              • Prev
                                                                                • +
                                                                              • Next
                                                                                • +
                                                                              + + +
                                                                              + +
                                                                              + + +
                                                                              + +
                                                                              +

                                                                              Uses of Package
                                                                              org.montclairrobotics.alloy.steps

                                                                              +
                                                                              +
                                                                              No usage of org.montclairrobotics.alloy.steps
                                                                              + +
                                                                              + + +
                                                                              Skip navigation links
                                                                              + + + + +
                                                                              +
                                                                              +
                                                                                +
                                                                              • Prev
                                                                                • +
                                                                              • Next
                                                                                • +
                                                                              + + +
                                                                              + +
                                                                              + + +
                                                                              + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/Control.html b/docs/javadoc/org/montclairrobotics/alloy/test/Control.html index 8c181d1..1e21a38 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/Control.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/Control.html @@ -2,9 +2,9 @@ - + Control - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/Hardware.html b/docs/javadoc/org/montclairrobotics/alloy/test/Hardware.html index bf6330d..27ee8de 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/Hardware.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/Hardware.html @@ -2,9 +2,9 @@ - + Hardware - + @@ -18,8 +18,8 @@ catch(err) { } //--> -var methods = {"i0":9}; -var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],8:["t4","Concrete Methods"]}; +var methods = {"i0":10}; +var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; var tableTab = "tableTab"; @@ -100,17 +100,22 @@

                                                                              Class Hardware

                                                                            • java.lang.Object
                                                                            • +
                                                                              • +

                                                                            • public class Hardware
-extends java.lang.Object
                                                                              +extends Initializeable
                                                                            @@ -141,14 +146,16 @@

                                                                            Constructor Summary

                                                                            Method Summary

                                                                            - + - - + +
                                                                            All Methods Static Methods Concrete Methods All Methods Instance Methods Concrete Methods 
                                                                            Modifier and Type Method and Description
                                                                            static voidinit() voidinit() +
                                                                            the method that is called at the beginning of the teleop mode
                                                                            +
                                                                              @@ -195,7 +202,13 @@

                                                                              Method Detail

                                                                              • init

                                                                                -
                                                                                public static void init()
                                                                                +
                                                                                public void init()
                                                                                +
                                                                                Description copied from class: Initializeable
                                                                                +
                                                                                the method that is called at the beginning of the teleop mode
                                                                                +
                                                                                +
                                                                                Specified by:
                                                                                +
                                                                                init in class Initializeable
                                                                                +
                                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html b/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html index 06699b7..af2684e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html @@ -2,9 +2,9 @@ - + ShooterMapper - + @@ -154,7 +154,9 @@

                                                                              Method Summary

                                                                              void map(Vector input, - MotorModule... modules)  + MotorModule... modules) +
                                                                              map the input to the modules
                                                                              +
                                                                                @@ -203,6 +205,8 @@

                                                                                Method Detail

                                                                                map

                                                                                public void map(Vector input,
                 MotorModule... modules)
                                                                                +
                                                                                Description copied from interface: Mapper
                                                                                +
                                                                                map the input to the modules
                                                                                Specified by:
                                                                                map in interface Mapper<Vector>
                                                                                diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html index 630e4b1..800ccaa 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html @@ -2,9 +2,9 @@ - + TestRobot - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Control.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Control.html index 8685c5c..ca868f6 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Control.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Control.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.test.Control - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Hardware.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Hardware.html index cddbca5..ba3e11a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Hardware.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/Hardware.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.test.Hardware - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html index b743d20..1ed8263 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.test.ShooterMapper - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html index 8ff0b64..cc93449 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/TestRobot.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.test.TestRobot - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html index 44970bc..ffac679 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html index a39b1ab..3da399e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test - + @@ -43,7 +43,7 @@
                                                                              @@ -124,7 +124,7 @@

                                                                              Package org.montclairrobotics.alloy.test<

                                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html index 6ad76ea..f44d621 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test Class Hierarchy - + @@ -43,7 +43,7 @@
                                                                              @@ -82,7 +82,11 @@

                                                                              Class Hierarchy

                                                                            • java.lang.Object
                                                                              • org.montclairrobotics.alloy.test.Control
                                                                                • +
                                                                              • org.montclairrobotics.alloy.utils.Initializeable +
                                                                                • org.montclairrobotics.alloy.test.Hardware
                                                                                  • +
                                                                                +
                                                                              • com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                                                • org.montclairrobotics.alloy.core.Alloy @@ -118,7 +122,7 @@

                                                                                  Class Hierarchy

                                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html index 461555c..6ccbb8d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.test - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Update.html b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html index 66aa47b..370df59 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Update.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html @@ -2,9 +2,9 @@ - + Update - + @@ -96,6 +96,18 @@

                                                                              Annotation Type Update

                                                                              @Retention(value=RUNTIME)
  @Target(value=METHOD)
 public @interface Update
                                                                              +
                                                                              Indicates that the annotated method will be updated by the updater + +

                                                                              All methods annotated with @Update, will be added to the updater, but can only be successfully + updated if the method exists within a Component

                                                                              +
                                                                              +
                                                                              Since:
                                                                              +
                                                                              0.1
                                                                              +
                                                                              Version:
                                                                              +
                                                                              0.1
                                                                              +
                                                                              Author:
                                                                              +
                                                                              Garrett Burroughs
                                                                              +
                                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html index 3a1abae..262fbe0 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html @@ -2,9 +2,9 @@ - + Updateable - + @@ -113,7 +113,7 @@

                                                                            Class Updateable

                                                                            extends java.lang.Object
                                                                            A class used for creating objects that can be updated by the Updater -

                                                                            An updateable conatins a method to be updates along with any extra information needed for it +

                                                                            An updateable contains a method to be updates along with any extra information needed for it to be properly called and updated like the update rate, parameters and objects that it should be invoked on

                                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html index f7841a2..5c6a5cc 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html @@ -2,9 +2,9 @@ - + Updater - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html index 9ef3d14..aa0658f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.update.Update - + @@ -210,10 +210,14 @@

                                                                            Uses of void -Differential.calculateDifferential()  +GyroCorrection.calculateCorrection()  void +Differential.calculateDifferential()  + + +void PID.update()  diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html index 08baef0..208c783 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.update.Updateable - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html index dab8cf7..3c87df7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.update.Updater - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html index f3cd66c..7ca56da 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html index 7a571c5..e653f23 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update - + @@ -107,7 +107,9 @@

                                                                            Package org.montclairrobotics.alloy.updat Update -  + +
                                                                            Indicates that the annotated method will be updated by the updater
                                                                            + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html index f9e2eec..0d9da9c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html index d48e04e..0677112 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.update - + @@ -115,7 +115,9 @@

                                                                            Use -Update  +Update +
                                                                            Indicates that the annotated method will be updated by the updater
                                                                            + @@ -130,7 +132,9 @@

                                                                            Use -Update  +Update +
                                                                            Indicates that the annotated method will be updated by the updater
                                                                            + @@ -145,7 +149,9 @@

                                                                            Use -Update  +Update +
                                                                            Indicates that the annotated method will be updated by the updater
                                                                            + @@ -160,7 +166,9 @@

                                                                            Use -Update  +Update +
                                                                            Indicates that the annotated method will be updated by the updater
                                                                            + @@ -175,7 +183,9 @@

                                                                            Use -Update  +Update +
                                                                            Indicates that the annotated method will be updated by the updater
                                                                            + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html b/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html index 262b9cd..66dc57d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html @@ -2,9 +2,9 @@ - + BangBang - + @@ -131,6 +131,19 @@

                                                                            Class BangBang

                                                                            public class BangBang
 extends InputComponent<java.lang.Double>
 implements ErrorCorrection<java.lang.Double>
                                                                            +
                                                                            Simple error correction, that returns one value if the error is high, and another if it is low + +

                                                                            Bang bang error correction, checks if the error is higher or lower than a target, and returns + an output based on that result. This is not a very good, accurate or reliable way of error + correcting but can be useful in some cases where more exact error correction is not needed

                                                                            +
                                                                            +
                                                                            Since:
                                                                            +
                                                                            0.1
                                                                            +
                                                                            Version:
                                                                            +
                                                                            0.1
                                                                            +
                                                                            Author:
                                                                            +
                                                                            Garrett Burroughs
                                                                            +
                                                                          @@ -250,8 +263,7 @@

                                                                          Method Summary

                                                                          BangBang setInput(Input input) -
                                                                          Set the input of the error correction the input should be the source of what correction is - correcting.
                                                                          +
                                                                          A daisy-chainable method that sets the initial input of the input component
                                                                          @@ -388,9 +400,8 @@

                                                                          setTarget

                                                                        • setInput

                                                                          public BangBang setInput(Input input)
                                                                          -
                                                                          Description copied from interface: ErrorCorrection
                                                                          -
                                                                          Set the input of the error correction the input should be the source of what correction is - correcting. For example in a motor the input would be the encoder
                                                                          +
                                                                          Description copied from class: InputComponent
                                                                          +
                                                                          A daisy-chainable method that sets the initial input of the input component
                                                                          Specified by:
                                                                          setInput in interface ErrorCorrection<java.lang.Double>
                                                                          diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html b/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html index d9454bf..8fce3ed 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html @@ -2,9 +2,9 @@ - + BooleanToggle - + @@ -121,6 +121,15 @@

                                                                          Class BooleanToggle

                                                                          public class BooleanToggle
 extends Toggleable
 implements Input<java.lang.Boolean>
                                                                          +
                                                                          An input that can be toggled between true and false
                                                                          +
                                                                          +
                                                                          Since:
                                                                          +
                                                                          0.1
                                                                          +
                                                                          Version:
                                                                          +
                                                                          0.1
                                                                          +
                                                                          Author:
                                                                          +
                                                                          Garrett Burroughs
                                                                          +
                                                                        @@ -268,6 +277,7 @@

                                                                        get

                                                                      • enableAction

                                                                        public void enableAction()
                                                                        +
                                                                        Description copied from class: Toggleable
                                                                        Method to be called when the toggleable is enabled
                                                                        Specified by:
                                                                        @@ -282,6 +292,7 @@

                                                                        enableAction

                                                                      • disableAction

                                                                        public void disableAction()
                                                                        +
                                                                        Description copied from class: Toggleable
                                                                        Method to be called when the toggleable is disabled
                                                                        Specified by:
                                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html b/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html index bc33c34..2ad3528 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html @@ -2,9 +2,9 @@ - + ConstantInput - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10}; +var methods = {"i0":10,"i1":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -123,6 +123,9 @@

                                                                        Class ConstantInput<T>

                                                                        implementations
                                                                      Since:
                                                                      +
                                                                      0.1
                                                                      +
                                                                      Version:
                                                                      +
                                                                      0.1
                                                                      Author:
                                                                      Garrett Burroughs
                                                                      @@ -165,6 +168,12 @@

                                                                      Method Summary

                                                                      T get()  + +void +setConstantValue(T constant) +
                                                                      Sets the value that the input will return
                                                                      + +
                                                                      • @@ -209,7 +218,7 @@

                                                                        Method Detail

                                                                         -
                                                                          +

                                                                          • get

                                                                            public T get()
                                                                            @@ -219,6 +228,18 @@

                                                                            get

                                                                          + + + + + +
                                                                            +
                                                                          • +

                                                                            setConstantValue

                                                                            +
                                                                            public void setConstantValue(T constant)
                                                                            +
                                                                            Sets the value that the input will return
                                                                            +
                                                                            • +
                                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html index d78f0e7..5eeeb34 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html @@ -2,9 +2,9 @@ - + Differential - + @@ -133,15 +133,22 @@

                                                                        Class Differential

                                                                        A class to calculate how an input varies with time

                                                                        A differential is the rate of change of a certain variable with respect to another one. In - simplper terms is is the slope. The Differential class takes an input and calculates the average + simpler terms is is the slope. The Differential class takes an input and calculates the average rate of change over a very small interval of the input with respect to time

                                                                        This concept is a calculus concept when and can be most easily understood when looking at a graph where time is the independent variable and the input is dependant on the time

                                                                        For example, a time differential of position would be velocity because velocity is how much - the position changes over time (eg. meters per second) @Author Garrett Burroughs @Since - 0.1 @Version 0.1

                                                                        + the position changes over time (eg. meters per second)
                                                                      +
                                                                      +
                                                                      Since:
                                                                      +
                                                                      0.1
                                                                      +
                                                                      Version:
                                                                      +
                                                                      0.1
                                                                      +
                                                                      Author:
                                                                      +
                                                                      Garrett Burroughs
                                                                      +
                                                                    diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html index d8a7c21..6f88b09 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html @@ -2,9 +2,9 @@ - + ErrorCorrection - + @@ -50,7 +50,7 @@
                                                                    • Frames
                                                                      • @@ -113,7 +113,7 @@

                                                                      Interface ErrorCorrection<
                                                                      A interface that defines the process of correcting an error

                                                                      Error correction can be implemented in different ways but is very important in creating a - funcitonal robot. The most common + functional robot. The most common

                                                                      Most error corrections calculate the error based on the difference of the input and the target and then return an output correction based on that. @@ -270,7 +270,7 @@

                                                                      copy

                                                                        @@ -107,10 +107,23 @@

                                                                        Class Initializeable

                                                                        • +
                                                                          +
                                                                          Direct Known Subclasses:
                                                                          +
                                                                          Hardware
                                                                          +

                                                                          public abstract class Initializeable
 extends java.lang.Object
                                                                          +
                                                                          An object that gets initialized once at the beginning of the teleop mode
                                                                          +
                                                                          +
                                                                          Since:
                                                                          +
                                                                          0.1
                                                                          +
                                                                          Version:
                                                                          +
                                                                          0.1
                                                                          +
                                                                          Author:
                                                                          +
                                                                          Garrett Burroughs
                                                                          +
                                                                        @@ -148,7 +161,9 @@

                                                                        Method Summary

                                                                        abstract void -init()  +init() +
                                                                        the method that is called at the beginning of the teleop mode
                                                                        +
                                                                          @@ -196,6 +211,7 @@

                                                                          Method Detail

                                                                        • init

                                                                          public abstract void init()
                                                                          +
                                                                          the method that is called at the beginning of the teleop mode
                                                                        @@ -226,7 +242,7 @@

                                                                        init

                                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html index b626305..3de32bd 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html @@ -2,9 +2,9 @@ - + Input - + @@ -101,15 +101,21 @@

                                                                        Interface Input<T>

                                                                      • All Known Implementing Classes:
                                                                        -
                                                                        BangBang, BooleanToggle, ConstantInput, Differential, Encoder, FTCJoystick, InputComponent, Monitor, PID, TuneablePID
                                                                        +
                                                                        BangBang, BooleanToggle, ConstantInput, Differential, Encoder, FTCJoystick, GyroCorrection, InputComponent, Monitor, PID, TuneablePID

                                                                        public interface Input<T>
                                                                        -
                                                                        Created by MHS Robotics on 2/2/2018.
                                                                        +
                                                                        A dynamically stored input + +

                                                                        Instead of storing a value, an input creates a method to get the value so if an object is + created with an input, whenever it tries to access the input it will access the most up to date + value of that input, rather than a constant value when the object is created

                                                                        Since:
                                                                        0.1
                                                                        +
                                                                        Version:
                                                                        +
                                                                        0.1
                                                                        Author:
                                                                        Garrett Burroughs
                                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html index e497184..c832cc5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html @@ -2,9 +2,9 @@ - + Monitor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html index de1c8e6..8f6ca93 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html @@ -2,9 +2,9 @@ - + PID - + @@ -257,8 +257,7 @@

                                                                        Method Summary

                                                                        PID setInput(Input<java.lang.Double> input) -
                                                                        Set the input of the error correction the input should be the source of what correction is - correcting.
                                                                        +
                                                                        A daisy-chainable method that sets the initial input of the input component
                                                                        @@ -386,9 +385,8 @@

                                                                        setTarget

                                                                      • setInput

                                                                        public PID setInput(Input<java.lang.Double> input)
                                                                        -
                                                                        Description copied from interface: ErrorCorrection
                                                                        -
                                                                        Set the input of the error correction the input should be the source of what correction is - correcting. For example in a motor the input would be the encoder
                                                                        +
                                                                        Description copied from class: InputComponent
                                                                        +
                                                                        A daisy-chainable method that sets the initial input of the input component
                                                                        Specified by:
                                                                        setInput in interface ErrorCorrection<java.lang.Double>
                                                                        @@ -421,7 +419,7 @@

                                                                        getCorrection

                                                                        Specified by:
                                                                        getCorrection in interface ErrorCorrection<java.lang.Double>
                                                                        Returns:
                                                                        -
                                                                        the correction
                                                                        +
                                                                        the calculated correction
                                                                      diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html index 0a2e2e8..9a46d9f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html @@ -2,9 +2,9 @@ - + Toggleable.Status - + @@ -164,7 +164,7 @@

                                                                      Method Summary

                                                                      boolean -booleanValue()  +isEnabled()  static Toggleable.Status @@ -276,13 +276,13 @@

                                                                      valueOf

                                                                    - +
                                                                    • -

                                                                      booleanValue

                                                                      -
                                                                      public boolean booleanValue()
                                                                      +

                                                                      isEnabled

                                                                      +
                                                                      public boolean isEnabled()
                                                                    diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html index 541b112..f70014f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html @@ -2,9 +2,9 @@ - + Toggleable - + @@ -109,7 +109,7 @@

                                                                    Class Toggleable

                                                                  • Direct Known Subclasses:
                                                                    -
                                                                    BooleanToggle, Component
                                                                    +
                                                                    BooleanToggle, Component, Deadzone, VectorDeadzone

                                                                    diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html index fb78565..95eaa46 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html @@ -2,9 +2,9 @@ - + TuneablePID - + @@ -137,6 +137,14 @@

                                                                    Class TuneablePID

                                                                    becoming a very long and drawn out process. By making them inputs, it is able to change these values at runtime This could be done easily in FRC using smartdashboard or in FTC by using buttons or joysticks to change values
                                                                    • +
                                                                    +
                                                                    Since:
                                                                    +
                                                                    0.1
                                                                    +
                                                                    Version:
                                                                    +
                                                                    0.1
                                                                    +
                                                                    Author:
                                                                    +
                                                                    Garrett Burroughs
                                                                    +

                                                                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html index e6cb044..a4bf589 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html @@ -2,9 +2,9 @@ - + Utils - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html index d3a3366..43f1076 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.BangBang - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html index b8ff55f..a998b5f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.BooleanToggle - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html index 807f884..395b12e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.ConstantInput - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html index ece05be..e15375f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Differential - + @@ -72,7 +72,51 @@

                                                                  Uses of Class
                                                                  org.montclairrobotics.alloy.utils.Differential

                                                                  -
                                                                  No usage of org.montclairrobotics.alloy.utils.Differential
                                                                  +
                                                                  + +
                                                                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html index 110c033..5b1d3cf 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.utils.ErrorCorrection - + @@ -151,7 +151,7 @@

                                                                  Uses of void FTCTargetMotor.setErrorCorrection(ErrorCorrection correction) -
                                                                  Set the motor to run using a custom PID
                                                                  +
                                                                  Set the motor to run using a custom Error Correction
                                                                  @@ -234,7 +234,9 @@

                                                                  Uses of class  -BangBang  +BangBang +
                                                                  Simple error correction, that returns one value if the error is high, and another if it is low
                                                                  + class  @@ -259,15 +261,15 @@

                                                                  Uses of ErrorCorrection -ErrorCorrection.copy()  +TuneablePID.copy()  ErrorCorrection -TuneablePID.copy()  +PID.copy()  ErrorCorrection -PID.copy()  +ErrorCorrection.copy()  ErrorCorrection<T> diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/GyroCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/GyroCorrection.html new file mode 100644 index 0000000..a6c336c --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/GyroCorrection.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.utils.GyroCorrection + + + + + + + + +
                                                                  + + +
                                                                  Skip navigation links
                                                                  + + + + +
                                                                  +
                                                                  +
                                                                    +
                                                                  • Prev
                                                                    • +
                                                                  • Next
                                                                    • +
                                                                  + + +
                                                                  + +
                                                                  + + +
                                                                  + +
                                                                  +

                                                                  Uses of Class
                                                                  org.montclairrobotics.alloy.utils.GyroCorrection

                                                                  +
                                                                  +
                                                                  No usage of org.montclairrobotics.alloy.utils.GyroCorrection
                                                                  + +
                                                                  + + +
                                                                  Skip navigation links
                                                                  + + + + +
                                                                  +
                                                                  +
                                                                    +
                                                                  • Prev
                                                                    • +
                                                                  • Next
                                                                    • +
                                                                  + + +
                                                                  + +
                                                                  + + +
                                                                  + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html index dee5d08..decf722 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Initializeable - + @@ -86,6 +86,10 @@

                                                                  org.montclairrobotics.alloy.core   + +org.montclairrobotics.alloy.test +  + @@ -109,6 +113,24 @@

                                                                  Uses of + + +

                                                                  Uses of Initializeable in org.montclairrobotics.alloy.test

                                                                  + + + + + + + + + + + + +
                                                                  Subclasses of Initializeable in org.montclairrobotics.alloy.test 
                                                                  Modifier and TypeClass and Description
                                                                  class Hardware 
                                                                  +
                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html index 4010c75..031414e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.utils.Input - + @@ -124,7 +124,9 @@

                                                              Uses of class  -InputComponent<T>  +InputComponent<T> +
                                                              An input component is an extension of a regular component, used for input and control systems
                                                              + @@ -137,7 +139,9 @@

                                                              Uses of Input<T> -InputComponent.input  +InputComponent.input +
                                                              The initial input value
                                                              + @@ -150,7 +154,9 @@

                                                              Uses of InputComponent<T> -InputComponent.setInput(Input<T> input)  +InputComponent.setInput(Input<T> input) +
                                                              A daisy-chainable method that sets the initial input of the input component
                                                              + @@ -183,7 +189,9 @@

                                                              Uses of Input<java.lang.Object> -Debug.value  +Debug.value +
                                                              The information, or object to be debugged
                                                              + @@ -195,7 +203,9 @@

                                                              Uses of Debug(java.lang.String key, - Input<java.lang.Object> value)  + Input<java.lang.Object> value) +
                                                              debug a changing value
                                                              + @@ -233,7 +243,7 @@

                                                              Uses of class  FTCJoystick -
                                                              Created by MHS Robotics on 11/14/2017.
                                                              +
                                                              Implementation of the Joystick class for FTC
                                                              @@ -290,11 +300,15 @@

                                                              Uses of class  -BangBang  +BangBang +
                                                              Simple error correction, that returns one value if the error is high, and another if it is low
                                                              + class  -BooleanToggle  +BooleanToggle +
                                                              An input that can be toggled between true and false
                                                              + class  @@ -310,17 +324,23 @@

                                                              Uses of class  +GyroCorrection +
                                                              A correction based on a gyroscope, to keep a consistent heading
                                                              + + + +class  Monitor
                                                              Created by MHS Robotics on 3/12/2018.
                                                              - + class  PID
                                                              Created by Montclair robotics on 2/27/2018
                                                              - + class  TuneablePID
                                                              A PID class that takes in tunable inputs to make PID tuning easier
                                                              @@ -363,16 +383,16 @@

                                                              Uses of -BangBang -BangBang.setInput(Input input)  - - TuneablePID TuneablePID.setInput(Input input)
                                                              Set the input of the error correction the input should be the source of what correction is correcting.
                                                              + +BangBang +BangBang.setInput(Input input)  + PID PID.setInput(Input<java.lang.Double> input)  diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html index 0a38f99..1fcc430 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Monitor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html index a040feb..f209880 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.PID - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html index 54822a0..2c0b3a6 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Toggleable.Status - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html index c0c77a6..cda7048 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Toggleable - + @@ -107,6 +107,10 @@

                                                                +org.montclairrobotics.alloy.steps +  + + org.montclairrobotics.alloy.utils   @@ -134,7 +138,9 @@

                                                              Uses of class  -InputComponent<T>  +InputComponent<T> +
                                                              An input component is an extension of a regular component, used for input and control systems
                                                              + @@ -208,19 +214,19 @@

                                                              Uses of class  FTCJoystick -
                                                              Created by MHS Robotics on 11/14/2017.
                                                              +
                                                              Implementation of the Joystick class for FTC
                                                              class  FTCMotor -
                                                              Created by MHS Robotics on 11/14/2017.
                                                              +
                                                              Implementation of a basic motor for the FTC competition
                                                              class  FTCTargetMotor -
                                                              Created by MHS Robotics on 2/24/2018.
                                                              +
                                                              Implementation of a target motor for the FTC competition
                                                              @@ -252,6 +258,32 @@

                                                              Uses of + + +

                                                              Uses of Toggleable in org.montclairrobotics.alloy.steps

                                                              + + + + + + + + + + + + + + + + +
                                                              Subclasses of Toggleable in org.montclairrobotics.alloy.steps 
                                                              Modifier and TypeClass and Description
                                                              class Deadzone +
                                                              A step that returns 0 if the input is under a certain threshold
                                                              +
                                                              class VectorDeadzone +
                                                              A step that returns 0 if the inputs magnitude is under a certain threshold
                                                              +
                                                              +
                                                            • @@ -265,11 +297,15 @@

                                                              Uses of class  -BangBang  +BangBang +
                                                              Simple error correction, that returns one value if the error is high, and another if it is low
                                                              + class  -BooleanToggle  +BooleanToggle +
                                                              An input that can be toggled between true and false
                                                              + class  @@ -279,11 +315,17 @@

                                                              Uses of class  +GyroCorrection +
                                                              A correction based on a gyroscope, to keep a consistent heading
                                                              + + + +class  PID
                                                              Created by Montclair robotics on 2/27/2018
                                                              - + class  TuneablePID
                                                              A PID class that takes in tunable inputs to make PID tuning easier
                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html index 615576e..fb63f1d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.TuneablePID - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html index 49a6c4e..e1ca453 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Utils - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html index 7cef9b9..99d6b5e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils - + @@ -22,6 +22,7 @@

                                                              Classes

                                                            • BooleanToggle
                                                            • ConstantInput
                                                            • Differential
                                                              • +
                                                            • GyroCorrection
                                                            • Initializeable
                                                            • Monitor
                                                            • PID
                                                              • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html index 90368a5..e5471bd 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils - + @@ -91,7 +91,7 @@

                                                              Package org.montclairrobotics.alloy.utils Input<T> -
                                                              Created by MHS Robotics on 2/2/2018.
                                                              +
                                                              A dynamically stored input
                                                              @@ -107,11 +107,15 @@

                                                              Package org.montclairrobotics.alloy.utils BangBang -  + +
                                                              Simple error correction, that returns one value if the error is high, and another if it is low
                                                              + BooleanToggle -  + +
                                                              An input that can be toggled between true and false
                                                              + ConstantInput<T> @@ -126,34 +130,42 @@

                                                              Package org.montclairrobotics.alloy.utils -Initializeable -  +GyroCorrection + +
                                                              A correction based on a gyroscope, to keep a consistent heading
                                                              + +Initializeable + +
                                                              An object that gets initialized once at the beginning of the teleop mode
                                                              + + + Monitor
                                                              Created by MHS Robotics on 3/12/2018.
                                                              - + PID
                                                              Created by Montclair robotics on 2/27/2018
                                                              - + Toggleable
                                                              Created by MHS Robotics on 2/11/2018.
                                                              - + TuneablePID
                                                              A PID class that takes in tunable inputs to make PID tuning easier
                                                              - + Utils
                                                              A set of common methods that are useful in writing robot code
                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html index 90f1a26..c1268f1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils Class Hierarchy - + @@ -93,6 +93,7 @@

                                                              Class Hierarchy

                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html index 5493194..fe7465d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.utils - + @@ -107,6 +107,14 @@

                                                              Uses   +org.montclairrobotics.alloy.steps +  + + +org.montclairrobotics.alloy.test +  + + org.montclairrobotics.alloy.utils   @@ -124,7 +132,7 @@

                                                              Uses Input -
                                                              Created by MHS Robotics on 2/2/2018.
                                                              +
                                                              A dynamically stored input
                                                              @@ -162,14 +170,21 @@

                                                              Uses -Initializeable  +Differential +
                                                              A class to calculate how an input varies with time
                                                              + -Input -
                                                              Created by MHS Robotics on 2/2/2018.
                                                              +Initializeable +
                                                              An object that gets initialized once at the beginning of the teleop mode
                                                              +Input +
                                                              A dynamically stored input
                                                              + + + Toggleable
                                                              Created by MHS Robotics on 2/11/2018.
                                                              @@ -193,7 +208,7 @@

                                                              Uses Input -
                                                              Created by MHS Robotics on 2/2/2018.
                                                              +
                                                              A dynamically stored input
                                                              @@ -220,7 +235,7 @@

                                                              Uses Input -
                                                              Created by MHS Robotics on 2/2/2018.
                                                              +
                                                              A dynamically stored input
                                                              @@ -247,7 +262,7 @@

                                                              Uses Input -
                                                              Created by MHS Robotics on 2/2/2018.
                                                              +
                                                              A dynamically stored input
                                                              @@ -258,6 +273,40 @@

                                                              Uses +
                                                            • + + + + + + + + + + + + +
                                                              Classes in org.montclairrobotics.alloy.utils used by org.montclairrobotics.alloy.steps 
                                                              Class and Description
                                                              Toggleable +
                                                              Created by MHS Robotics on 2/11/2018.
                                                              +
                                                              +
                                                              • +
                                                            • + + + + + + + + + + + + +
                                                              Classes in org.montclairrobotics.alloy.utils used by org.montclairrobotics.alloy.test 
                                                              Class and Description
                                                              Initializeable +
                                                              An object that gets initialized once at the beginning of the teleop mode
                                                              +
                                                              +
                                                            • @@ -268,7 +317,9 @@

                                                              Uses -BangBang  +BangBang +
                                                              Simple error correction, that returns one value if the error is high, and another if it is low
                                                              + ErrorCorrection @@ -277,7 +328,7 @@

                                                              Uses Input -
                                                              Created by MHS Robotics on 2/2/2018.
                                                              +
                                                              A dynamically stored input
                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html index 36fbb49..e128ced 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html @@ -2,9 +2,9 @@ - + Angle - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html index 20db6ef..98ce1a2 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html @@ -2,9 +2,9 @@ - + Polar - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html index c365ed1..3b37a5e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html @@ -2,9 +2,9 @@ - + Vector - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html index 4a5ffa5..60a738c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html @@ -2,9 +2,9 @@ - + XY - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html index ddad207..e625433 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.vector.Angle - + @@ -112,6 +112,18 @@

                                                              Uses of +Constructors in org.montclairrobotics.alloy.drive with parameters of type Angle  + +Constructor and Description + + + +DTInput(Vector translation, + Angle rotation)  + + +

                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html index 36fa1cd..8c35031 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.vector.Polar - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html index 08723df..d161e1c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.vector.Vector - + @@ -99,7 +99,7 @@

                                                                -org.montclairrobotics.alloy.motor.steps +org.montclairrobotics.alloy.steps   @@ -166,6 +166,10 @@

                                                              Uses of Create a fully functioning motor module + +DTInput(Vector translation, + Angle rotation)  +

                                                              • @@ -208,7 +212,9 @@

                                                              Uses of Vector -MotorModule.offset  +MotorModule.offset +
                                                              the position of the motor, relative to the center of the motor group
                                                              + @@ -248,12 +254,12 @@

                                                              Uses of +
                                                            • -

                                                              Uses of Vector in org.montclairrobotics.alloy.motor.steps

                                                              +

                                                              Uses of Vector in org.montclairrobotics.alloy.steps

                                                              - + @@ -261,12 +267,12 @@

                                                              Uses of

                                                              - +
                                                              Methods in org.montclairrobotics.alloy.motor.steps that return Vector Methods in org.montclairrobotics.alloy.steps that return Vector 
                                                              Modifier and Type Method and DescriptionVectorVectorDeadzone.getOutput(Vector input) VectorDeadzone.getOutput(Vector input) 
                                                              - + @@ -274,7 +280,7 @@

                                                              Uses of

                                                              - +
                                                              Methods in org.montclairrobotics.alloy.motor.steps with parameters of type Vector Methods in org.montclairrobotics.alloy.steps with parameters of type Vector 
                                                              Modifier and Type Method and DescriptionVectorVectorDeadzone.getOutput(Vector input) VectorDeadzone.getOutput(Vector input) 
                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html index 4b561eb..df3589e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.vector.XY - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html index 827be09..87c7b6b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.vector - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html index 678638b..b244a78 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.vector - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html index 9ff4d54..82da90b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.vector Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html index 8152282..6d481ab 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.vector - + @@ -99,7 +99,7 @@

                                                              Use   -org.montclairrobotics.alloy.motor.steps +org.montclairrobotics.alloy.steps   @@ -186,17 +186,17 @@

                                                              Use

                                                              • -
                                                            • +
                                                            • - + - diff --git a/docs/javadoc/overview-frame.html b/docs/javadoc/overview-frame.html index f3bc1dc..cdfebe5 100644 --- a/docs/javadoc/overview-frame.html +++ b/docs/javadoc/overview-frame.html @@ -2,9 +2,9 @@ - +Overview List - + @@ -18,9 +18,10 @@

                                                              Packages

                                                            • org.montclairrobotics.alloy.control
                                                            • org.montclairrobotics.alloy.core
                                                            • org.montclairrobotics.alloy.drive
                                                              • +
                                                            • org.montclairrobotics.alloy.exceptions
                                                            • org.montclairrobotics.alloy.ftc
                                                            • org.montclairrobotics.alloy.motor
                                                              • -
                                                            • org.montclairrobotics.alloy.motor.steps
                                                              • +
                                                            • org.montclairrobotics.alloy.steps
                                                            • org.montclairrobotics.alloy.test
                                                            • org.montclairrobotics.alloy.update
                                                            • org.montclairrobotics.alloy.utils
                                                              • diff --git a/docs/javadoc/overview-summary.html b/docs/javadoc/overview-summary.html index f7ece53..5dd6bbd 100644 --- a/docs/javadoc/overview-summary.html +++ b/docs/javadoc/overview-summary.html @@ -2,9 +2,9 @@ - +Overview - + @@ -98,30 +98,34 @@ - + - + - + - + - + - + + + + + diff --git a/docs/javadoc/overview-tree.html b/docs/javadoc/overview-tree.html index 898725a..22b0402 100644 --- a/docs/javadoc/overview-tree.html +++ b/docs/javadoc/overview-tree.html @@ -2,9 +2,9 @@ - +Class Hierarchy - + @@ -78,9 +78,10 @@

                                                              Hierarchy For All Packages

                                                            • org.montclairrobotics.alloy.control,
                                                            • org.montclairrobotics.alloy.core,
                                                            • org.montclairrobotics.alloy.drive,
                                                              • +
                                                            • org.montclairrobotics.alloy.exceptions,
                                                            • org.montclairrobotics.alloy.ftc,
                                                            • org.montclairrobotics.alloy.motor,
                                                              • -
                                                            • org.montclairrobotics.alloy.motor.steps,
                                                              • +
                                                            • org.montclairrobotics.alloy.steps,
                                                            • org.montclairrobotics.alloy.test,
                                                            • org.montclairrobotics.alloy.update,
                                                            • org.montclairrobotics.alloy.utils,
                                                              • @@ -100,15 +101,21 @@

                                                              Class Hierarchy

                                                            • org.montclairrobotics.alloy.utils.ConstantInput<T> (implements org.montclairrobotics.alloy.utils.Input<T>)
                                                            • org.montclairrobotics.alloy.test.Control
                                                              • -
                                                            • org.montclairrobotics.alloy.motor.steps.Deadzone (implements org.montclairrobotics.alloy.components.Step<T>)
                                                            • org.montclairrobotics.alloy.core.Debug
                                                              • +
                                                            • org.montclairrobotics.alloy.core.Debugger + +
                                                            • org.montclairrobotics.alloy.motor.DefaultMapper (implements org.montclairrobotics.alloy.motor.Mapper<T>)
                                                            • org.montclairrobotics.alloy.drive.DriveTrain
                                                            • org.montclairrobotics.alloy.drive.DTInput
                                                            • org.montclairrobotics.alloy.ftc.FTCButton (implements org.montclairrobotics.alloy.core.Button)
                                                              • -
                                                            • org.montclairrobotics.alloy.ftc.FTCDebugger (implements org.montclairrobotics.alloy.core.Debugger)
                                                              • +
                                                            • org.montclairrobotics.alloy.utils.Initializeable + +
                                                            • org.montclairrobotics.alloy.utils.Monitor (implements org.montclairrobotics.alloy.utils.Input<T>)
                                                            • com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                                @@ -128,6 +135,20 @@

                                                                Class Hierarchy

                                                              • org.montclairrobotics.alloy.auto.StateMachine
                                                              • +
                                                            • java.lang.Throwable (implements java.io.Serializable) + +
                                                            • org.montclairrobotics.alloy.utils.Toggleable
                                                              • org.montclairrobotics.alloy.utils.BooleanToggle (implements org.montclairrobotics.alloy.utils.Input<T>)
                                                                • @@ -144,6 +165,7 @@

                                                                Class Hierarchy

                                                              • org.montclairrobotics.alloy.utils.Differential
                                                              • org.montclairrobotics.alloy.core.Encoder
                                                              • org.montclairrobotics.alloy.ftc.FTCJoystick (implements org.montclairrobotics.alloy.core.Joystick)
                                                                • +
                                                              • org.montclairrobotics.alloy.utils.GyroCorrection
                                                              • org.montclairrobotics.alloy.utils.PID (implements org.montclairrobotics.alloy.utils.ErrorCorrection<T>)
                                                              • org.montclairrobotics.alloy.utils.TuneablePID (implements org.montclairrobotics.alloy.utils.ErrorCorrection<T>)
                                                              @@ -156,21 +178,20 @@

                                                              Class Hierarchy

                                                              • +
                                                            • org.montclairrobotics.alloy.steps.Deadzone (implements org.montclairrobotics.alloy.components.Step<T>)
                                                              • +
                                                            • org.montclairrobotics.alloy.steps.VectorDeadzone (implements org.montclairrobotics.alloy.components.Step<T>)
                                                            • org.montclairrobotics.alloy.update.Updateable
                                                            • org.montclairrobotics.alloy.update.Updater
                                                            • org.montclairrobotics.alloy.utils.Utils
                                                              • -
                                                            • org.montclairrobotics.alloy.motor.steps.VectorDeadzone (implements org.montclairrobotics.alloy.components.Step<T>)
                                                            • org.montclairrobotics.alloy.vector.XY (implements org.montclairrobotics.alloy.vector.Vector)

                                                              • Interface Hierarchy

                                                              diff --git a/docs/javadoc/package-list b/docs/javadoc/package-list index 7ff4f15..66cb634 100644 --- a/docs/javadoc/package-list +++ b/docs/javadoc/package-list @@ -3,9 +3,10 @@ org.montclairrobotics.alloy.components org.montclairrobotics.alloy.control org.montclairrobotics.alloy.core org.montclairrobotics.alloy.drive +org.montclairrobotics.alloy.exceptions org.montclairrobotics.alloy.ftc org.montclairrobotics.alloy.motor -org.montclairrobotics.alloy.motor.steps +org.montclairrobotics.alloy.steps org.montclairrobotics.alloy.test org.montclairrobotics.alloy.update org.montclairrobotics.alloy.utils diff --git a/docs/javadoc/serialized-form.html b/docs/javadoc/serialized-form.html new file mode 100644 index 0000000..d9a863d --- /dev/null +++ b/docs/javadoc/serialized-form.html @@ -0,0 +1,142 @@ + + + + + +Serialized Form + + + + + + + + +
                                                              + + +
                                                              Skip navigation links
                                                              + + + + +
                                                              +
                                                              +
                                                                +
                                                              • Prev
                                                                • +
                                                              • Next
                                                                • +
                                                              + + +
                                                              + +
                                                              + + +
                                                              + +
                                                              +

                                                              Serialized Form

                                                              +
                                                              +
                                                              + +
                                                              + +
                                                              + + +
                                                              Skip navigation links
                                                              + + + + +
                                                              +
                                                              +
                                                                +
                                                              • Prev
                                                                • +
                                                              • Next
                                                                • +
                                                              + + +
                                                              + +
                                                              + + +
                                                              + + + diff --git a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java index 0beeb7d..8bd67f0 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java @@ -25,7 +25,6 @@ of this software and associated documentation files (the "Software"), to deal import java.util.ArrayList; import java.util.Arrays; -import java.util.List; /** * Created by MHS Robotics on 12/16/2017. @@ -38,7 +37,7 @@ of this software and associated documentation files (the "Software"), to deal * pre coded instructions that make driving easier. * * @author Garrett Burroughs - * @since + * @since 0.1 */ public class StateMachine extends State { diff --git a/src/main/java/org/montclairrobotics/alloy/components/Action.java b/src/main/java/org/montclairrobotics/alloy/components/Action.java deleted file mode 100644 index 76025e5..0000000 --- a/src/main/java/org/montclairrobotics/alloy/components/Action.java +++ /dev/null @@ -1,34 +0,0 @@ -/* -MIT License - -Copyright (c) 2018 Garrett Burroughs - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. -*/ -package org.montclairrobotics.alloy.components; - -public interface Action { - public void start(); - - public void enabled(); - - public void stop(); - - public void disabled(); -} diff --git a/src/main/java/org/montclairrobotics/alloy/components/Component.java b/src/main/java/org/montclairrobotics/alloy/components/Component.java index 44443a8..37d6356 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/Component.java +++ b/src/main/java/org/montclairrobotics/alloy/components/Component.java @@ -33,7 +33,9 @@ of this software and associated documentation files (the "Software"), to deal * The main component class that all components of alloy should extend * *

                                                              Alloy is built of a system of components that all work together to operate a robot Components - * can be broken down into 2 simple parts -Physical Component -Input Component + * can be broken down into 2 simple parts
                                                              + * -Physical Component
                                                              + * -Input Component
                                                              * *

                                                              A physical component would include any part, feature, or function that is physically on the * robot This can include things like motors, manipulators shooters, drivetrain, etc. @@ -42,12 +44,17 @@ of this software and associated documentation files (the "Software"), to deal * triggers, sensors, flow camera, optical control and anything else that would send an input to a * physical component * + *

                                                              All components have the ability to be toggled on and off as well as built in debug capability + * for easier testing and debugging of specific components. + * + *

                                                              There is also a static list of all components that are created so that the updater can + * reference them. This means that you can have a method in a component be updated just by adding + * the @Update annotation + * * @see InputComponent - *

                                                              All components have the ability to be toggled on and off as well as built in debug - * capability for easier testing and debugging of specific components. - *

                                                              There is also a static list of all components that are created so that the updater can - * reference them. This means that you can have a method in a component be updated just by - * addint the @Update annotation @Author Garrett Burroughs @Version 0.1 @Since 0.1 + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 */ public abstract class Component extends Toggleable { /** The object used for debugging information about all components */ @@ -62,7 +69,6 @@ public abstract class Component extends Toggleable { /** a static reference of all the components that are made */ public static ArrayList components; - public Component() { components.add(this); } @@ -71,12 +77,17 @@ public static ArrayList getComponents() { return components; } - /** Adds a debug to the component, this will be debugged out every loop if debug mode is enabled */ + /** + * Adds a debug to the component, this will be debugged out every loop if debug mode is enabled + */ public void addDebug(Debug debug) { debugs.add(debug); } - /** Adds multiple debugs to the components, they will be debugged out every loop if debug mode is enabled*/ + /** + * Adds multiple debugs to the components, they will be debugged out every loop if debug mode is + * enabled + */ public void addDebugs(Iterable debugs) { for (Debug debug : debugs) { this.debugs.add(debug); diff --git a/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java b/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java index e4a2345..2ac87ef 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java +++ b/src/main/java/org/montclairrobotics/alloy/components/InputComponent.java @@ -26,11 +26,32 @@ of this software and associated documentation files (the "Software"), to deal import java.util.ArrayList; import org.montclairrobotics.alloy.utils.Input; +/** + * An input component is an extension of a regular component, used for input and control systems + * + *

                                                              Input components take in a standard input, and have the ability to manipulate them using a + * number of steps that can be added. Steps take in the input, perform some sort of manipulation or + * calculation and then return the new value. Steps are applied in order of them being added, and + * the output of one step gets passed in as the input of the next step. The steps are only applied + * if the applySteps() method is called + * + *

                                                              Input components can also be enabled, or disabled just like regular components, and will + * return their calculated value as a regular input + * + * @param the type of the input + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ public abstract class InputComponent extends Component implements Input { + /** The initial input value */ public Input input; + + /** The value after steps have been applied */ public T output; + /** An arraylist to store all of the steps */ public ArrayList> steps = new ArrayList<>(); @Override @@ -38,6 +59,10 @@ public T get() { return output; } + /** + * Apply all of the steps, in order, taking the output of one step and passing it as the input + * to the next + */ public void applySteps() { // Start off with the input T calculation = input.get(); @@ -49,12 +74,14 @@ public void applySteps() { output = calculation; } + /** A daisy-chainable method that adds a step to the input component */ public InputComponent addStep(Step s) { // addDebug(new Debug(), ); steps.add(s); return this; } + /** A daisy-chainable method that sets the initial input of the input component */ public InputComponent setInput(Input input) { this.input = input; return this; diff --git a/src/main/java/org/montclairrobotics/alloy/components/Step.java b/src/main/java/org/montclairrobotics/alloy/components/Step.java index 14bbca9..93169c8 100644 --- a/src/main/java/org/montclairrobotics/alloy/components/Step.java +++ b/src/main/java/org/montclairrobotics/alloy/components/Step.java @@ -23,6 +23,18 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.components; +/** + * A step is a manipulation or calculation performed on an input + * + *

                                                              When used in conjunction with an InputComponent, the steps will be applied in order, passing + * in the output of one step, into the input of the next step. + * + * @param the type that the step will be manipulating + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ public interface Step { + /** The operation to be performed on the input, to get the output */ public T getOutput(T input); } diff --git a/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java b/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java index 59ebf07..b7350de 100644 --- a/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java +++ b/src/main/java/org/montclairrobotics/alloy/control/ButtonAction.java @@ -27,19 +27,21 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.update.Update; /** - * Created by MHS Robotics on 2/11/2018. - * - *

                                                              Every Button action is tied to a button, and controls what happens when the button is pressed, + * Every Button action is tied to a button, and controls what happens when the button is pressed, * held, unpressed, and released * * @author Garrett Burroughs + * @version 0.1 * @since 0.1 */ public abstract class ButtonAction { /** The button that controls the action */ public Button button; - /** Keeps track of if the button was pressed in the previous loop, used for telling when the button is pressed/unpressed */ + /** + * Keeps track of if the button was pressed in the previous loop, used for telling when the + * button is pressed/unpressed + */ public boolean wasPressed = false; /** Creates a button action tied to a button */ @@ -61,15 +63,19 @@ public ButtonAction(Button button) { @Update public void update() { - if (button.getValue()) { + if (button.getValue()) { // If the button is pressed, call whilePressed() whilePressed(); - } else { + } else { // If the button is not pressed call whileReleased() whileReleased(); } - if (wasPressed && !button.getValue()) { + if (wasPressed + && !button + .getValue()) { // If the button was just pressed, but is no longer pressed, call onReleased() onReleased(); } - if (!wasPressed && button.getValue()) { + if (!wasPressed + && button + .getValue()) { // If the button was just not pressed, but is now pressed, call onPressed() onPressed(); } diff --git a/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java b/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java index b52e2b5..1afebe0 100644 --- a/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java +++ b/src/main/java/org/montclairrobotics/alloy/control/ToggleButton.java @@ -27,14 +27,13 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.utils.Toggleable; /** - * Created by MHS Robotics on 2/11/2018. - * - *

                                                              A ToggleButton is tied to a button and a toggleable, when the button is pressed the toggleable + * A ToggleButton is tied to a button and a toggleable, when the button is pressed the toggleable * will toggle between states * * @see Toggleable * @see ButtonAction * @author Garrett Burroughs + * @version 0.1 * @since 0.1 */ public class ToggleButton extends ButtonAction { diff --git a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java index e997fba..d3b5f6d 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java @@ -31,10 +31,14 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.utils.Initializeable; /** - * Created by MHS Robotics on 11/13/2017. + * The main class that takes care of setting up the environment, and running all of the main methods * - *

                                                              The main purpose behind the alloy class is to controll how and when all of the mehotds in - * Robot are run as well as initialize all global variables + *

                                                              The alloy class is an extension of the FTC OpMode class, and takes care of preliminary setup + * of:
                                                              + * - Setting up the global FTC variables in RobotCore
                                                              + * - Setting up the global Debugger
                                                              + * - Initializing any "initializeables" in the project
                                                              + * - Running the users defined methods
                                                              * * @author Garrett Burroughs * @version 0.1 diff --git a/src/main/java/org/montclairrobotics/alloy/core/Button.java b/src/main/java/org/montclairrobotics/alloy/core/Button.java index 5c56181..c23151d 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Button.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Button.java @@ -24,10 +24,11 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.core; /** - * Created by MHS Robotics on 11/13/2017. + * An outline for the fundamental behavior of a button * - *

                                                              The button interface is implemented in ftc button The user can get the value of the button, In - * most cases this will be a Boolean (True if pressed, false if not), + *

                                                              A button can either be pressed, or unpressed, so the button interface has a method that + * returns a boolean value. When implemented, getValue() should return true when the button is + * pressed and false when it is unpressed * * @author Garrett Burroughs * @version 0.1 diff --git a/src/main/java/org/montclairrobotics/alloy/core/Debug.java b/src/main/java/org/montclairrobotics/alloy/core/Debug.java index 52070d2..8bc64dd 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Debug.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Debug.java @@ -26,6 +26,21 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.utils.ConstantInput; import org.montclairrobotics.alloy.utils.Input; +/** + * Contains the necessary information for a debug + * + *

                                                              Every debug has a key, which is a title or label of the information being debugged This can be + * the type of information ex. 'ERROR', where the information is coming from and what it is ex. + * "Right Left Motor encoder value", or any other descriptor of the information + * + *

                                                              Every debug also has the actual value that is being debugged The part where it is actually + * debugged is taken care of the Debugger + * + * @see Debugger + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ public class Debug { /** The key, label, or name of the information */ public String key; diff --git a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java index 95a9ebb..d62f631 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java @@ -24,7 +24,7 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.core; /** - * Created by MHS Robotics on 11/13/2017. + * Controls the flow of how debug information is read out * *

                                                              Debugs are used for debugging information to the user In ftc the debugs use Telemetry to read * an output to the phone The debug allows for easier usage of the telemetry methods That are most diff --git a/src/main/java/org/montclairrobotics/alloy/core/Encoder.java b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java index 601b2d5..f3bc16d 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Encoder.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java @@ -33,6 +33,10 @@ of this software and associated documentation files (the "Software"), to deal *

                                                              At a basic level hardware encoders are able to get how far a motor has gone as a unit of * encoder ticks. The encoder class also calculates the acceleration anc velocity of the motor in * terms of encoder ticks, and then the user can define the distance of unit to measure the motor in + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 */ public abstract class Encoder extends InputComponent { diff --git a/src/main/java/org/montclairrobotics/alloy/core/Joystick.java b/src/main/java/org/montclairrobotics/alloy/core/Joystick.java index 1fa6c06..cd4f172 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Joystick.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Joystick.java @@ -26,7 +26,7 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.vector.Vector; /** - * Created by MHS Robotics on 11/14/2017. + * The fundamental outline for all standard 2-axis joysticks * *

                                                              Joysticks should return a vector made up of the X and Y values of their position * diff --git a/src/main/java/org/montclairrobotics/alloy/core/Mode.java b/src/main/java/org/montclairrobotics/alloy/core/Mode.java index 8477a97..b4ac63b 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Mode.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Mode.java @@ -24,9 +24,7 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.core; /** - * Created by MHS Robotics on 11/14/2017. - * - *

                                                              Mode stores all the different run modes that a robot can run in + * All of the different running states that the robot can be in * * @author Garrett Burroughs * @version 0.1 diff --git a/src/main/java/org/montclairrobotics/alloy/core/Motor.java b/src/main/java/org/montclairrobotics/alloy/core/Motor.java index 53030f8..21d69a9 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Motor.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Motor.java @@ -24,7 +24,10 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.core; /** - * Created by MHS Robotics on 11/13/2017. + * An outline for all of the basic motor behavior + * + *

                                                              The very basic functionality of any mechanical motor This includes setting power, and + * inverting the motor * * @author Garrett Burroughs * @version 0.1 diff --git a/src/main/java/org/montclairrobotics/alloy/core/RobotCore.java b/src/main/java/org/montclairrobotics/alloy/core/RobotCore.java index fbc90e0..99130ee 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/RobotCore.java +++ b/src/main/java/org/montclairrobotics/alloy/core/RobotCore.java @@ -28,14 +28,17 @@ of this software and associated documentation files (the "Software"), to deal import org.firstinspires.ftc.robotcore.external.Telemetry; /** - * Created by MHS Robotics on 12/5/2017. + * Stores all of the global robot objects, including telemetry, the hardware map, and gamepads * *

                                                              Since essential parts to the robots operation are stored in OpMode * - * @see com.qualcomm.robotcore.eventloop.opmode.OpMode The robot core class creates static instances - * of all of the essentail objects on initialization The actual objects are passed in in the - * alloy class - * @see Alloy With this, the user can acess all of the objects throughout the project. + *

                                                              With this, the user can acess all of the objects throughout the project. + * + *

                                                              The robot core class creates static instances of all of the essential objects on + * initialization The actual objects are passed in in the alloy class + * + * @see com.qualcomm.robotcore.eventloop.opmode.OpMode + * @see Alloy * @author Garrett Burroughs * @version 0.1 * @since 0.1 diff --git a/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java b/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java index 82c47d2..e3aec8c 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/core/TargetMotor.java @@ -26,6 +26,14 @@ of this software and associated documentation files (the "Software"), to deal /** * Target motor is a motor interface for motors that have encoders. Target motors can set encoder * positions using PID control + * + *

                                                              Target motors define the action for more advanced motors, that have access to more information + * and are able to be more finely tuned. Because they have encoders, more advanced control + * mechanisms can be used such as PID control, to gain better, more accurate control over the motors + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 */ public interface TargetMotor extends Motor { /** diff --git a/src/main/java/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.java b/src/main/java/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.java index ed13bfa..4f81d0e 100644 --- a/src/main/java/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.java +++ b/src/main/java/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.java @@ -27,8 +27,9 @@ of this software and associated documentation files (the "Software"), to deal /** * An exception that is thrown when a robot is improperly setup An invalid configuration can be - * thrown when: - Global robot properties are accessed before they exist - Motor, or controller - * ports are improperly specified or accessed + * thrown when:
                                                              + * - Global robot properties are accessed before they exist
                                                              + * - Motor, or controller ports are improperly specified or accessed
                                                              */ public class InvalidConfigurationException extends RuntimeException { public InvalidConfigurationException(String message) { diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java index a3a44ab..1fb1a37 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCButton.java @@ -28,11 +28,10 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.utils.Input; /** - * Created by MHS Robotics on 11/14/2017. - * - *

                                                              An FTC button provides implementation for a button used in the FTC competition + * An FTC button provides implementation for a button used in the FTC competition * * @author Garrett Burroughs + * @version 0.1 * @since 0.1 */ public class FTCButton implements Button { diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java index 32fe767..9eee733 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCDebugger.java @@ -29,12 +29,10 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.exceptions.InvalidConfigurationException; /** - * Created by MHS Robotics on 11/14/2017. - * - *

                                                              The FTCDebugger class is a basic wrapper around the ftc telemetry framework and allows - * telemetry to be used in any class as well as making debugging information easier + * implementation of the debugger for the FTC competition * * @author Garrett Burroughs + * @version 0.1 * @since 0.1 */ public class FTCDebugger extends Debugger { @@ -53,7 +51,7 @@ public FTCDebugger() { } } - public Telemetry getTelemetry(){ + public Telemetry getTelemetry() { return telemetry; } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java index 0907582..4eb468d 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCJoystick.java @@ -31,7 +31,7 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.vector.XY; /** - * Created by MHS Robotics on 11/14/2017. + * Implementation of the Joystick class for FTC * *

                                                              There are a total of 4 accessible joysticks when controlling an FTC robot, There are 2 * controllers and each one has 2 joysticks, (One right, one left). A joystick can be defined using @@ -40,6 +40,7 @@ of this software and associated documentation files (the "Software"), to deal *

                                                              Joysticks can also be used as inputs that return a vector * * @author Garrett Burroughs + * @version 0.1 * @since 0.1 */ public class FTCJoystick extends InputComponent implements Joystick { diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java index 885ecda..12dcf39 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java @@ -32,13 +32,14 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.utils.Input; /** - * Created by MHS Robotics on 11/14/2017. + * Implementation of a basic motor for the FTC competition * *

                                                              The basic motor for use in FTC. Basic motors are not aware of encoders and are not recommended * for use in FTC as all motors come with encoders * * @see FTCTargetMotor * @author Garrett Burroughs + * @version 0.1 * @since 0.1 */ public class FTCMotor extends Component implements Motor { diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index 8aeda6b..97149ad 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -32,7 +32,7 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.utils.Input; /** - * Created by MHS Robotics on 2/24/2018. + * Implementation of a target motor for the FTC competition * *

                                                              A target motor is a motor that can use encoders to be set to a certain position Since FTC * motors have their own PIDs that they are controlled with by default, the user has the ability to @@ -41,6 +41,7 @@ of this software and associated documentation files (the "Software"), to deal * more about PIDs here https://en.wikipedia.org/wiki/PID_controller * * @author Garrett Burroughs + * @version 0.1 * @since 0.1 */ public class FTCTargetMotor extends FTCMotor implements TargetMotor { @@ -57,13 +58,13 @@ public class FTCTargetMotor extends FTCMotor implements TargetMotor { /** * Creates a new FTC Target motor, using the motor id from the FTC configuration * - * The configuration must be set on the phone before accessing it in code + *

                                                              The configuration must be set on the phone before accessing it in code * - * A target motor created like this will have the default FTC motor regulation, - * to set a custom error correction, you can do this by calling 'setErrorCorrection(ErrorCorrection)' - * You should only do this if you know what you are doing - * @see ErrorCorrection + *

                                                              A target motor created like this will have the default FTC motor regulation, to set a + * custom error correction, you can do this by calling 'setErrorCorrection(ErrorCorrection)' You + * should only do this if you know what you are doing * + * @see ErrorCorrection * @param motorConfiguration */ public FTCTargetMotor(String motorConfiguration) { @@ -164,9 +165,12 @@ public void update() { if (status.isEnabled()) { // Check if enabled if (motor.getMode() == DcMotor.RunMode.RUN_TO_POSITION) { if (runmode == Mode.CUSTOM) { - setTargetPower(correction.getCorrection()); // If running using custom PID mode, set power to PID output + setTargetPower( + correction + .getCorrection()); // If running using custom PID mode, set power to PID output } else { - motor.setPower(targetPower); // If running in default target mode, set the target power + motor.setPower( + targetPower); // If running in default target mode, set the target power } } else { motor.setPower(power); // If running by power, set the power diff --git a/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java b/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java index e834700..2da4af9 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/Mapper.java @@ -23,6 +23,18 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.motor; +/** + * A mapper takes an input, and maps it to the set of motor modules + * + *

                                                              For example, a tank drive mapper might map a 2D vector to the drive modules by calculating the + * rotation, and the power based on the x&y components of the vector + * + * @param the type of input the mapper takes in + * @author Garrett Burroughs + * @since 0.1 + * @version 0.1 + */ public interface Mapper { + /** map the input to the modules */ public void map(T input, MotorModule... modules); } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java index df3f3e4..d456d44 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java @@ -58,6 +58,7 @@ public class MotorModule extends Component { /** The direction that the modules run for use in a motor group */ public Vector direction; + /** the position of the motor, relative to the center of the motor group */ public Vector offset; /** An error correction that will control the power */ @@ -129,7 +130,7 @@ public MotorModule setEncoder(Encoder encoder) { * @param powerControl an error correction to adjust the speed of the module */ public MotorModule setErrorCorrection(ErrorCorrection powerControl) { - this.powerControl = powerControl; + this.powerControl = powerControl.copy(); return this; } diff --git a/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java b/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java index ad162a0..153eac7 100644 --- a/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/steps/Deadzone.java @@ -26,22 +26,33 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.components.Step; import org.montclairrobotics.alloy.utils.Toggleable; -public class Deadzone extends Toggleable implements Step{ +/** + * A step that returns 0 if the input is under a certain threshold + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ +public class Deadzone extends Toggleable implements Step { + + /** the threshold value that the input has to be lower than for the step to return 0 */ private double tolerance; + /** Create a deadzone specifying the tolerance */ public Deadzone(double tolerance) { this.tolerance = tolerance; } + /** Create a deadzone with a default tolerance of 0.05 */ public Deadzone() { this(0.05); } @Override public Double getOutput(Double input) { - if(status.isEnabled()) { + if (status.isEnabled()) { return input < tolerance ? 0 : input; - }else{ + } else { return input; } } @@ -56,11 +67,13 @@ public void disableAction() { // Do nothing because all action is taken care of } - public double getTolerance(){ + /** @return the threshold value */ + public double getTolerance() { return tolerance; } - public void setTolerance(int tolerance){ + /** set the threshold value */ + public void setTolerance(int tolerance) { this.tolerance = tolerance; } } diff --git a/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java b/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java index d952a12..c66f2a0 100644 --- a/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java +++ b/src/main/java/org/montclairrobotics/alloy/steps/VectorDeadzone.java @@ -26,19 +26,33 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.components.Step; import org.montclairrobotics.alloy.utils.Toggleable; import org.montclairrobotics.alloy.vector.Vector; - +/** + * A step that returns 0 if the inputs magnitude is under a certain threshold + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ public class VectorDeadzone extends Toggleable implements Step { + + /** the threshold value that the input has to be lower than for the step to return 0 */ private double tolerance; + /** Create a VectorDeadzone specifying the tolerance */ public VectorDeadzone(double tolerance) { this.tolerance = tolerance; } + /** Create a VectorDeadzone with a default tolerance of 0.05 */ + public VectorDeadzone() { + this(0.05); + } + @Override public Vector getOutput(Vector input) { - if(status.isEnabled()) { + if (status.isEnabled()) { return input.getManitude() < tolerance ? Vector.ZERO : input; - }else{ + } else { return input; } } @@ -53,11 +67,13 @@ public void disableAction() { // Do nothing because all action is taken care of } - public double getTolerance(){ + /** @return the threshold value */ + public double getTolerance() { return tolerance; } - public void setTolerance(double tolerance){ + /** set the threshold value */ + public void setTolerance(double tolerance) { this.tolerance = tolerance; } } diff --git a/src/main/java/org/montclairrobotics/alloy/update/Update.java b/src/main/java/org/montclairrobotics/alloy/update/Update.java index a2395c2..da498fa 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Update.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Update.java @@ -31,8 +31,12 @@ of this software and associated documentation files (the "Software"), to deal /** * Indicates that the annotated method will be updated by the updater * - * All methods annotated with @Update, will be added to the updater, - * but can only be successfully updated if the method exists within a {@link org.montclairrobotics.alloy.components.Component} + *

                                                              All methods annotated with @Update, will be added to the updater, but can only be successfully + * updated if the method exists within a {@link org.montclairrobotics.alloy.components.Component} + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 */ @Retention(RetentionPolicy.RUNTIME) @Target({ElementType.METHOD}) diff --git a/src/main/java/org/montclairrobotics/alloy/update/Updateable.java b/src/main/java/org/montclairrobotics/alloy/update/Updateable.java index b12e632..8218a78 100644 --- a/src/main/java/org/montclairrobotics/alloy/update/Updateable.java +++ b/src/main/java/org/montclairrobotics/alloy/update/Updateable.java @@ -33,7 +33,7 @@ of this software and associated documentation files (the "Software"), to deal /** * A class used for creating objects that can be updated by the Updater * - *

                                                              An updateable conatins a method to be updates along with any extra information needed for it + *

                                                              An updateable contains a method to be updates along with any extra information needed for it * to be properly called and updated like the update rate, parameters and objects that it should be * invoked on * diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java index 51c9b04..43f2079 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BangBang.java @@ -26,6 +26,17 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.components.InputComponent; import org.montclairrobotics.alloy.update.Update; +/** + * Simple error correction, that returns one value if the error is high, and another if it is low + * + *

                                                              Bang bang error correction, checks if the error is higher or lower than a target, and returns + * an output based on that result. This is not a very good, accurate or reliable way of error + * correcting but can be useful in some cases where more exact error correction is not needed + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ public class BangBang extends InputComponent implements ErrorCorrection { public double target; diff --git a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java index dbd2fd8..d1d73ea 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/BooleanToggle.java @@ -23,6 +23,13 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.utils; +/** + * An input that can be toggled between true and false + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ public class BooleanToggle extends Toggleable implements Input { @Override diff --git a/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java b/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java index 947b523..9e9e3b5 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/ConstantInput.java @@ -31,7 +31,8 @@ of this software and associated documentation files (the "Software"), to deal * implementations * * @author Garrett Burroughs - * @since + * @version 0.1 + * @since 0.1 */ public class ConstantInput implements Input { diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Differential.java b/src/main/java/org/montclairrobotics/alloy/utils/Differential.java index 3f8c5a9..0f25ec6 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Differential.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Differential.java @@ -30,15 +30,18 @@ of this software and associated documentation files (the "Software"), to deal * A class to calculate how an input varies with time * *

                                                              A differential is the rate of change of a certain variable with respect to another one. In - * simplper terms is is the slope. The Differential class takes an input and calculates the average + * simpler terms is is the slope. The Differential class takes an input and calculates the average * rate of change over a very small interval of the input with respect to time * *

                                                              This concept is a calculus concept when and can be most easily understood when looking at a * graph where time is the independent variable and the input is dependant on the time * *

                                                              For example, a time differential of position would be velocity because velocity is how much - * the position changes over time (eg. meters per second) @Author Garrett Burroughs @Since - * 0.1 @Version 0.1 + * the position changes over time (eg. meters per second) + * + * @author Garrett Burroughs + * @since 0.1 + * @version 0.1 */ public class Differential extends InputComponent { /** The dependant variable in the situation */ diff --git a/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java index 8733651..5f6e57f 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/ErrorCorrection.java @@ -27,7 +27,7 @@ of this software and associated documentation files (the "Software"), to deal * A interface that defines the process of correcting an error * *

                                                              Error correction can be implemented in different ways but is very important in creating a - * funcitonal robot. The most common + * functional robot. The most common * *

                                                              Most error corrections calculate the error based on the difference of the input and the target * and then return an output correction based on that. diff --git a/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java b/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java index 72d9310..c0b30e3 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/GyroCorrection.java @@ -1,18 +1,47 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.utils; import org.montclairrobotics.alloy.components.InputComponent; import org.montclairrobotics.alloy.update.Update; +/** + * A correction based on a gyroscope, to keep a consistent heading + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ public class GyroCorrection extends InputComponent { private double correction; @Update - public void calculateCorrection(){ + public void calculateCorrection() { output = correction; } - public double getCorrection(){ + public double getCorrection() { return correction; } - } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java b/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java index 5517d3d..62e13a0 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Initializeable.java @@ -25,11 +25,18 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.core.Alloy; +/** + * An object that gets initialized once at the beginning of the teleop mode + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ public abstract class Initializeable { public Initializeable() { Alloy.initObjects.add(this); } - + /** the method that is called at the beginning of the teleop mode */ public abstract void init(); } diff --git a/src/main/java/org/montclairrobotics/alloy/utils/Input.java b/src/main/java/org/montclairrobotics/alloy/utils/Input.java index 828a3a4..ad1e119 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/Input.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/Input.java @@ -24,9 +24,14 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.utils; /** - * Created by MHS Robotics on 2/2/2018. + * A dynamically stored input + * + *

                                                              Instead of storing a value, an input creates a method to get the value so if an object is + * created with an input, whenever it tries to access the input it will access the most up to date + * value of that input, rather than a constant value when the object is created * * @author Garrett Burroughs + * @version 0.1 * @since 0.1 */ public interface Input { diff --git a/src/main/java/org/montclairrobotics/alloy/utils/PID.java b/src/main/java/org/montclairrobotics/alloy/utils/PID.java index 5c7beef..e0524ee 100644 --- a/src/main/java/org/montclairrobotics/alloy/utils/PID.java +++ b/src/main/java/org/montclairrobotics/alloy/utils/PID.java @@ -59,7 +59,7 @@ public class PID extends InputComponent implements ErrorCorrection implements ErrorCorrection { From d768164d74218f44c78258baa5aa927c06f53e7e Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Fri, 7 Sep 2018 22:45:18 -0400 Subject: [PATCH 30/54] brushed things up to get ready for merging --- build.gradle | 3 + docs/javadoc/allclasses-frame.html | 10 +- docs/javadoc/allclasses-noframe.html | 10 +- docs/javadoc/constant-values.html | 4 +- docs/javadoc/deprecated-list.html | 4 +- docs/javadoc/help-doc.html | 4 +- docs/javadoc/index-files/index-1.html | 6 +- docs/javadoc/index-files/index-10.html | 4 +- docs/javadoc/index-files/index-11.html | 4 +- docs/javadoc/index-files/index-12.html | 4 +- docs/javadoc/index-files/index-13.html | 8 +- docs/javadoc/index-files/index-14.html | 4 +- docs/javadoc/index-files/index-15.html | 4 +- docs/javadoc/index-files/index-16.html | 6 +- docs/javadoc/index-files/index-17.html | 6 +- docs/javadoc/index-files/index-18.html | 14 +- docs/javadoc/index-files/index-19.html | 20 +- docs/javadoc/index-files/index-2.html | 4 +- docs/javadoc/index-files/index-20.html | 4 +- docs/javadoc/index-files/index-21.html | 4 +- docs/javadoc/index-files/index-22.html | 4 +- docs/javadoc/index-files/index-23.html | 4 +- docs/javadoc/index-files/index-24.html | 6 +- docs/javadoc/index-files/index-3.html | 16 +- docs/javadoc/index-files/index-4.html | 12 +- docs/javadoc/index-files/index-5.html | 4 +- docs/javadoc/index-files/index-6.html | 4 +- docs/javadoc/index-files/index-7.html | 12 +- docs/javadoc/index-files/index-8.html | 8 +- docs/javadoc/index-files/index-9.html | 10 +- docs/javadoc/index.html | 2 +- .../alloy/auto/AlloyAutonomous.html | 4 +- .../montclairrobotics/alloy/auto/State.html | 4 +- .../alloy/auto/StateMachine.html | 4 +- .../alloy/auto/class-use/AlloyAutonomous.html | 4 +- .../alloy/auto/class-use/State.html | 4 +- .../alloy/auto/class-use/StateMachine.html | 4 +- .../alloy/auto/package-frame.html | 4 +- .../alloy/auto/package-summary.html | 4 +- .../alloy/auto/package-tree.html | 4 +- .../alloy/auto/package-use.html | 4 +- .../alloy/components/Component.html | 6 +- .../alloy/components/InputComponent.html | 4 +- .../alloy/components/Step.html | 4 +- .../alloy/components/class-use/Component.html | 18 +- .../components/class-use/InputComponent.html | 47 ++- .../alloy/components/class-use/Step.html | 4 +- .../alloy/components/package-frame.html | 4 +- .../alloy/components/package-summary.html | 4 +- .../alloy/components/package-tree.html | 4 +- .../alloy/components/package-use.html | 9 +- .../alloy/control/ButtonAction.html | 4 +- .../alloy/control/ToggleButton.html | 4 +- .../alloy/control/class-use/ButtonAction.html | 4 +- .../alloy/control/class-use/ToggleButton.html | 4 +- .../alloy/control/package-frame.html | 4 +- .../alloy/control/package-summary.html | 4 +- .../alloy/control/package-tree.html | 4 +- .../alloy/control/package-use.html | 4 +- .../montclairrobotics/alloy/core/Alloy.html | 46 ++- .../montclairrobotics/alloy/core/Button.html | 4 +- .../montclairrobotics/alloy/core/Debug.html | 4 +- .../alloy/core/Debugger.Level.html | 4 +- .../alloy/core/Debugger.html | 4 +- .../montclairrobotics/alloy/core/Encoder.html | 4 +- .../alloy/core/Joystick.html | 4 +- .../montclairrobotics/alloy/core/Mode.html | 4 +- .../montclairrobotics/alloy/core/Motor.html | 4 +- .../alloy/core/RobotCore.html | 4 +- .../alloy/core/TargetMotor.html | 4 +- .../alloy/core/class-use/Alloy.html | 4 +- .../alloy/core/class-use/Button.html | 4 +- .../alloy/core/class-use/Debug.html | 4 +- .../alloy/core/class-use/Debugger.Level.html | 4 +- .../alloy/core/class-use/Debugger.html | 4 +- .../alloy/core/class-use/Encoder.html | 4 +- .../alloy/core/class-use/Joystick.html | 4 +- .../alloy/core/class-use/Mode.html | 4 +- .../alloy/core/class-use/Motor.html | 4 +- .../alloy/core/class-use/RobotCore.html | 4 +- .../alloy/core/class-use/TargetMotor.html | 4 +- .../alloy/core/package-frame.html | 4 +- .../alloy/core/package-summary.html | 4 +- .../alloy/core/package-tree.html | 4 +- .../alloy/core/package-use.html | 4 +- .../alloy/drive/DTInput.html | 129 +++--- .../alloy/drive/DTMapper.html | 70 +--- .../alloy/drive/DriveModule.html | 6 +- .../alloy/drive/DriveTrain.html | 163 +++++++- .../alloy/drive/TankDrive.html | 331 +++++++++++++++ .../alloy/drive/TankMapper.html | 383 ++++++++++++++++++ .../alloy/drive/class-use/DTInput.html | 38 +- .../alloy/drive/class-use/DTMapper.html | 46 ++- .../alloy/drive/class-use/DriveModule.html | 4 +- .../alloy/drive/class-use/DriveTrain.html | 98 ++++- .../alloy/drive/class-use/TankDrive.html | 124 ++++++ .../alloy/drive/class-use/TankMapper.html | 124 ++++++ .../alloy/drive/package-frame.html | 6 +- .../alloy/drive/package-summary.html | 16 +- .../alloy/drive/package-tree.html | 15 +- .../alloy/drive/package-use.html | 39 +- .../InvalidConfigurationException.html | 4 +- .../alloy/exceptions/UpdateException.html | 4 +- .../InvalidConfigurationException.html | 4 +- .../exceptions/class-use/UpdateException.html | 4 +- .../alloy/exceptions/package-frame.html | 4 +- .../alloy/exceptions/package-summary.html | 4 +- .../alloy/exceptions/package-tree.html | 4 +- .../alloy/exceptions/package-use.html | 4 +- .../alloy/ftc/FTCButton.html | 4 +- .../alloy/ftc/FTCDebugger.html | 4 +- .../alloy/ftc/FTCJoystick.Side.html | 4 +- .../alloy/ftc/FTCJoystick.html | 4 +- .../montclairrobotics/alloy/ftc/FTCMotor.html | 4 +- .../alloy/ftc/FTCTargetMotor.html | 4 +- .../alloy/ftc/class-use/FTCButton.html | 4 +- .../alloy/ftc/class-use/FTCDebugger.html | 4 +- .../alloy/ftc/class-use/FTCJoystick.Side.html | 4 +- .../alloy/ftc/class-use/FTCJoystick.html | 4 +- .../alloy/ftc/class-use/FTCMotor.html | 4 +- .../alloy/ftc/class-use/FTCTargetMotor.html | 4 +- .../alloy/ftc/package-frame.html | 4 +- .../alloy/ftc/package-summary.html | 4 +- .../alloy/ftc/package-tree.html | 4 +- .../alloy/ftc/package-use.html | 4 +- .../alloy/motor/DefaultMapper.html | 4 +- .../montclairrobotics/alloy/motor/Mapper.html | 6 +- .../alloy/motor/MotorGroup.html | 8 +- .../alloy/motor/MotorModule.html | 37 +- .../alloy/motor/class-use/DefaultMapper.html | 4 +- .../alloy/motor/class-use/Mapper.html | 47 ++- .../alloy/motor/class-use/MotorGroup.html | 52 ++- .../alloy/motor/class-use/MotorModule.html | 25 +- .../alloy/motor/package-frame.html | 4 +- .../alloy/motor/package-summary.html | 4 +- .../alloy/motor/package-tree.html | 4 +- .../alloy/motor/package-use.html | 9 +- .../alloy/steps/Deadzone.html | 4 +- .../alloy/steps/VectorDeadzone.html | 4 +- .../alloy/steps/class-use/Deadzone.html | 4 +- .../alloy/steps/class-use/VectorDeadzone.html | 4 +- .../alloy/steps/package-frame.html | 4 +- .../alloy/steps/package-summary.html | 4 +- .../alloy/steps/package-tree.html | 4 +- .../alloy/steps/package-use.html | 4 +- .../alloy/test/IntakeMapper.html | 286 +++++++++++++ .../alloy/test/ShooterMapper.html | 2 +- .../alloy/test/TestRobot.html | 10 +- .../alloy/test/class-use/IntakeMapper.html | 124 ++++++ .../alloy/test/class-use/ShooterMapper.html | 8 +- .../alloy/test/class-use/TestRobot.html | 4 +- .../alloy/test/package-frame.html | 8 +- .../alloy/test/package-summary.html | 14 +- .../alloy/test/package-tree.html | 12 +- .../alloy/test/package-use.html | 4 +- .../alloy/update/Update.html | 4 +- .../alloy/update/Updateable.html | 4 +- .../alloy/update/Updater.html | 4 +- .../alloy/update/class-use/Update.html | 4 +- .../alloy/update/class-use/Updateable.html | 4 +- .../alloy/update/class-use/Updater.html | 4 +- .../alloy/update/package-frame.html | 4 +- .../alloy/update/package-summary.html | 4 +- .../alloy/update/package-tree.html | 4 +- .../alloy/update/package-use.html | 4 +- .../alloy/utils/BangBang.html | 4 +- .../alloy/utils/BooleanToggle.html | 4 +- .../alloy/utils/ConstantInput.html | 4 +- .../alloy/utils/Differential.html | 4 +- .../alloy/utils/ErrorCorrection.html | 4 +- .../alloy/utils/GyroCorrection.html | 4 +- .../alloy/utils/Initializeable.html | 8 +- .../montclairrobotics/alloy/utils/Input.html | 4 +- .../alloy/utils/Monitor.html | 4 +- .../montclairrobotics/alloy/utils/PID.html | 4 +- .../alloy/utils/Toggleable.Status.html | 4 +- .../alloy/utils/Toggleable.html | 4 +- .../alloy/utils/TuneablePID.html | 4 +- .../montclairrobotics/alloy/utils/Utils.html | 4 +- .../alloy/utils/class-use/BangBang.html | 4 +- .../alloy/utils/class-use/BooleanToggle.html | 4 +- .../alloy/utils/class-use/ConstantInput.html | 4 +- .../alloy/utils/class-use/Differential.html | 4 +- .../utils/class-use/ErrorCorrection.html | 4 +- .../alloy/utils/class-use/GyroCorrection.html | 4 +- .../alloy/utils/class-use/Initializeable.html | 26 +- .../alloy/utils/class-use/Input.html | 31 +- .../alloy/utils/class-use/Monitor.html | 4 +- .../alloy/utils/class-use/PID.html | 4 +- .../utils/class-use/Toggleable.Status.html | 4 +- .../alloy/utils/class-use/Toggleable.html | 18 +- .../alloy/utils/class-use/TuneablePID.html | 4 +- .../alloy/utils/class-use/Utils.html | 4 +- .../alloy/utils/package-frame.html | 4 +- .../alloy/utils/package-summary.html | 4 +- .../alloy/utils/package-tree.html | 4 +- .../alloy/utils/package-use.html | 30 +- .../montclairrobotics/alloy/vector/Angle.html | 113 +++++- .../montclairrobotics/alloy/vector/Polar.html | 4 +- .../alloy/vector/Vector.html | 4 +- .../montclairrobotics/alloy/vector/XY.html | 4 +- .../alloy/vector/class-use/Angle.html | 42 +- .../alloy/vector/class-use/Polar.html | 4 +- .../alloy/vector/class-use/Vector.html | 22 +- .../alloy/vector/class-use/XY.html | 4 +- .../alloy/vector/package-frame.html | 4 +- .../alloy/vector/package-summary.html | 6 +- .../alloy/vector/package-tree.html | 4 +- .../alloy/vector/package-use.html | 8 +- docs/javadoc/overview-frame.html | 4 +- docs/javadoc/overview-summary.html | 4 +- docs/javadoc/overview-tree.html | 25 +- docs/javadoc/serialized-form.html | 4 +- .../montclairrobotics/alloy/core/Alloy.java | 10 + .../alloy/core/Debugger.java | 21 +- .../alloy/drive/DTInput.java | 32 +- .../alloy/drive/DTMapper.java | 9 +- .../alloy/drive/DriveTrain.java | 21 +- .../Control.java => drive/TankDrive.java} | 15 +- .../alloy/drive/TankMapper.java | 83 ++++ .../alloy/motor/MotorModule.java | 7 +- .../alloy/test/Hardware.java | 63 --- .../{ShooterMapper.java => IntakeMapper.java} | 2 +- .../alloy/test/TestRobot.java | 104 +++-- .../montclairrobotics/alloy/vector/Angle.java | 36 +- 225 files changed, 2999 insertions(+), 848 deletions(-) create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/TankDrive.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/TankMapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/class-use/TankDrive.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/drive/class-use/TankMapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/IntakeMapper.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/class-use/IntakeMapper.html rename src/main/java/org/montclairrobotics/alloy/{test/Control.java => drive/TankDrive.java} (71%) create mode 100644 src/main/java/org/montclairrobotics/alloy/drive/TankMapper.java delete mode 100644 src/main/java/org/montclairrobotics/alloy/test/Hardware.java rename src/main/java/org/montclairrobotics/alloy/test/{ShooterMapper.java => IntakeMapper.java} (96%) diff --git a/build.gradle b/build.gradle index 2a76ba4..265a14a 100644 --- a/build.gradle +++ b/build.gradle @@ -29,6 +29,9 @@ spotless { licenseHeaderFile 'SpotlessLicense' + paddedCell() + + } } diff --git a/docs/javadoc/allclasses-frame.html b/docs/javadoc/allclasses-frame.html index 54102fe..cce8734 100644 --- a/docs/javadoc/allclasses-frame.html +++ b/docs/javadoc/allclasses-frame.html @@ -2,9 +2,9 @@ - + All Classes - + @@ -21,7 +21,6 @@

                                                              All Classes

                                                            • ButtonAction
                                                            • Component
                                                            • ConstantInput
                                                              • -
                                                            • Control
                                                            • Deadzone
                                                            • Debug
                                                            • Debugger
                                                              • @@ -41,10 +40,10 @@

                                                              All Classes

                                                            • FTCMotor
                                                            • FTCTargetMotor
                                                            • GyroCorrection
                                                              • -
                                                            • Hardware
                                                            • Initializeable
                                                            • Input
                                                            • InputComponent
                                                              • +
                                                            • IntakeMapper
                                                            • InvalidConfigurationException
                                                            • Joystick
                                                            • Mapper
                                                              • @@ -56,10 +55,11 @@

                                                              All Classes

                                                            • PID
                                                            • Polar
                                                            • RobotCore
                                                              • -
                                                            • ShooterMapper
                                                            • State
                                                            • StateMachine
                                                            • Step
                                                              • +
                                                            • TankDrive
                                                              • +
                                                            • TankMapper
                                                            • TargetMotor
                                                            • TestRobot
                                                            • Toggleable
                                                              • diff --git a/docs/javadoc/allclasses-noframe.html b/docs/javadoc/allclasses-noframe.html index e3bc4ef..e40b0de 100644 --- a/docs/javadoc/allclasses-noframe.html +++ b/docs/javadoc/allclasses-noframe.html @@ -2,9 +2,9 @@ - +All Classes - + @@ -21,7 +21,6 @@

                                                              All Classes

                                                            • ButtonAction
                                                            • Component
                                                            • ConstantInput
                                                              • -
                                                            • Control
                                                            • Deadzone
                                                            • Debug
                                                            • Debugger
                                                              • @@ -41,10 +40,10 @@

                                                              All Classes

                                                            • FTCMotor
                                                            • FTCTargetMotor
                                                            • GyroCorrection
                                                              • -
                                                            • Hardware
                                                            • Initializeable
                                                            • Input
                                                            • InputComponent
                                                              • +
                                                            • IntakeMapper
                                                            • InvalidConfigurationException
                                                            • Joystick
                                                            • Mapper
                                                              • @@ -56,10 +55,11 @@

                                                              All Classes

                                                            • PID
                                                            • Polar
                                                            • RobotCore
                                                              • -
                                                            • ShooterMapper
                                                            • State
                                                            • StateMachine
                                                            • Step
                                                              • +
                                                            • TankDrive
                                                              • +
                                                            • TankMapper
                                                            • TargetMotor
                                                            • TestRobot
                                                            • Toggleable
                                                              • diff --git a/docs/javadoc/constant-values.html b/docs/javadoc/constant-values.html index ea72bdd..b01d419 100644 --- a/docs/javadoc/constant-values.html +++ b/docs/javadoc/constant-values.html @@ -2,9 +2,9 @@ - +Constant Field Values - + diff --git a/docs/javadoc/deprecated-list.html b/docs/javadoc/deprecated-list.html index 9abe22b..4224e63 100644 --- a/docs/javadoc/deprecated-list.html +++ b/docs/javadoc/deprecated-list.html @@ -2,9 +2,9 @@ - +Deprecated List - + diff --git a/docs/javadoc/help-doc.html b/docs/javadoc/help-doc.html index 26fc7c4..4d11cf1 100644 --- a/docs/javadoc/help-doc.html +++ b/docs/javadoc/help-doc.html @@ -2,9 +2,9 @@ - +API Help - + diff --git a/docs/javadoc/index-files/index-1.html b/docs/javadoc/index-files/index-1.html index 89ec665..2872e2b 100644 --- a/docs/javadoc/index-files/index-1.html +++ b/docs/javadoc/index-files/index-1.html @@ -2,9 +2,9 @@ - +A-Index - + @@ -117,7 +117,7 @@

                                                              A

                                                               
                                                              Angle - Class in org.montclairrobotics.alloy.vector
                                                              -
                                                              Created by MHS Robotics on 11/13/2017.
                                                              +
                                                              A class to keep track of angles
                                                              Angle(Angle.AngleMeasure, double) - Constructor for class org.montclairrobotics.alloy.vector.Angle
                                                              diff --git a/docs/javadoc/index-files/index-10.html b/docs/javadoc/index-files/index-10.html index d1be0e9..8cd70fa 100644 --- a/docs/javadoc/index-files/index-10.html +++ b/docs/javadoc/index-files/index-10.html @@ -2,9 +2,9 @@ - + J-Index - + diff --git a/docs/javadoc/index-files/index-11.html b/docs/javadoc/index-files/index-11.html index 542010c..61ce819 100644 --- a/docs/javadoc/index-files/index-11.html +++ b/docs/javadoc/index-files/index-11.html @@ -2,9 +2,9 @@ - + K-Index - + diff --git a/docs/javadoc/index-files/index-12.html b/docs/javadoc/index-files/index-12.html index 79a9f48..63ee5d2 100644 --- a/docs/javadoc/index-files/index-12.html +++ b/docs/javadoc/index-files/index-12.html @@ -2,9 +2,9 @@ - + L-Index - + diff --git a/docs/javadoc/index-files/index-13.html b/docs/javadoc/index-files/index-13.html index f0889b2..39b5434 100644 --- a/docs/javadoc/index-files/index-13.html +++ b/docs/javadoc/index-files/index-13.html @@ -2,9 +2,9 @@ - + M-Index - + @@ -74,7 +74,7 @@

                                                              M

                                                              -
                                                              map(Input<DTInput>, MotorModule...) - Method in interface org.montclairrobotics.alloy.drive.DTMapper
                                                              +
                                                              map(DTInput, MotorModule...) - Method in class org.montclairrobotics.alloy.drive.TankMapper
                                                               
                                                              map(Input<Double>, MotorModule...) - Method in class org.montclairrobotics.alloy.motor.DefaultMapper
                                                               
                                                              @@ -82,7 +82,7 @@

                                                              M

                                                              map the input to the modules
                                                              -
                                                              map(Vector, MotorModule...) - Method in class org.montclairrobotics.alloy.test.ShooterMapper
                                                              +
                                                              map(Vector, MotorModule...) - Method in class org.montclairrobotics.alloy.test.IntakeMapper
                                                               
                                                              map(double, double, double, double, double) - Static method in class org.montclairrobotics.alloy.utils.Utils
                                                              diff --git a/docs/javadoc/index-files/index-14.html b/docs/javadoc/index-files/index-14.html index 31bb152..8dbdd49 100644 --- a/docs/javadoc/index-files/index-14.html +++ b/docs/javadoc/index-files/index-14.html @@ -2,9 +2,9 @@ - + N-Index - + diff --git a/docs/javadoc/index-files/index-15.html b/docs/javadoc/index-files/index-15.html index 196362a..1a09737 100644 --- a/docs/javadoc/index-files/index-15.html +++ b/docs/javadoc/index-files/index-15.html @@ -2,9 +2,9 @@ - + O-Index - + diff --git a/docs/javadoc/index-files/index-16.html b/docs/javadoc/index-files/index-16.html index 6c28dcc..2ab7d2c 100644 --- a/docs/javadoc/index-files/index-16.html +++ b/docs/javadoc/index-files/index-16.html @@ -2,9 +2,9 @@ - + P-Index - + @@ -82,6 +82,8 @@

                                                              P

                                                              periodic() - Method in class org.montclairrobotics.alloy.test.TestRobot
                                                               
                                                              +
                                                              PI - Static variable in class org.montclairrobotics.alloy.vector.Angle
                                                              +
                                                               
                                                              PID - Class in org.montclairrobotics.alloy.utils
                                                              Created by Montclair robotics on 2/27/2018
                                                              diff --git a/docs/javadoc/index-files/index-17.html b/docs/javadoc/index-files/index-17.html index 3f8a9bd..2a43895 100644 --- a/docs/javadoc/index-files/index-17.html +++ b/docs/javadoc/index-files/index-17.html @@ -2,9 +2,9 @@ - + R-Index - + @@ -101,8 +101,6 @@

                                                              R

                                                              returns a vector rotated by a given angle
                                                              -
                                                              rotation - Variable in class org.montclairrobotics.alloy.drive.DTInput
                                                              -
                                                               
                                                              run() - Method in class org.montclairrobotics.alloy.auto.State
                                                              The run method is called every loop while the state is running
                                                              diff --git a/docs/javadoc/index-files/index-18.html b/docs/javadoc/index-files/index-18.html index 0db9588..89469b6 100644 --- a/docs/javadoc/index-files/index-18.html +++ b/docs/javadoc/index-files/index-18.html @@ -2,9 +2,9 @@ - + S-Index - + @@ -114,6 +114,8 @@

                                                              S

                                                              Set the distance per tick
                                                              +
                                                              setDriveTrain(DriveTrain) - Static method in class org.montclairrobotics.alloy.core.Alloy
                                                              +
                                                               
                                                              setEncoder(Encoder) - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              Set an encoder for the module
                                                              @@ -130,6 +132,8 @@

                                                              S

                                                              A daisy-chainable method that sets the initial input of the input component
                                                              +
                                                              setInput(InputComponent<DTInput>) - Method in class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                               
                                                              setInput(Input) - Method in class org.montclairrobotics.alloy.utils.BangBang
                                                               
                                                              setInput(Input<T>) - Method in interface org.montclairrobotics.alloy.utils.ErrorCorrection
                                                              @@ -164,6 +168,8 @@

                                                              S

                                                              Sets the magnitude of the vector
                                                              +
                                                              setMapper(Mapper) - Method in class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                               
                                                              setMaxSpeed(double) - Method in class org.montclairrobotics.alloy.core.Encoder
                                                              Set the max speed (In Ticks per Second) that the motor can run
                                                              @@ -248,10 +254,6 @@

                                                              S

                                                              Sets the y component of the vector
                                                              -
                                                              ShooterMapper - Class in org.montclairrobotics.alloy.test
                                                              -
                                                               
                                                              -
                                                              ShooterMapper() - Constructor for class org.montclairrobotics.alloy.test.ShooterMapper
                                                              -
                                                               
                                                              sign(double) - Static method in class org.montclairrobotics.alloy.utils.Utils
                                                              Returns the sign of a number
                                                              diff --git a/docs/javadoc/index-files/index-19.html b/docs/javadoc/index-files/index-19.html index 95a7632..8a983dc 100644 --- a/docs/javadoc/index-files/index-19.html +++ b/docs/javadoc/index-files/index-19.html @@ -2,9 +2,9 @@ - + T-Index - + @@ -78,6 +78,18 @@

                                                              T

                                                              get the tangent of the angle
                                                              +
                                                              TankDrive - Class in org.montclairrobotics.alloy.drive
                                                              +
                                                               
                                                              +
                                                              TankDrive(InputComponent<DTInput>, MotorModule...) - Constructor for class org.montclairrobotics.alloy.drive.TankDrive
                                                              +
                                                               
                                                              +
                                                              TankMapper - Class in org.montclairrobotics.alloy.drive
                                                              +
                                                               
                                                              +
                                                              TankMapper() - Constructor for class org.montclairrobotics.alloy.drive.TankMapper
                                                              +
                                                               
                                                              +
                                                              TankMapper(Vector, Angle) - Constructor for class org.montclairrobotics.alloy.drive.TankMapper
                                                              +
                                                               
                                                              +
                                                              TankMapper(double, double) - Constructor for class org.montclairrobotics.alloy.drive.TankMapper
                                                              +
                                                               
                                                              target - Variable in class org.montclairrobotics.alloy.utils.BangBang
                                                               
                                                              target - Variable in class org.montclairrobotics.alloy.utils.Monitor
                                                              @@ -129,14 +141,14 @@

                                                              T

                                                              How far the input can be away from the target while still being true
                                                              -
                                                              translation - Variable in class org.montclairrobotics.alloy.drive.DTInput
                                                              -
                                                               
                                                              TuneablePID - Class in org.montclairrobotics.alloy.utils
                                                              A PID class that takes in tunable inputs to make PID tuning easier
                                                              TuneablePID() - Constructor for class org.montclairrobotics.alloy.utils.TuneablePID
                                                               
                                                              +
                                                              TWO_PI - Static variable in class org.montclairrobotics.alloy.vector.Angle
                                                              +
                                                               
                                                              A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-2.html b/docs/javadoc/index-files/index-2.html index 9babe4b..b876e51 100644 --- a/docs/javadoc/index-files/index-2.html +++ b/docs/javadoc/index-files/index-2.html @@ -2,9 +2,9 @@ - + B-Index - + diff --git a/docs/javadoc/index-files/index-20.html b/docs/javadoc/index-files/index-20.html index ee039bc..9d5c66d 100644 --- a/docs/javadoc/index-files/index-20.html +++ b/docs/javadoc/index-files/index-20.html @@ -2,9 +2,9 @@ - + U-Index - + diff --git a/docs/javadoc/index-files/index-21.html b/docs/javadoc/index-files/index-21.html index bd6e246..0296619 100644 --- a/docs/javadoc/index-files/index-21.html +++ b/docs/javadoc/index-files/index-21.html @@ -2,9 +2,9 @@ - + V-Index - + diff --git a/docs/javadoc/index-files/index-22.html b/docs/javadoc/index-files/index-22.html index 96378d3..cf0dddb 100644 --- a/docs/javadoc/index-files/index-22.html +++ b/docs/javadoc/index-files/index-22.html @@ -2,9 +2,9 @@ - + W-Index - + diff --git a/docs/javadoc/index-files/index-23.html b/docs/javadoc/index-files/index-23.html index 189377e..a385f06 100644 --- a/docs/javadoc/index-files/index-23.html +++ b/docs/javadoc/index-files/index-23.html @@ -2,9 +2,9 @@ - + X-Index - + diff --git a/docs/javadoc/index-files/index-24.html b/docs/javadoc/index-files/index-24.html index 11061f3..406db9f 100644 --- a/docs/javadoc/index-files/index-24.html +++ b/docs/javadoc/index-files/index-24.html @@ -2,9 +2,9 @@ - + Z-Index - + @@ -74,7 +74,7 @@

                                                              Z

                                                              -
                                                              ZERO - Variable in class org.montclairrobotics.alloy.vector.Angle
                                                              +
                                                              ZERO - Static variable in class org.montclairrobotics.alloy.vector.Angle
                                                               
                                                              ZERO - Static variable in interface org.montclairrobotics.alloy.vector.Vector
                                                               
                                                              diff --git a/docs/javadoc/index-files/index-3.html b/docs/javadoc/index-files/index-3.html index 55e58f2..4017ab8 100644 --- a/docs/javadoc/index-files/index-3.html +++ b/docs/javadoc/index-files/index-3.html @@ -2,9 +2,9 @@ - + C-Index - + @@ -100,10 +100,6 @@

                                                              C

                                                              Makes sure that a value is between 2 different values
                                                              -
                                                              Control - Class in org.montclairrobotics.alloy.test
                                                              -
                                                               
                                                              -
                                                              Control() - Constructor for class org.montclairrobotics.alloy.test.Control
                                                              -
                                                               
                                                              controlPower() - Method in class org.montclairrobotics.alloy.motor.MotorGroup
                                                               
                                                              copy() - Method in class org.montclairrobotics.alloy.utils.BangBang
                                                              @@ -130,6 +126,14 @@

                                                              C

                                                              get the cosine of the angle
                                                              +
                                                              createDegrees(double) - Static method in class org.montclairrobotics.alloy.vector.Angle
                                                              +
                                                              +
                                                              Creates a new angle using degrees
                                                              +
                                                              +
                                                              createRadians(double) - Static method in class org.montclairrobotics.alloy.vector.Angle
                                                              +
                                                              +
                                                              Creates a new angle using radians
                                                              +
                                                              cross(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
                                                              Returns the product of two vectors that have been crossed
                                                              diff --git a/docs/javadoc/index-files/index-4.html b/docs/javadoc/index-files/index-4.html index d146ed7..d964ac2 100644 --- a/docs/javadoc/index-files/index-4.html +++ b/docs/javadoc/index-files/index-4.html @@ -2,9 +2,9 @@ - + D-Index - + @@ -198,15 +198,17 @@

                                                              D

                                                              Created by MHS Robotics on 12/16/2017.
                                                              -
                                                              DriveTrain() - Constructor for class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                              DriveTrain(InputComponent<DTInput>, Mapper, MotorModule...) - Constructor for class org.montclairrobotics.alloy.drive.DriveTrain
                                                               
                                                              DTInput - Class in org.montclairrobotics.alloy.drive
                                                              -
                                                               
                                                              +
                                                              +
                                                              An input for a drivetrain that takes a rate of translation, and rotation
                                                              +
                                                              DTInput(Vector, Angle) - Constructor for class org.montclairrobotics.alloy.drive.DTInput
                                                               
                                                              DTMapper - Interface in org.montclairrobotics.alloy.drive
                                                              -
                                                              Created by MHS Robotics on 12/16/2017.
                                                              +
                                                              A mapper that specifically takes in DTInputs
                                                              A B C D E F G H I J K L M N O P R S T U V W X Z  diff --git a/docs/javadoc/index-files/index-5.html b/docs/javadoc/index-files/index-5.html index 47750a2..a33b5bc 100644 --- a/docs/javadoc/index-files/index-5.html +++ b/docs/javadoc/index-files/index-5.html @@ -2,9 +2,9 @@ - + E-Index - + diff --git a/docs/javadoc/index-files/index-6.html b/docs/javadoc/index-files/index-6.html index 165d9f6..a5e563b 100644 --- a/docs/javadoc/index-files/index-6.html +++ b/docs/javadoc/index-files/index-6.html @@ -2,9 +2,9 @@ - + F-Index - + diff --git a/docs/javadoc/index-files/index-7.html b/docs/javadoc/index-files/index-7.html index 4a8bd66..430bebd 100644 --- a/docs/javadoc/index-files/index-7.html +++ b/docs/javadoc/index-files/index-7.html @@ -2,9 +2,9 @@ - + G-Index - + @@ -145,6 +145,8 @@

                                                              G

                                                               
                                                              getDPADUp(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
                                                               
                                                              +
                                                              getDriveTrain() - Static method in class org.montclairrobotics.alloy.core.Alloy
                                                              +
                                                               
                                                              getEncoder() - Method in class org.montclairrobotics.alloy.ftc.FTCMotor
                                                               
                                                              getEncoder() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
                                                              @@ -210,6 +212,8 @@

                                                              G

                                                               
                                                              getNextState(int) - Method in class org.montclairrobotics.alloy.auto.State
                                                               
                                                              +
                                                              getOffset() - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              +
                                                               
                                                              getOutput(T) - Method in interface org.montclairrobotics.alloy.components.Step
                                                              The operation to be performed on the input, to get the output
                                                              @@ -246,6 +250,8 @@

                                                              G

                                                               
                                                              getRightTrigger(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
                                                               
                                                              +
                                                              getRotation() - Method in class org.montclairrobotics.alloy.drive.DTInput
                                                              +
                                                               
                                                              getRunmode() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
                                                              NOTE: this is not the same as the DCMotor runmode
                                                              @@ -278,6 +284,8 @@

                                                              G

                                                               
                                                              getTolerance() - Method in class org.montclairrobotics.alloy.steps.VectorDeadzone
                                                               
                                                              +
                                                              getTranslation() - Method in class org.montclairrobotics.alloy.drive.DTInput
                                                              +
                                                               
                                                              getUpdateRate() - Method in class org.montclairrobotics.alloy.update.Updateable
                                                               
                                                              getValue() - Method in interface org.montclairrobotics.alloy.core.Button
                                                              diff --git a/docs/javadoc/index-files/index-8.html b/docs/javadoc/index-files/index-8.html index 665dbc4..f31bd67 100644 --- a/docs/javadoc/index-files/index-8.html +++ b/docs/javadoc/index-files/index-8.html @@ -2,9 +2,9 @@ - +H-Index - + @@ -74,9 +74,7 @@

                                                              H

                                                              -
                                                              Hardware - Class in org.montclairrobotics.alloy.test
                                                              -
                                                               
                                                              -
                                                              Hardware() - Constructor for class org.montclairrobotics.alloy.test.Hardware
                                                              +
                                                              HALF_PI - Static variable in class org.montclairrobotics.alloy.vector.Angle
                                                               
                                                              hardwareMap - Static variable in class org.montclairrobotics.alloy.core.RobotCore
                                                              diff --git a/docs/javadoc/index-files/index-9.html b/docs/javadoc/index-files/index-9.html index 15a63f7..a00f32f 100644 --- a/docs/javadoc/index-files/index-9.html +++ b/docs/javadoc/index-files/index-9.html @@ -2,9 +2,9 @@ - + I-Index - + @@ -78,8 +78,6 @@

                                                              I

                                                               
                                                              init() - Method in class org.montclairrobotics.alloy.core.Alloy
                                                               
                                                              -
                                                              init() - Method in class org.montclairrobotics.alloy.test.Hardware
                                                              -
                                                               
                                                              init() - Method in class org.montclairrobotics.alloy.utils.Initializeable
                                                              the method that is called at the beginning of the teleop mode
                                                              @@ -124,6 +122,10 @@

                                                              I

                                                              InputComponent() - Constructor for class org.montclairrobotics.alloy.components.InputComponent
                                                               
                                                              +
                                                              IntakeMapper - Class in org.montclairrobotics.alloy.test
                                                              +
                                                               
                                                              +
                                                              IntakeMapper() - Constructor for class org.montclairrobotics.alloy.test.IntakeMapper
                                                              +
                                                               
                                                              InvalidConfigurationException - Exception in org.montclairrobotics.alloy.exceptions
                                                              An exception that is thrown when a robot is improperly setup An invalid configuration can be diff --git a/docs/javadoc/index.html b/docs/javadoc/index.html index 7a2725e..aa36676 100644 --- a/docs/javadoc/index.html +++ b/docs/javadoc/index.html @@ -2,7 +2,7 @@ - + Generated Documentation (Untitled) diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/State.html b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html index 366cb76..9ad288d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/State.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html @@ -2,9 +2,9 @@ - + State - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html index f7006a7..3edda90 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html @@ -2,9 +2,9 @@ - + StateMachine - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html index 360d199..2540a5b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/AlloyAutonomous.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.auto.AlloyAutonomous - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html index 44d02e0..fdd8c89 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/State.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.auto.State - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html index 1d2a124..8cea172 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/class-use/StateMachine.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.auto.StateMachine - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html index 2a8f702..f0ad3f9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html index c76afb4..d2032ed 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html index 92828d2..1941cd3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html index 80d4a5d..e7782a9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.auto - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/Component.html b/docs/javadoc/org/montclairrobotics/alloy/components/Component.html index 137c3cf..803cf15 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/Component.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/Component.html @@ -2,9 +2,9 @@ - + Component - + @@ -114,7 +114,7 @@

                                                              Class Component

                                                            • Direct Known Subclasses:
                                                              -
                                                              FTCMotor, InputComponent, MotorGroup, MotorModule
                                                              +
                                                              FTCMotor, InputComponent, MotorGroup, MotorModule, TankMapper

                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html b/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html index ffadf73..558eba9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html @@ -2,9 +2,9 @@ - + InputComponent - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/Step.html b/docs/javadoc/org/montclairrobotics/alloy/components/Step.html index 1acd1b0..d22af67 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/Step.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/Step.html @@ -2,9 +2,9 @@ - + Step - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Component.html b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Component.html index 2c8bc1f..f081ee1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Component.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Component.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.components.Component - + @@ -194,6 +194,20 @@

                                                              Uses of class 

                                                              • + + + + + + + + + + + +
                                                              Classes in org.montclairrobotics.alloy.vector used by org.montclairrobotics.alloy.motor.steps Classes in org.montclairrobotics.alloy.vector used by org.montclairrobotics.alloy.steps 
                                                              Class and Description
                                                              Vector +Vector
                                                              Created by MHS Robotics on 11/14/2017.
                                                               
                                                              org.montclairrobotics.alloy.ftcorg.montclairrobotics.alloy.exceptions  
                                                              org.montclairrobotics.alloy.motororg.montclairrobotics.alloy.ftc  
                                                              org.montclairrobotics.alloy.motor.stepsorg.montclairrobotics.alloy.motor  
                                                              org.montclairrobotics.alloy.testorg.montclairrobotics.alloy.steps  
                                                              org.montclairrobotics.alloy.updateorg.montclairrobotics.alloy.test  
                                                              org.montclairrobotics.alloy.utilsorg.montclairrobotics.alloy.update  
                                                              org.montclairrobotics.alloy.utils 
                                                              org.montclairrobotics.alloy.vector  
                                                              DriveModule 
                                                              class DriveTrain +
                                                              Created by MHS Robotics on 12/16/2017.
                                                              +
                                                              class TankDrive 
                                                              class TankMapper 
                                                              • diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/InputComponent.html b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/InputComponent.html index b4fe84c..c49a907 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/InputComponent.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/InputComponent.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.components.InputComponent - + @@ -91,14 +91,18 @@

                                                                -org.montclairrobotics.alloy.ftc +org.montclairrobotics.alloy.drive   -org.montclairrobotics.alloy.motor +org.montclairrobotics.alloy.ftc   +org.montclairrobotics.alloy.motor +  + + org.montclairrobotics.alloy.utils   @@ -153,6 +157,41 @@

                                                              Uses of + + +

                                                              Uses of InputComponent in org.montclairrobotics.alloy.drive

                                                              + + + + + + + + + + + + +
                                                              Methods in org.montclairrobotics.alloy.drive with parameters of type InputComponent 
                                                              Modifier and TypeMethod and Description
                                                              DriveTrainDriveTrain.setInput(InputComponent<DTInput> input) 
                                                              + + + + + + + + + + + + + +
                                                              Constructors in org.montclairrobotics.alloy.drive with parameters of type InputComponent 
                                                              Constructor and Description
                                                              DriveTrain(InputComponent<DTInput> input, + Mapper mapper, + MotorModule... modules) 
                                                              TankDrive(InputComponent<DTInput> input, + MotorModule... modules) 
                                                              +
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Step.html b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Step.html index 5ab3cb4..6f4a506 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Step.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/class-use/Step.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.components.Step - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html index c997b3f..a7cb683 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.components - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html index 308327a..ff7db49 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.components - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html index 4bb6741..fc500d3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.components Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-use.html index 657418c..da4b1a2 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.components - + @@ -176,6 +176,11 @@

                                                              The main component class that all components of alloy should extend + +InputComponent +
                                                              An input component is an extension of a regular component, used for input and control systems
                                                              + +

                                                              • diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html b/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html index 337899f..305dba9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html @@ -2,9 +2,9 @@ - + ButtonAction - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html b/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html index 8606ea2..4e23560 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html @@ -2,9 +2,9 @@ - + ToggleButton - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html index 979d554..008bef3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ButtonAction.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.control.ButtonAction - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html index ee1e78c..3e8b91e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/class-use/ToggleButton.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.control.ToggleButton - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html index 7801eca..c6077f9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html index 7cd8d05..428828a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html index b62a171..db55626 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html index 6363b79..9bee91d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.control - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html index 595f834..2daf676 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html @@ -2,9 +2,9 @@ - + Alloy - + @@ -18,8 +18,8 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":6,"i2":10,"i3":6,"i4":6}; -var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]}; +var methods = {"i0":9,"i1":10,"i2":6,"i3":10,"i4":6,"i5":6,"i6":9}; +var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; var tableTab = "tableTab"; @@ -192,26 +192,30 @@

                                                              Constructor Summary

                                                              Method Summary

                                                              - + + + + + - + - + - + - + + + + +
                                                              All Methods Instance Methods Abstract Methods Concrete Methods All Methods Static Methods Instance Methods Abstract Methods Concrete Methods 
                                                              Modifier and Type Method and Description
                                                              static DriveTraingetDriveTrain() 
                                                              void init() 
                                                              abstract void initialization()
                                                              The initialization method is were everything specific to the OpMode Should be set up.
                                                              void loop() 
                                                              abstract void periodic()
                                                              Although most of the periodic actions are taken care by the updater, the user may want to add @@ -219,13 +223,17 @@

                                                              Method Summary

                                                              the periodic() method periodic will be run every loop.
                                                              abstract void robotSetup()
                                                              The robotSetup is where all code specific to robot setup is placed If you only have one teleop this can be done in the initialization Method.
                                                              static voidsetDriveTrain(DriveTrain driveTrain) 
                                                              • @@ -340,7 +348,7 @@

                                                                init

                                                                 -
                                                                  +

                                                                  • loop

                                                                    public void loop()
                                                                    @@ -350,6 +358,24 @@

                                                                    loop

                                                                  + + + +
                                                                    +
                                                                  • +

                                                                    setDriveTrain

                                                                    +
                                                                    public static void setDriveTrain(DriveTrain driveTrain)
                                                                    +
                                                                    • +
                                                                  + + + +
                                                                    +
                                                                  • +

                                                                    getDriveTrain

                                                                    +
                                                                    public static DriveTrain getDriveTrain()
                                                                    +
                                                                    • +
                                                                • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Button.html b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html index 3737589..63b1aa8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Button.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html @@ -2,9 +2,9 @@ - + Button - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html index e0ff567..e4f7993 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html @@ -2,9 +2,9 @@ - + Debug - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html index 554f54c..868ffcc 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html @@ -2,9 +2,9 @@ - + Debugger.Level - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html index ee16d8e..dfbf909 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html @@ -2,9 +2,9 @@ - + Debugger - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html b/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html index c223bdd..500639a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html @@ -2,9 +2,9 @@ - + Encoder - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html b/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html index dc79438..5c845e7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html @@ -2,9 +2,9 @@ - + Joystick - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html b/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html index 6daea89..da1e20c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html @@ -2,9 +2,9 @@ - + Mode - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html b/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html index 3fc9782..e9b78af 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html @@ -2,9 +2,9 @@ - + Motor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html b/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html index 9a90c27..1f40330 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html @@ -2,9 +2,9 @@ - + RobotCore - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html index 826d9d9..3752544 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html @@ -2,9 +2,9 @@ - + TargetMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html index 889f373..1ee998d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Alloy.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Alloy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html index 193d462..0e331ff 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Button.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.Button - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html index 3f10738..3025dc4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debug.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Debug - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.Level.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.Level.html index 97c866a..fdc896f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.Level.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.Level.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Debugger.Level - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.html index 386bb96..a137347 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Debugger.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Debugger - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Encoder.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Encoder.html index e509e86..74a2855 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Encoder.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Encoder.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Encoder - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html index d9b70a2..f1016f7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Joystick.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.Joystick - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html index 5c4bebd..e2da51b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Mode.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.Mode - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html index d1cb90e..6354865 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/Motor.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.Motor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html index ea444ea..a9fd49a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/RobotCore.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.core.RobotCore - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html index 0c69d30..542e391 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/class-use/TargetMotor.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.core.TargetMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html index 4564c8d..fe24053 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html index f2a2ead..feb2dd8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html index 750ca27..08c77d5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html index 1b48a74..db073ec 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.core - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html index 36ca3ab..48dd388 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html @@ -2,9 +2,9 @@ - + DTInput - + @@ -18,6 +18,12 @@ catch(err) { } //--> +var methods = {"i0":10,"i1":10}; +var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; +var altColor = "altColor"; +var rowColor = "rowColor"; +var tableTab = "tableTab"; +var activeTableTab = "activeTableTab";
                                                              -
                                                              - -
                                                              @@ -198,7 +162,7 @@

                                                              map

                                                              • Frames
                                                                • @@ -225,13 +189,13 @@

                                                                map

                                                              • Nested | 
                                                              • Field | 
                                                              • Constr | 
                                                                • -
                                                              • Method
                                                                • +
                                                              • Method
                                                              • Detail: 
                                                              • Field | 
                                                              • Constr | 
                                                                • -
                                                              • Method
                                                                • +
                                                              • Method
                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html index 0e64b39..6d25538 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html @@ -2,9 +2,9 @@ - + DriveModule - + @@ -203,7 +203,7 @@

                                                              Method Summary

                                                              Methods inherited from class org.montclairrobotics.alloy.motor.MotorModule

                                                              -addStep, disableAction, getDirection, getEncoder, getModifier, getMotors, getPowerControl, getTargetPower, powerCorrection, setEncoder, setErrorCorrection, setPower, setPowerModifier +addStep, disableAction, getDirection, getEncoder, getModifier, getMotors, getOffset, getPowerControl, getTargetPower, powerCorrection, setEncoder, setErrorCorrection, setPower, setPowerModifier
                                                            • +
                                                              +
                                                              Direct Known Subclasses:
                                                              +
                                                              TankDrive
                                                              +

                                                              public class DriveTrain
-extends java.lang.Object
                                                              +extends MotorGroup<DTInput>
                                                              Created by MHS Robotics on 12/16/2017.
                                                              Since:
                                                              @@ -118,6 +143,50 @@

                                                              Class DriveTrain

                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html index 1d6cc84..9aeb4fa 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive - + @@ -85,7 +85,7 @@

                                                              Package org.montclairrobotics.alloy.drive DTMapper -
                                                              Created by MHS Robotics on 12/16/2017.
                                                              +
                                                              A mapper that specifically takes in DTInputs
                                                              @@ -111,6 +111,16 @@

                                                              Package org.montclairrobotics.alloy.drive DTInput + +
                                                              An input for a drivetrain that takes a rate of translation, and rotation
                                                              + + + +TankDrive +  + + +TankMapper   diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html index 793dc77..0fa67b8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive Class Hierarchy - + @@ -81,17 +81,26 @@

                                                              Class Hierarchy

                                                              • java.lang.Object
                                                                  -
                                                                • org.montclairrobotics.alloy.drive.DriveTrain
                                                                • org.montclairrobotics.alloy.drive.DTInput
                                                                • org.montclairrobotics.alloy.utils.Toggleable
                                                                  • org.montclairrobotics.alloy.components.Component
                                                                      +
                                                                    • org.montclairrobotics.alloy.motor.MotorGroup<T> +
                                                                        +
                                                                      • org.montclairrobotics.alloy.drive.DriveTrain +
                                                                          +
                                                                        • org.montclairrobotics.alloy.drive.TankDrive
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                    • org.montclairrobotics.alloy.motor.MotorModule
                                                                      • +
                                                                    • org.montclairrobotics.alloy.drive.TankMapper (implements org.montclairrobotics.alloy.drive.DTMapper)
                                                                  diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html index f37b1c5..b5d6bfb 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.drive - + @@ -83,12 +83,33 @@

                                                                  Uses +org.montclairrobotics.alloy.core +  + + org.montclairrobotics.alloy.drive  

                                                                  • +
                                                                • + + + + + + + + + + + + +
                                                                  Classes in org.montclairrobotics.alloy.drive used by org.montclairrobotics.alloy.core 
                                                                  Class and Description
                                                                  DriveTrain +
                                                                  Created by MHS Robotics on 12/16/2017.
                                                                  +
                                                                  +
                                                                • @@ -99,7 +120,19 @@

                                                                  Uses -DTInput  +DriveTrain +
                                                                  Created by MHS Robotics on 12/16/2017.
                                                                  + + + +DTInput +
                                                                  An input for a drivetrain that takes a rate of translation, and rotation
                                                                  + + + +DTMapper +
                                                                  A mapper that specifically takes in DTInputs
                                                                  + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html index 935b631..7ef0a0d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html @@ -2,9 +2,9 @@ - + InvalidConfigurationException - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html index 5ba61f5..2d0b500 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html @@ -2,9 +2,9 @@ - + UpdateException - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/InvalidConfigurationException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/InvalidConfigurationException.html index 5804fc4..8eed16d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/InvalidConfigurationException.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/InvalidConfigurationException.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.exceptions.InvalidConfigurationException - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/UpdateException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/UpdateException.html index 6dc4fae..cbb4a0a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/UpdateException.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/class-use/UpdateException.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.exceptions.UpdateException - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html index cacee94..72cb7be 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.exceptions - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html index d35428e..c03cbe9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.exceptions - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html index 22def1f..387b419 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.exceptions Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-use.html index bdfef43..19cf78f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.exceptions - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html index 033f205..ab082c5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html @@ -2,9 +2,9 @@ - + FTCButton - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html index 8027577..c4c699c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html @@ -2,9 +2,9 @@ - + FTCDebugger - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html index 33af962..f169df7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html @@ -2,9 +2,9 @@ - + FTCJoystick.Side - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html index e1b48aa..a9048e3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html @@ -2,9 +2,9 @@ - + FTCJoystick - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html index fd40529..4840d26 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html @@ -2,9 +2,9 @@ - + FTCMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html index ff4465e..5d9d3ae 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html @@ -2,9 +2,9 @@ - + FTCTargetMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html index f2d64fb..2343794 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCButton.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCButton - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html index 7b5f956..240aba8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCDebugger.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCDebugger - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html index 80e14ef..07efe56 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.Side.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCJoystick.Side - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html index 783afda..ca4b6ae 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCJoystick.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCJoystick - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html index 8768463..f992232 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCMotor.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html index c14eba1..ad36807 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/class-use/FTCTargetMotor.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.ftc.FTCTargetMotor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html index c8116b3..1980c5e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html index 365213d..c4b77c0 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html index 8ff3f45..16de8e2 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html index a44cef4..6643781 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.ftc - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html index b7a0836..93e76af 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html @@ -2,9 +2,9 @@ - + DefaultMapper - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html index 3b236ab..fe2a84b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html @@ -2,9 +2,9 @@ - + Mapper - + @@ -109,7 +109,7 @@

                                                                  Interface Mapper<T>

                                                              All Known Implementing Classes:
                                                              -
                                                              DefaultMapper, ShooterMapper
                                                              +
                                                              DefaultMapper, IntakeMapper, TankMapper

                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html index 399f490..b0417c7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html @@ -2,9 +2,9 @@ - + MotorGroup - + @@ -117,6 +117,10 @@

                                                              Class MotorGroup<T>

                                                              • +
                                                                +
                                                                Direct Known Subclasses:
                                                                +
                                                                DriveTrain
                                                                +

                                                                public class MotorGroup<T>
diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html
index 0a5417a..8920508 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorModule.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 MotorModule
-
+
 
 
 
@@ -18,7 +18,7 @@
     catch(err) {
     }
 //-->
-var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10};
+var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10};
 var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -300,36 +300,40 @@ 
                                                                Method Summary
                                                                
 getMotors() 
 
 
+Vector
+getOffset() 
+
+
 ErrorCorrection<java.lang.Double>
 getPowerControl() 
 
-
+
 double
 getTargetPower() 
 
-
+
 void
 powerCorrection() 
 
-
+
 MotorModule
 setEncoder(Encoder encoder)
 
                                                                Set an encoder for the module
                                                                
 
 
-
+
 MotorModule
 setErrorCorrection(ErrorCorrection powerControl)
 
                                                                set the power control for the module
                                                                
 
 
-
+
 void
 setPower(double power)
 
                                                                Set the target power of the module
                                                                
 
 
-
+
 MotorModule
 setPowerModifier(InputComponent<java.lang.Double> modifier) 
 
@@ -647,7 +651,7 @@ 
                                                                getTargetPower
                                                                
 
 
 
-
                                                                  
+
                                                                    
 
                                                                  • 
 
                                                                    getModifier
                                                                    
 
                                                                    public InputComponent<java.lang.Double> getModifier()
                                                                    
@@ -657,6 +661,19 @@ 
                                                                    getModifier
                                                                    
 
 
                                                                    • 
 
                                                                  
+
+
+
+
                                                                    
+
                                                                  • 
+
                                                                    getOffset
                                                                    
+
                                                                    public Vector getOffset()
                                                                    
+
                                                                    
+
                                                                    Returns:
                                                                    
+
                                                                    the relative position to the center of the motor group
                                                                    
+
                                                                    
+
                                                                    • 
+
                                                                • diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html index 014754f..37f0ec1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/DefaultMapper.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.motor.DefaultMapper - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html index c109c14..db61425 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/Mapper.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.motor.Mapper - + @@ -113,11 +113,50 @@

                                                                Uses of interface  DTMapper -
                                                                Created by MHS Robotics on 12/16/2017.
                                                                +
                                                                A mapper that specifically takes in DTInputs
                                                                + + + + + + + + + + + + +
                                                                Classes in org.montclairrobotics.alloy.drive that implement Mapper 
                                                                Modifier and TypeClass and Description
                                                                class TankMapper 
                                                                + + + + + + + + + + + + +
                                                                Methods in org.montclairrobotics.alloy.drive with parameters of type Mapper 
                                                                Modifier and TypeMethod and Description
                                                                DriveTrainDriveTrain.setMapper(Mapper mapper) 
                                                                + + + + + + + + + + +
                                                                Constructors in org.montclairrobotics.alloy.drive with parameters of type Mapper 
                                                                Constructor and Description
                                                                DriveTrain(InputComponent<DTInput> input, + Mapper mapper, + MotorModule... modules) 
                                                              • @@ -180,7 +219,7 @@

                                                                Uses of class  -ShooterMapper  +IntakeMapper  diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html index 1e3245a..459c0dc 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorGroup.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.motor.MotorGroup - + @@ -72,7 +72,53 @@

                                                                Uses of Class
                                                                org.montclairrobotics.alloy.motor.MotorGroup

                                                                -
                                                                No usage of org.montclairrobotics.alloy.motor.MotorGroup
                                                                +
                                                                + +
                                                                diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html index 24fa164..fbf9e15 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/class-use/MotorModule.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.motor.MotorModule - + @@ -125,11 +125,28 @@

                                                                Uses of void -DTMapper.map(Input<DTInput> input, +TankMapper.map(DTInput input, MotorModule... modules)  + + + + + + + + + + + + + +
                                                                Constructors in org.montclairrobotics.alloy.drive with parameters of type MotorModule 
                                                                Constructor and Description
                                                                DriveTrain(InputComponent<DTInput> input, + Mapper mapper, + MotorModule... modules) 
                                                                TankDrive(InputComponent<DTInput> input, + MotorModule... modules) 

                                                              • @@ -233,7 +250,7 @@

                                                                Uses of void -ShooterMapper.map(Vector input, +IntakeMapper.map(Vector input, MotorModule... modules)  diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html index d2eab8c..8578c47 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.motor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html index 3e06c0d..dfd8c97 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.motor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html index c3a94e0..7978955 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.motor Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html index 75ff2b8..e07fa4b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.motor - + @@ -112,6 +112,11 @@

                                                                Uses +MotorGroup +
                                                                A motor group is a group of motor modules that run together
                                                                + + + MotorModule
                                                                Highly Functional set of motors that run together
                                                                diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html index 7d616f6..6f575c4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html @@ -2,9 +2,9 @@ - + Deadzone - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html index 69239ac..7ee45b4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html @@ -2,9 +2,9 @@ - + VectorDeadzone - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/Deadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/Deadzone.html index 9cc1a7f..780a8bb 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/Deadzone.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/Deadzone.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.steps.Deadzone - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/VectorDeadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/VectorDeadzone.html index 0dd1a0c..333f5bf 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/VectorDeadzone.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/class-use/VectorDeadzone.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.steps.VectorDeadzone - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html index 41bd045..610dd72 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.steps - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html index 80dbb1d..7cf54b3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.steps - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html index 7a81ad4..3e0a0e3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.steps Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-use.html index ef997b5..bca6a68 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.steps - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/IntakeMapper.html b/docs/javadoc/org/montclairrobotics/alloy/test/IntakeMapper.html new file mode 100644 index 0000000..bc71f77 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/IntakeMapper.html @@ -0,0 +1,286 @@ + + + + + +IntakeMapper + + + + + + + + +
                                                                + + +
                                                                Skip navigation links
                                                                + + + + +
                                                                +
                                                                + + + +
                                                                + +
                                                                +
                                                                +
                                                                  +
                                                                • Summary: 
                                                                  • +
                                                                • Nested | 
                                                                  • +
                                                                • Field | 
                                                                  • +
                                                                • Constr | 
                                                                  • +
                                                                • Method
                                                                  • +
                                                                + +
                                                                + + +
                                                                + + +
                                                                +
                                                                org.montclairrobotics.alloy.test
                                                                +

                                                                Class IntakeMapper

                                                                +
                                                                +
                                                                +
                                                                  +
                                                                • java.lang.Object
                                                                  • +
                                                                • +
                                                                    +
                                                                  • org.montclairrobotics.alloy.test.IntakeMapper
                                                                    • +
                                                                  +
                                                                  • +
                                                                +
                                                                +
                                                                  +
                                                                • +
                                                                  +
                                                                  All Implemented Interfaces:
                                                                  +
                                                                  Mapper<Vector>
                                                                  +
                                                                  +
                                                                  +
                                                                  +
                                                                  public class IntakeMapper
+extends java.lang.Object
+implements Mapper<Vector>
                                                                  +
                                                                  • +
                                                                +
                                                                +
                                                                +
                                                                  +
                                                                • + +
                                                                    +
                                                                  • + + +

                                                                    Constructor Summary

                                                                    + + + + + + + + +
                                                                    Constructors 
                                                                    Constructor and Description
                                                                    IntakeMapper() 
                                                                    +
                                                                    • +
                                                                  + +
                                                                    +
                                                                  • + + +

                                                                    Method Summary

                                                                    + + + + + + + + + + +
                                                                    All Methods Instance Methods Concrete Methods 
                                                                    Modifier and TypeMethod and Description
                                                                    voidmap(Vector input, + MotorModule... modules) +
                                                                    map the input to the modules
                                                                    +
                                                                    +
                                                                      +
                                                                    • + + +

                                                                      Methods inherited from class java.lang.Object

                                                                      +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                                                      • +
                                                                    +
                                                                    • +
                                                                  +
                                                                  • +
                                                                +
                                                                +
                                                                +
                                                                  +
                                                                • + +
                                                                    +
                                                                  • + + +

                                                                    Constructor Detail

                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      IntakeMapper

                                                                      +
                                                                      public IntakeMapper()
                                                                      +
                                                                      • +
                                                                    +
                                                                    • +
                                                                  + +
                                                                    +
                                                                  • + + +

                                                                    Method Detail

                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      map

                                                                      +
                                                                      public void map(Vector input,
+                MotorModule... modules)
                                                                      +
                                                                      Description copied from interface: Mapper
                                                                      +
                                                                      map the input to the modules
                                                                      +
                                                                      +
                                                                      Specified by:
                                                                      +
                                                                      map in interface Mapper<Vector>
                                                                      +
                                                                      +
                                                                      • +
                                                                    +
                                                                    • +
                                                                  +
                                                                  • +
                                                                +
                                                                +
                                                                + + +
                                                                + + +
                                                                Skip navigation links
                                                                + + + + +
                                                                +
                                                                + + + +
                                                                + +
                                                                +
                                                                +
                                                                  +
                                                                • Summary: 
                                                                  • +
                                                                • Nested | 
                                                                  • +
                                                                • Field | 
                                                                  • +
                                                                • Constr | 
                                                                  • +
                                                                • Method
                                                                  • +
                                                                + +
                                                                + + +
                                                                + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html b/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html index af2684e..6d1913d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/ShooterMapper.html @@ -100,7 +100,7 @@

                                                                Class ShooterMapper

                                                              • java.lang.Object
                                                                • -
                                                                • org.montclairrobotics.alloy.test.ShooterMapper
                                                                  • +
                                                                • org.montclairrobotics.alloy.test.IntakeMapper

                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html index 800ccaa..b71598c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html @@ -2,9 +2,9 @@ - + TestRobot - + @@ -49,7 +49,7 @@
                                                                diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/IntakeMapper.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/IntakeMapper.html new file mode 100644 index 0000000..9f8710d --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/IntakeMapper.html @@ -0,0 +1,124 @@ + + + + + +Uses of Class org.montclairrobotics.alloy.test.IntakeMapper + + + + + + + + +
                                                                + + +
                                                                Skip navigation links
                                                                + + + + +
                                                                +
                                                                +
                                                                  +
                                                                • Prev
                                                                  • +
                                                                • Next
                                                                  • +
                                                                + + +
                                                                + +
                                                                + + +
                                                                + +
                                                                +

                                                                Uses of Class
                                                                org.montclairrobotics.alloy.test.IntakeMapper

                                                                +
                                                                +
                                                                No usage of org.montclairrobotics.alloy.test.IntakeMapper
                                                                + +
                                                                + + +
                                                                Skip navigation links
                                                                + + + + +
                                                                +
                                                                +
                                                                  +
                                                                • Prev
                                                                  • +
                                                                • Next
                                                                  • +
                                                                + + +
                                                                + +
                                                                + + +
                                                                + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html index 1ed8263..dd742f8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/class-use/ShooterMapper.html @@ -3,7 +3,7 @@ -Uses of Class org.montclairrobotics.alloy.test.ShooterMapper +Uses of Class org.montclairrobotics.alloy.test.IntakeMapper @@ -12,7 +12,7 @@ diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html index ffac679..90c0544 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test - + @@ -13,9 +13,7 @@

                                                                Classes

                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html index 3da399e..85957e3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test - + @@ -83,15 +83,7 @@

                                                              Package org.montclairrobotics.alloy.test< -Control -  - - -Hardware -  - - -ShooterMapper +IntakeMapper   diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html index f44d621..06572b8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test Class Hierarchy - + @@ -81,12 +81,7 @@

                                                              Class Hierarchy

                                                              • java.lang.Object
                                                                  -
                                                                • org.montclairrobotics.alloy.test.Control
                                                                  • -
                                                                • org.montclairrobotics.alloy.utils.Initializeable -
                                                                    -
                                                                  • org.montclairrobotics.alloy.test.Hardware
                                                                    • -
                                                                  -
                                                                  • +
                                                                • org.montclairrobotics.alloy.test.IntakeMapper (implements org.montclairrobotics.alloy.motor.Mapper<T>)
                                                                • com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                                  • org.montclairrobotics.alloy.core.Alloy @@ -96,7 +91,6 @@

                                                                    Class Hierarchy

                                                                  • -
                                                                • org.montclairrobotics.alloy.test.ShooterMapper (implements org.montclairrobotics.alloy.motor.Mapper<T>)
                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html index 6ccbb8d..bb8ed72 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.test - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Update.html b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html index 370df59..16b0273 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Update.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html @@ -2,9 +2,9 @@ - + Update - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html index 262fbe0..12130cb 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html @@ -2,9 +2,9 @@ - + Updateable - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html index 5c6a5cc..b66c765 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html @@ -2,9 +2,9 @@ - + Updater - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html index aa0658f..e86a554 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Update.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.update.Update - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html index 208c783..28076aa 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updateable.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.update.Updateable - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html index 3c87df7..5fbda3a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/class-use/Updater.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.update.Updater - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html index 7ca56da..6c8cc90 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html index e653f23..7cfaedc 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html index 0d9da9c..88b2f9b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html index 0677112..6532823 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.update - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html b/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html index 66dc57d..7d8ea50 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html @@ -2,9 +2,9 @@ - + BangBang - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html b/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html index 8fce3ed..fd1303e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html @@ -2,9 +2,9 @@ - + BooleanToggle - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html b/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html index 2ad3528..472b194 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html @@ -2,9 +2,9 @@ - + ConstantInput - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html index 5eeeb34..4087393 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html @@ -2,9 +2,9 @@ - + Differential - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html index 6f88b09..42addc3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html @@ -2,9 +2,9 @@ - + ErrorCorrection - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/GyroCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/GyroCorrection.html index befb05a..41b1d9f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/GyroCorrection.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/GyroCorrection.html @@ -2,9 +2,9 @@ - + GyroCorrection - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html index d7376ee..4e86f42 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html @@ -2,9 +2,9 @@ - + Initializeable - + @@ -107,10 +107,6 @@

                                                              Class Initializeable

                                                              • -
                                                                -
                                                                Direct Known Subclasses:
                                                                -
                                                                Hardware
                                                                -

                                                                public abstract class Initializeable
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html
index 3de32bd..c90a768 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Input
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html
index c832cc5..6882eb1 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Monitor
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html
index 8f6ca93..c6ded51 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 PID
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html
index 9a46d9f..77e7993 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Toggleable.Status
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html
index f70014f..5c1b88a 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Toggleable
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html
index 95eaa46..24312fa 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 TuneablePID
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html
index a4bf589..37fa421 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Utils
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html
index 43f1076..96d1001 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BangBang.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Uses of Class org.montclairrobotics.alloy.utils.BangBang
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html
index a998b5f..3c8e172 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/BooleanToggle.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Uses of Class org.montclairrobotics.alloy.utils.BooleanToggle
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html
index 395b12e..99309bc 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ConstantInput.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Uses of Class org.montclairrobotics.alloy.utils.ConstantInput
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html
index e15375f..0760c58 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Differential.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Uses of Class org.montclairrobotics.alloy.utils.Differential
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html
index 5b1d3cf..3029ed8 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/ErrorCorrection.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Uses of Interface org.montclairrobotics.alloy.utils.ErrorCorrection
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/GyroCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/GyroCorrection.html
index a6c336c..e0d8dd3 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/GyroCorrection.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/GyroCorrection.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Uses of Class org.montclairrobotics.alloy.utils.GyroCorrection
-
+
 
 
 
diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html
index decf722..ed9ed1a 100644
--- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html
+++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Initializeable.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 Uses of Class org.montclairrobotics.alloy.utils.Initializeable
-
+
 
 
 
@@ -86,10 +86,6 @@ 
                                                                org.montclairrobotics.alloy.core
  
 
-
-org.montclairrobotics.alloy.test
- 
-
                                                                • @@ -113,24 +109,6 @@

                                                                Uses of - - -

                                                                Uses of Initializeable in org.montclairrobotics.alloy.test

                                                                - - - - - - - - - - - - -
                                                                Subclasses of Initializeable in org.montclairrobotics.alloy.test 
                                                                Modifier and TypeClass and Description
                                                                class Hardware 
                                                                -
                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html index 031414e..4bab8c8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Input.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.utils.Input - + @@ -91,18 +91,14 @@

                                                              -org.montclairrobotics.alloy.drive -  - - org.montclairrobotics.alloy.ftc   - + org.montclairrobotics.alloy.motor   - + org.montclairrobotics.alloy.utils   @@ -210,25 +206,6 @@

                                                            Uses of - - -

                                                            Uses of Input in org.montclairrobotics.alloy.drive

                                                            - - - - - - - - - - - - -
                                                            Methods in org.montclairrobotics.alloy.drive with parameters of type Input 
                                                            Modifier and TypeMethod and Description
                                                            voidDTMapper.map(Input<DTInput> input, - MotorModule... modules) 
                                                            -
                                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html index 1fcc430..afbd24d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Monitor.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Monitor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html index f209880..b79acf8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/PID.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.PID - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html index 2c0b3a6..357c0ef 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.Status.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Toggleable.Status - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html index cda7048..0a444d8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Toggleable.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Toggleable - + @@ -197,6 +197,20 @@

                                                            Uses of class  DriveModule  + +class  +DriveTrain +
                                                            Created by MHS Robotics on 12/16/2017.
                                                            + + + +class  +TankDrive  + + +class  +TankMapper  +

                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html index fb63f1d..f166815 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/TuneablePID.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.TuneablePID - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html index e1ca453..4231d51 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/class-use/Utils.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.utils.Utils - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html index 99d6b5e..f2306d4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html index e5471bd..b0a82a9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html index c1268f1..9d06007 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html index fe7465d..35d666b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.utils - + @@ -111,10 +111,6 @@

                                                            Uses   -org.montclairrobotics.alloy.test -  - - org.montclairrobotics.alloy.utils   @@ -207,11 +203,6 @@

                                                            Uses -Input -
                                                            A dynamically stored input
                                                            - - - Toggleable
                                                            Created by MHS Robotics on 2/11/2018.
                                                            @@ -290,23 +281,6 @@

                                                            Uses -
                                                          • - - - - - - - - - - - - -
                                                            Classes in org.montclairrobotics.alloy.utils used by org.montclairrobotics.alloy.test 
                                                            Class and Description
                                                            Initializeable -
                                                            An object that gets initialized once at the beginning of the teleop mode
                                                            -
                                                            -
                                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html index e128ced..9377a96 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html @@ -2,9 +2,9 @@ - + Angle - + @@ -18,8 +18,8 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10}; -var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; +var methods = {"i0":10,"i1":9,"i2":9,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10}; +var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; var tableTab = "tableTab"; @@ -111,7 +111,7 @@

                                                            Class Angle


                                                            public class Angle
 extends java.lang.Object
                                                            -
                                                            Created by MHS Robotics on 11/13/2017. +
                                                            A class to keep track of angles

                                                            The angle class allows for easy management of angles as well as easy conversion between degree and radian angle measure The class keeps track of the angle in degrees but can easily be @@ -143,7 +143,19 @@

                                                            Field Summary

                                                            Field and Description -Angle +static Angle +HALF_PI  + + +static Angle +PI  + + +static Angle +TWO_PI  + + +static Angle ZERO  @@ -181,7 +193,7 @@

                                                            Constructor Summary

                                                            Method Summary

                                                            - + @@ -193,36 +205,48 @@

                                                            Method Summary

                                                            + + + + + + + + - + - + - + - + - + + + +
                                                            All Methods Instance Methods Concrete Methods All Methods Static Methods Instance Methods Concrete Methods 
                                                            Modifier and Type Method and Description
                                                            static AnglecreateDegrees(double degrees) +
                                                            Creates a new angle using degrees
                                                            +
                                                            static AnglecreateRadians(double radians) +
                                                            Creates a new angle using radians
                                                            +
                                                            double getDegrees()
                                                            Get the angle measure in degrees
                                                            double getRadians()
                                                            Get the angle measure in radians
                                                            void setDegrees(double degrees)
                                                            set the angle in degrees
                                                            void setRadians(double radians)
                                                            set the angle in radians
                                                            double sin()
                                                            get the sine of the angle
                                                            double tan()
                                                            get the tangent of the angle
                                                            @@ -253,10 +277,37 @@

                                                            Field Detail

                                                            -
                                                              +

                                                              • ZERO

                                                                -
                                                                public final Angle ZERO
                                                                +
                                                                public static final Angle ZERO
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                HALF_PI

                                                                +
                                                                public static final Angle HALF_PI
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                PI

                                                                +
                                                                public static final Angle PI
                                                                +
                                                                • +
                                                              + + + +
                                                                +
                                                              • +

                                                                TWO_PI

                                                                +
                                                                public static final Angle TWO_PI
                                                              @@ -392,7 +443,7 @@

                                                              cos

                                                              -
                                                                +

                                                                • tan

                                                                  public double tan()
                                                                  @@ -403,6 +454,38 @@

                                                                  tan

                                                                + + + +
                                                                  +
                                                                • +

                                                                  createDegrees

                                                                  +
                                                                  public static Angle createDegrees(double degrees)
                                                                  +
                                                                  Creates a new angle using degrees
                                                                  +
                                                                  +
                                                                  Parameters:
                                                                  +
                                                                  degrees - the amount of degrees the new angle will be created with
                                                                  +
                                                                  Returns:
                                                                  +
                                                                  a new angle
                                                                  +
                                                                  +
                                                                  • +
                                                                + + + +
                                                                  +
                                                                • +

                                                                  createRadians

                                                                  +
                                                                  public static Angle createRadians(double radians)
                                                                  +
                                                                  Creates a new angle using radians
                                                                  +
                                                                  +
                                                                  Parameters:
                                                                  +
                                                                  radians - the amount of radians the new angle will be created with
                                                                  +
                                                                  Returns:
                                                                  +
                                                                  a new angle
                                                                  +
                                                                  +
                                                                  • +
                                                              diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html index 98ce1a2..c04c91f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html @@ -2,9 +2,9 @@ - + Polar - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html index 3b37a5e..9a52cec 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html @@ -2,9 +2,9 @@ - + Vector - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html index 60a738c..1561aa3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html @@ -2,9 +2,9 @@ - + XY - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html index e625433..00bf785 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Angle.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.vector.Angle - + @@ -99,16 +99,16 @@

                                                              Uses of Angle in org.montclairrobotics.alloy.drive

                                                              - - +
                                                              Fields in org.montclairrobotics.alloy.drive declared as Angle 
                                                              + - + - +
                                                              Methods in org.montclairrobotics.alloy.drive that return Angle 
                                                              Modifier and TypeField and DescriptionMethod and Description
                                                              AngleDTInput.rotation DTInput.getRotation() 
                                                              @@ -122,6 +122,10 @@

                                                              Uses of DTInput(Vector translation, Angle rotation) 
                                                            TankMapper(Vector maxSpeed, + Angle maxRotation) 
                                                            • @@ -137,7 +141,19 @@

                                                            Uses of -Angle +static Angle +Angle.HALF_PI  + + +static Angle +Angle.PI  + + +static Angle +Angle.TWO_PI  + + +static Angle Angle.ZERO  @@ -168,6 +184,18 @@

                                                            Uses of +static Angle +Angle.createDegrees(double degrees) +
                                                            Creates a new angle using degrees
                                                            + + + +static Angle +Angle.createRadians(double radians) +
                                                            Creates a new angle using radians
                                                            + + + Angle XY.getAngle()
                                                            Gets the angle in standard position that the vector makes
                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html index 8c35031..9bebc4b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Polar.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.vector.Polar - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html index d161e1c..2f79751 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/Vector.html @@ -2,9 +2,9 @@ - + Uses of Interface org.montclairrobotics.alloy.vector.Vector - + @@ -139,16 +139,16 @@

                                                            Uses of Vector in org.montclairrobotics.alloy.drive

                                                            - - +
                                                            Fields in org.montclairrobotics.alloy.drive declared as Vector 
                                                            + - + - +
                                                            Methods in org.montclairrobotics.alloy.drive that return Vector 
                                                            Modifier and TypeField and DescriptionMethod and Description
                                                            VectorDTInput.translation DTInput.getTranslation() 
                                                            @@ -170,6 +170,10 @@

                                                            Uses of DTInput(Vector translation, Angle rotation)  + +TankMapper(Vector maxSpeed, + Angle maxRotation)  + @@ -229,6 +233,10 @@

                                                            Uses of Vector MotorModule.getDirection()  + +Vector +MotorModule.getOffset()  + @@ -298,7 +306,7 @@

                                                            Uses of

                                                            - diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html index df3589e..959498e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/class-use/XY.html @@ -2,9 +2,9 @@ - + Uses of Class org.montclairrobotics.alloy.vector.XY - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html index 87c7b6b..75eb168 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.vector - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html index b244a78..ba20b4e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.vector - + @@ -102,7 +102,7 @@

                                                            Package org.montclairrobotics.alloy.vecto

                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html index 82da90b..74d2c6f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.vector Class Hierarchy - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html index 6d481ab..037d04d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-use.html @@ -2,9 +2,9 @@ - + Uses of Package org.montclairrobotics.alloy.vector - + @@ -141,7 +141,7 @@

                                                            Use

                                                            @@ -231,7 +231,7 @@

                                                            Use

                                                            diff --git a/docs/javadoc/overview-frame.html b/docs/javadoc/overview-frame.html index cdfebe5..b6f65ef 100644 --- a/docs/javadoc/overview-frame.html +++ b/docs/javadoc/overview-frame.html @@ -2,9 +2,9 @@ - + Overview List - + diff --git a/docs/javadoc/overview-summary.html b/docs/javadoc/overview-summary.html index 5dd6bbd..2bc83dc 100644 --- a/docs/javadoc/overview-summary.html +++ b/docs/javadoc/overview-summary.html @@ -2,9 +2,9 @@ - + Overview - + diff --git a/docs/javadoc/overview-tree.html b/docs/javadoc/overview-tree.html index 22b0402..bfb8187 100644 --- a/docs/javadoc/overview-tree.html +++ b/docs/javadoc/overview-tree.html @@ -2,9 +2,9 @@ - + Class Hierarchy - + @@ -100,7 +100,6 @@

                                                            Class Hierarchy

                                                          • org.montclairrobotics.alloy.utils.ConstantInput<T> (implements org.montclairrobotics.alloy.utils.Input<T>)
                                                            • -
                                                          • org.montclairrobotics.alloy.test.Control
                                                          • org.montclairrobotics.alloy.core.Debug
                                                          • org.montclairrobotics.alloy.core.Debugger
                                                              @@ -108,14 +107,10 @@

                                                              Class Hierarchy

                                                          • org.montclairrobotics.alloy.motor.DefaultMapper (implements org.montclairrobotics.alloy.motor.Mapper<T>)
                                                            • -
                                                          • org.montclairrobotics.alloy.drive.DriveTrain
                                                          • org.montclairrobotics.alloy.drive.DTInput
                                                          • org.montclairrobotics.alloy.ftc.FTCButton (implements org.montclairrobotics.alloy.core.Button)
                                                            • -
                                                          • org.montclairrobotics.alloy.utils.Initializeable -
                                                              -
                                                            • org.montclairrobotics.alloy.test.Hardware
                                                              • -
                                                            -
                                                            • +
                                                          • org.montclairrobotics.alloy.utils.Initializeable
                                                            • +
                                                          • org.montclairrobotics.alloy.test.IntakeMapper (implements org.montclairrobotics.alloy.motor.Mapper<T>)
                                                          • org.montclairrobotics.alloy.utils.Monitor (implements org.montclairrobotics.alloy.utils.Input<T>)
                                                          • com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                              @@ -129,7 +124,6 @@

                                                              Class Hierarchy

                                                            • org.montclairrobotics.alloy.vector.Polar (implements org.montclairrobotics.alloy.vector.Vector)
                                                            • org.montclairrobotics.alloy.core.RobotCore
                                                              • -
                                                            • org.montclairrobotics.alloy.test.ShooterMapper (implements org.montclairrobotics.alloy.motor.Mapper<T>)
                                                            • org.montclairrobotics.alloy.auto.State
                                                              • org.montclairrobotics.alloy.auto.StateMachine
                                                                • @@ -170,12 +164,21 @@

                                                                Class Hierarchy

                                                              • org.montclairrobotics.alloy.utils.TuneablePID (implements org.montclairrobotics.alloy.utils.ErrorCorrection<T>)
                                                              • -
                                                            • org.montclairrobotics.alloy.motor.MotorGroup<T>
                                                              • +
                                                            • org.montclairrobotics.alloy.motor.MotorGroup<T> +
                                                                +
                                                              • org.montclairrobotics.alloy.drive.DriveTrain +
                                                                  +
                                                                • org.montclairrobotics.alloy.drive.TankDrive
                                                                  • +
                                                                +
                                                                • +
                                                              +
                                                            • org.montclairrobotics.alloy.motor.MotorModule
                                                              • +
                                                            • org.montclairrobotics.alloy.drive.TankMapper (implements org.montclairrobotics.alloy.drive.DTMapper)
                                                          • org.montclairrobotics.alloy.steps.Deadzone (implements org.montclairrobotics.alloy.components.Step<T>)
                                                            • diff --git a/docs/javadoc/serialized-form.html b/docs/javadoc/serialized-form.html index d9a863d..061c020 100644 --- a/docs/javadoc/serialized-form.html +++ b/docs/javadoc/serialized-form.html @@ -2,9 +2,9 @@ - +Serialized Form - + diff --git a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java index d3b5f6d..3c6bb9a 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java @@ -26,6 +26,7 @@ of this software and associated documentation files (the "Software"), to deal import com.qualcomm.robotcore.eventloop.opmode.OpMode; import java.util.ArrayList; import org.montclairrobotics.alloy.components.Component; +import org.montclairrobotics.alloy.drive.DriveTrain; import org.montclairrobotics.alloy.ftc.FTCDebugger; import org.montclairrobotics.alloy.update.Updater; import org.montclairrobotics.alloy.utils.Initializeable; @@ -47,6 +48,7 @@ of this software and associated documentation files (the "Software"), to deal public abstract class Alloy extends OpMode { public static ArrayList initObjects = new ArrayList<>(); + private static DriveTrain driveTrain; /** * The robotSetup is where all code specific to robot setup is placed If you only have one @@ -87,4 +89,12 @@ public void loop() { Updater.update(); periodic(); } + + public static void setDriveTrain(DriveTrain driveTrain) { + Alloy.driveTrain = driveTrain; + } + + public static DriveTrain getDriveTrain() { + return driveTrain; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java index d62f631..f227147 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java @@ -72,7 +72,7 @@ public enum Level { /** * Debugs should contain the most information about a mechanism or process. For example, - * debug informtion for a motor would include its target speed, current speed, target + * debug information for a motor would include its target speed, current speed, target * position, current position, direction, % error, and so on. Debugs should only be turned * on when fixing problems, as the amount of information can be quite cluttering */ @@ -140,6 +140,16 @@ public void debug(Debug debug) { log(debug.key, debug.value, Level.DEBUG); } + /** + * Debug out verbose information + * + * @param key Name of the value + * @param value Value to be displayed + */ + public void debug(String key, Object value) { + log(key, value, Level.DEBUG); + } + /** * Gives a warning to the user * @@ -178,15 +188,6 @@ public void test(String key, Object value) { log(key, value, Level.TEST); } - /** - * Debug out verbose information - * - * @param key Name of the value - * @param value Value to be displayed - */ - public void debug(String key, Object value) { - log(key, value, Level.DEBUG); - } /** * A message that overrides the debug level system diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java b/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java index 263f409..95542d7 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DTInput.java @@ -26,12 +26,40 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.vector.Angle; import org.montclairrobotics.alloy.vector.Vector; +/** + * An input for a drivetrain that takes a rate of translation, and rotation + * + *

                                                            A DTInput contains the information for controlling a drivetrain. This information is the + * translation, or the rate at which the robot wil move and the rotation, the rate that the robot + * will turn + * + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ public class DTInput { - public Vector translation; - public Angle rotation; + /** + * A translation vector that controls the rate at which the robot will move In a tank drivetrain + * only the Y component will be taken into account In omnidirectional drivetrains, both the x + * and y components will be used in drive calculations + */ + private Vector translation; + + /** The rate at which the drivetrain will turn */ + private Angle rotation; public DTInput(Vector translation, Angle rotation) { this.translation = translation; this.rotation = rotation; } + + /** @return the rate at which the robot will move */ + public Vector getTranslation() { + return translation; + } + + /** @return the rate at which the robot will rotate */ + public Angle getRotation() { + return rotation; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java b/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java index 097c843..f6aeb3d 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DTMapper.java @@ -24,15 +24,12 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.drive; import org.montclairrobotics.alloy.motor.Mapper; -import org.montclairrobotics.alloy.motor.MotorModule; -import org.montclairrobotics.alloy.utils.Input; /** - * Created by MHS Robotics on 12/16/2017. + * A mapper that specifically takes in DTInputs * * @author Garrett Burroughs * @since 0.1 + * @version 0.1 */ -public interface DTMapper extends Mapper { - public void map(Input input, MotorModule... modules); -} +public interface DTMapper extends Mapper {} diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java index d71e835..39bd492 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java @@ -23,10 +23,29 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.drive; +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.motor.Mapper; +import org.montclairrobotics.alloy.motor.MotorGroup; +import org.montclairrobotics.alloy.motor.MotorModule; + /** * Created by MHS Robotics on 12/16/2017. * * @author Garrett Burroughs * @since 0.1 */ -public class DriveTrain {} +public class DriveTrain extends MotorGroup { + public DriveTrain(InputComponent input, Mapper mapper, MotorModule... modules) { + super(input, mapper, modules); + } + + public DriveTrain setInput(InputComponent input) { + this.input = input; + return this; + } + + public DriveTrain setMapper(Mapper mapper) { + this.mapper = mapper; + return this; + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/test/Control.java b/src/main/java/org/montclairrobotics/alloy/drive/TankDrive.java similarity index 71% rename from src/main/java/org/montclairrobotics/alloy/test/Control.java rename to src/main/java/org/montclairrobotics/alloy/drive/TankDrive.java index 6611e1c..350535e 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/Control.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/TankDrive.java @@ -21,6 +21,17 @@ of this software and associated documentation files (the "Software"), to deal OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -package org.montclairrobotics.alloy.test; +package org.montclairrobotics.alloy.drive; -public class Control {} +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.motor.MotorModule; + +public class TankDrive extends DriveTrain { + public TankDrive(InputComponent input, MotorModule... modules) { + super(input, new TankMapper(), modules); + } + + public TankDrive(MotorModule ... modules){ + this(null, modules); + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/drive/TankMapper.java b/src/main/java/org/montclairrobotics/alloy/drive/TankMapper.java new file mode 100644 index 0000000..d480fd8 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/drive/TankMapper.java @@ -0,0 +1,83 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +package org.montclairrobotics.alloy.drive; + +import org.montclairrobotics.alloy.components.Component; +import org.montclairrobotics.alloy.motor.MotorModule; +import org.montclairrobotics.alloy.utils.Utils; +import org.montclairrobotics.alloy.vector.Angle; +import org.montclairrobotics.alloy.vector.Polar; +import org.montclairrobotics.alloy.vector.Vector; + +/** + * @author Garrett Burroughs + * @version 0.1 + * @since 0.1 + */ +public class TankMapper extends Component implements DTMapper { + + private Vector maxSpeed; + private Angle maxRotation; + + public TankMapper() { + this(1, 1); + } + + public TankMapper(Vector maxSpeed, Angle maxRotation) { + this.maxSpeed = maxSpeed; + this.maxRotation = maxRotation; + } + + public TankMapper(double maxSpeed, double maxRotation) { + this.maxSpeed = new Polar(maxSpeed, new Angle(0)); + this.maxRotation = new Angle(maxRotation); + } + + @Override + public void map(DTInput input, MotorModule... modules) { + double inputSpeed = input.getTranslation().getManitude(); + double inputRotation = input.getRotation().getDegrees(); + + // The values have a possibility of being from the maximum value, to their negative maximum + // values and should be scaled to (-1,1) to be applied to the motors + double scaledSpeed = + Utils.map(inputSpeed, -maxSpeed.getManitude(), maxSpeed.getManitude(), -1, 1); + double scaledRotation = + Utils.map( + inputRotation, -maxRotation.getDegrees(), maxRotation.getDegrees(), -1, 1); + + // Calculate the right and left powers and constrain them to (-1, 1) + double rightPower = Utils.constrain(scaledSpeed + scaledRotation, -1, 1); + double leftPower = Utils.constrain(scaledSpeed - scaledRotation, -1, 1); + + for (MotorModule m : modules) { + // Determine whether the module is on the right side or the left + if (m.getOffset().getX() > 0) { + m.setPower(rightPower); + } else { + m.setPower(leftPower); + } + } + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java index d456d44..b3eae92 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java @@ -90,7 +90,7 @@ public MotorModule( Motor... motors) { this.direction = direction; this.motors = new ArrayList<>(Arrays.asList(motors)); - this.powerControl = powerControl; + this.powerControl = powerControl.copy(); this.encoder = encoder; try { powerControl.setInput(() -> encoder.getScaledVelocity()); @@ -210,4 +210,9 @@ public double getTargetPower() { public InputComponent getModifier() { return modifier; } + + /** @return the relative position to the center of the motor group */ + public Vector getOffset() { + return offset; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/test/Hardware.java b/src/main/java/org/montclairrobotics/alloy/test/Hardware.java deleted file mode 100644 index d11fcfe..0000000 --- a/src/main/java/org/montclairrobotics/alloy/test/Hardware.java +++ /dev/null @@ -1,63 +0,0 @@ -/* -MIT License - -Copyright (c) 2018 Garrett Burroughs - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. -*/ -package org.montclairrobotics.alloy.test; - -import com.qualcomm.robotcore.hardware.DcMotor; -import org.montclairrobotics.alloy.core.RobotCore; -import org.montclairrobotics.alloy.utils.Initializeable; - -public class Hardware extends Initializeable { - - // ============ - // IDS - // ============ - - static class DeviceID { - public static final String shooterMotorRight = "shoot_right"; - public static final String shooterMotorLeft = "shoot_left"; - - public static final String intakeMotorRight = "intake_right"; - public static final String intakeMotorLeft = "intake_left"; - } - - // ============ - // Devices - // ============ - - // Shooter - static DcMotor shooterMotorRight; - static DcMotor shooterMotorLeft; - - // Intake - static DcMotor intakeMotorRight; - static DcMotor intakeMotorLeft; - - public void init() { - shooterMotorRight = RobotCore.getHardwareMap().dcMotor.get(DeviceID.shooterMotorRight); - shooterMotorLeft = RobotCore.getHardwareMap().dcMotor.get(DeviceID.shooterMotorLeft); - - intakeMotorRight = RobotCore.getHardwareMap().dcMotor.get(DeviceID.intakeMotorRight); - intakeMotorLeft = RobotCore.getHardwareMap().dcMotor.get(DeviceID.intakeMotorLeft); - } -} diff --git a/src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java b/src/main/java/org/montclairrobotics/alloy/test/IntakeMapper.java similarity index 96% rename from src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java rename to src/main/java/org/montclairrobotics/alloy/test/IntakeMapper.java index 5ff71ea..f0e49a5 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/ShooterMapper.java +++ b/src/main/java/org/montclairrobotics/alloy/test/IntakeMapper.java @@ -28,7 +28,7 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.utils.Utils; import org.montclairrobotics.alloy.vector.Vector; -public class ShooterMapper implements Mapper { +public class IntakeMapper implements Mapper { @Override public void map(Vector input, MotorModule... modules) { for (MotorModule m : modules) { diff --git a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java index 1b3bd32..bf413ad 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java +++ b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java @@ -24,9 +24,10 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.test; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import org.montclairrobotics.alloy.core.Alloy; -import org.montclairrobotics.alloy.core.Button; -import org.montclairrobotics.alloy.ftc.FTCButton; +import org.montclairrobotics.alloy.components.InputComponent; +import org.montclairrobotics.alloy.core.*; +import org.montclairrobotics.alloy.drive.DriveTrain; +import org.montclairrobotics.alloy.drive.TankDrive; import org.montclairrobotics.alloy.ftc.FTCJoystick; import org.montclairrobotics.alloy.ftc.FTCMotor; import org.montclairrobotics.alloy.motor.MotorGroup; @@ -35,53 +36,96 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.utils.PID; import org.montclairrobotics.alloy.vector.XY; +/* +This class is solely for testing and example of the Alloy framework + +This is an implementation of a basic robot using the fundamental +features of Alloy, much more is possible, and this example is far +from all encompassing of the features that you can use, and how to +use them, but meant as a basic start to get an Idea of what Alloy is +and how to use it. + +Also keep in mind, that this is not necessarily how a robot "should" +be implemented. Some of this code is written purely to show that something +is possible, while not being necessary for a basic application. As well as +the fact that each robot is different and the code will be heavily dependant +on that, and alloy allows for the design of many different robots and parts. + */ + @TeleOp public class TestRobot extends Alloy { // Lower level hardware abstractions FTCMotor rightIntakeMotor; FTCMotor leftIntakeMotor; + FTCMotor d_rightFront; + FTCMotor d_rightBack; + FTCMotor d_leftFront; + FTCMotor d_leftBack; - // High Level Hardware abstractions - MotorGroup shooter; + // Higher Level Hardware abstractions MotorGroup intake; + // Global motor control PID motorCorrection; + // Physical control systems + InputComponent intakeController; + InputComponent driveStick; + + @Override public void robotSetup() { - rightIntakeMotor = new FTCMotor(Hardware.DeviceID.intakeMotorRight); - leftIntakeMotor = new FTCMotor(Hardware.DeviceID.intakeMotorLeft); + // ============================================================================================================= + // EXAMPLE DRIVETRAIN SETUP + // ============================================================================================================= + + // Create Drivetrain Modules (wheels) + // By making it a tank drive, we use the default tank drive mapper + DriveTrain dt = new TankDrive( + new MotorModule(new XY(1, 0), d_rightFront, d_rightBack), + new MotorModule(new XY(-1, 0), d_leftFront, d_leftBack) + ); + + // Create the Drivetrain input + driveStick = new FTCJoystick(RobotCore.getGamepad1(), FTCJoystick.Side.RIGHT); + // Add modifiers toe the controls + driveStick.addStep(new Deadzone()); + + // Set the Drivetrain Input + dt.setInput(driveStick); + + + // ============================================================================================================= + // EXAMPLE INTAKE SETUP + // ============================================================================================================= + + // Define the PID Correction motorCorrection = new PID(1, 0, 0); - intake = - new MotorGroup( - new FTCJoystick(gamepad1, FTCJoystick.Side.RIGHT).addStep(new Deadzone()), - new ShooterMapper(), - new MotorModule( - new XY(0, 1), - rightIntakeMotor - .getEncoder() - .setMaxSpeed(100) - .setDistancePerTick(30), - motorCorrection, - rightIntakeMotor), - new MotorModule( - new XY(0, -1), - leftIntakeMotor - .getEncoder() - .setMaxSpeed(100) - .setDistancePerTick(30), - motorCorrection, - leftIntakeMotor)); + // Create the input + intakeController = new FTCJoystick(RobotCore.getGamepad2(), FTCJoystick.Side.RIGHT); + // Modify the input + intakeController.addStep(new Deadzone()); + + // Get the encoders from the motors + Encoder intakeRightEncoder = + rightIntakeMotor.getEncoder().setMaxSpeed(100).setDistancePerTick(30); // These 100, and 30, are experimental values + Encoder intakeLeftEncoder = + rightIntakeMotor.getEncoder().setMaxSpeed(100).setDistancePerTick(30); + + // Define the right and left modules + MotorModule intakeRightSide = new MotorModule(new XY(0, 1), intakeRightEncoder, motorCorrection, rightIntakeMotor); + MotorModule intakeLeftSide = new MotorModule(new XY(0, 1), intakeLeftEncoder, motorCorrection, leftIntakeMotor); + + // Create the intake + intake = new MotorGroup(intakeController, new IntakeMapper(), intakeRightSide, intakeLeftSide); } @Override public void initialization() {} @Override - public void periodic() { - Button shooterButton = FTCButton.getAButton(gamepad1); - } + public void periodic() {} } diff --git a/src/main/java/org/montclairrobotics/alloy/vector/Angle.java b/src/main/java/org/montclairrobotics/alloy/vector/Angle.java index ad4a747..9283ef1 100644 --- a/src/main/java/org/montclairrobotics/alloy/vector/Angle.java +++ b/src/main/java/org/montclairrobotics/alloy/vector/Angle.java @@ -24,7 +24,7 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.vector; /** - * Created by MHS Robotics on 11/13/2017. + * A class to keep track of angles * *

                                                            The angle class allows for easy management of angles as well as easy conversion between degree * and radian angle measure The class keeps track of the angle in degrees but can easily be @@ -36,6 +36,14 @@ of this software and associated documentation files (the "Software"), to deal */ public class Angle { + public static final Angle ZERO = new Angle(0); + public static final Angle HALF_PI = new Angle(90); + public static final Angle PI = new Angle(180); + public static final Angle TWO_PI = new Angle(360); + + /** Keeps Track of the amount of degrees that the angle is */ + private double degrees; + /** * AngleMeasure, is used for keeping track of what type of angle measure the angle is being * created with @@ -48,12 +56,6 @@ enum AngleMeasure { DEGREE } - /** Keeps Track of the degrees that the angle is */ - private double degrees; - - // Zero Angle - public final Angle ZERO = new Angle(AngleMeasure.DEGREE, 0); - /** * Creating a new angle with an angle measure unit and the measure of the angle itself * @@ -142,4 +144,24 @@ public double cos() { public double tan() { return Math.tan(getRadians()); } + + /** + * Creates a new angle using degrees + * + * @param degrees the amount of degrees the new angle will be created with + * @return a new angle + */ + public static Angle createDegrees(double degrees) { + return new Angle(AngleMeasure.DEGREE, degrees); + } + + /** + * Creates a new angle using radians + * + * @param radians the amount of radians the new angle will be created with + * @return a new angle + */ + public static Angle createRadians(double radians) { + return new Angle(AngleMeasure.RADIAN, radians); + } } From e4b7785184dd2fd8ecf558a252c5899f7bdf1098 Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Wed, 12 Sep 2018 00:50:00 -0400 Subject: [PATCH 31/54] Implemented turning and driving auto modes --- build.gradle | 2 +- .../Exceptions/InvalidParameterException.java | 26 ++++- .../alloy/auto/AlloyAutonomous.java | 49 ++++------ .../alloy/auto/SimpleAutonomous.java | 47 +++++++--- .../montclairrobotics/alloy/auto/State.java | 19 ++-- .../alloy/auto/StateMachine.java | 94 ++++++++----------- .../alloy/auto/States/Drive.java | 78 ++++++++++++--- .../alloy/auto/States/Turn.java | 92 +++++++++++++++--- .../montclairrobotics/alloy/core/Alloy.java | 6 +- .../alloy/core/Debugger.java | 1 - .../montclairrobotics/alloy/core/Encoder.java | 15 ++- .../alloy/drive/DriveTrain.java | 57 +++++++++-- .../alloy/drive/TankDrive.java | 2 +- .../montclairrobotics/alloy/ftc/FTCMotor.java | 2 +- .../alloy/ftc/FTCTargetMotor.java | 2 +- .../alloy/motor/MotorGroup.java | 32 +++++-- .../alloy/motor/MotorModule.java | 85 ++++++++++++++--- .../alloy/test/IntakeMapper.java | 6 +- .../alloy/test/TestRobot.java | 26 +++-- .../montclairrobotics/alloy/vector/Polar.java | 2 +- 20 files changed, 457 insertions(+), 186 deletions(-) diff --git a/build.gradle b/build.gradle index 265a14a..1089740 100644 --- a/build.gradle +++ b/build.gradle @@ -29,7 +29,7 @@ spotless { licenseHeaderFile 'SpotlessLicense' - paddedCell() + // paddedCell() } diff --git a/src/main/java/org/montclairrobotics/alloy/Exceptions/InvalidParameterException.java b/src/main/java/org/montclairrobotics/alloy/Exceptions/InvalidParameterException.java index 9ba20e9..275c9a5 100644 --- a/src/main/java/org/montclairrobotics/alloy/Exceptions/InvalidParameterException.java +++ b/src/main/java/org/montclairrobotics/alloy/Exceptions/InvalidParameterException.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.Exceptions; /** @@ -6,5 +29,4 @@ * @author Garrett Burroughs * @since */ -public class InvalidParameterException extends Exception{ -} +public class InvalidParameterException extends Exception {} diff --git a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java index 92a284a..dc852a6 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java @@ -43,67 +43,56 @@ of this software and associated documentation files (the "Software"), to deal * @version 0.1 * @since 0.1 */ -public abstract class AlloyAutonomous extends OpMode{ - /** - * Keeps track of when the auto mode is running (True after started and before finished) - */ +public abstract class AlloyAutonomous extends OpMode { + /** Keeps track of when the auto mode is running (True after started and before finished) */ boolean running; - /** - * The actual auto mode that should be instantiated in setup - */ + /** The actual auto mode that should be instantiated in setup */ public StateMachine auto; - /** - * A timer to keep track of time in the autoMode - */ + /** A timer to keep track of time in the autoMode */ public ElapsedTime timer; - /** - * This is where the user should define all their code - * and where "Auto", should be instantiated + * This is where the user should define all their code and where "Auto", should be instantiated */ public abstract void setup(); /** - * Runs when the play button is pressed - * Start will set up everything that the auto mode needs to run + * Runs when the play button is pressed Start will set up everything that the auto mode needs to + * run */ @Override - public void start(){ + public void start() { auto.start(); // run the start method of the state machine running = true; // the state machine has started running timer.reset(); // reset the timer } /** - * Init is called when the INIT button is pressed on the drivers station. - * The init method takes care of setting up global robot variables and running the user setup method + * Init is called when the INIT button is pressed on the drivers station. The init method takes + * care of setting up global robot variables and running the user setup method */ @Override public void init() { new RobotCore(telemetry, hardwareMap, gamepad1, gamepad2); setup(); } - - /** - * The user loop can be overridden in the auto mode and is called every loop before the - * state is run. This can be useful for updating information used in states. - */ - public void userLoop(){} - - + /** - * the Loop method takes care of running the state machine + * The user loop can be overridden in the auto mode and is called every loop before the state is + * run. This can be useful for updating information used in states. */ + public void userLoop() {} + + /** the Loop method takes care of running the state machine */ @Override public void loop() { userLoop(); - if(running){ + if (running) { auto.run(); // Run the state machine, which will in turn run the states } - if(auto.isDone()){ // check if the state machine has finished (Last state achieved) + if (auto.isDone()) { // check if the state machine has finished (Last state achieved) running = false; // stop the state machine auto.stop(); // Finally stop the state machine } @@ -114,7 +103,7 @@ public void loop() { * * @param state the state to be added */ - public void newState(State state){ + public void newState(State state) { auto.addState(state); } } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java index ea16c2f..a45f712 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.auto; import org.montclairrobotics.alloy.auto.States.Drive; @@ -6,27 +29,23 @@ /** * Created by MHS Robotics on 1/26/2018. * - * SimpleAutonomous abstracts away the concept of - * adding states to a state machine, so that states - * can be added as if they were commands to be executed - * by the auto mode. This class only has the pre-written - * states included, so another class extending this one - * would need to be created to add any custom states + *

                                                            SimpleAutonomous abstracts away the concept of adding states to a state machine, so that + * states can be added as if they were commands to be executed by the auto mode. This class only has + * the pre-written states included, so another class extending this one would need to be created to + * add any custom states * * @author Garrett Burroughs * @since */ -public class SimpleAutonomous extends AlloyAutonomous{ +public class SimpleAutonomous extends AlloyAutonomous { @Override - public void setup() { - - } - - public void drive(double speed, double distance){ + public void setup() {} + + public void drive(double speed, double distance) { auto.addState(new Drive(speed, distance)); } - - public void turn(double speed, double degrees){ + + public void turn(double speed, double degrees) { auto.addState(new Turn(speed, degrees)); } } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/State.java b/src/main/java/org/montclairrobotics/alloy/auto/State.java index 30feedb..5035059 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/State.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/State.java @@ -58,29 +58,28 @@ public abstract class State { public abstract boolean isDone(); /** - * In order to have a non linear state machine, the state machine must know what state - * to go to when it is done with the previous state. - * The state also sometimes needs to know the current state for example if it just wanted - * to increment the state by one. + * In order to have a non linear state machine, the state machine must know what state to go to + * when it is done with the previous state. The state also sometimes needs to know the current + * state for example if it just wanted to increment the state by one. + * * @param currentState the state the state machine is currently running * @return the state the state machine should go to */ - public int getNextState(int currentState){ - if(nextState != null){ + public int getNextState(int currentState) { + if (nextState != null) { return nextState; } return currentState + 1; } /** - * When a state machine is running, it will debug out information about - * the state it is running. It will debug the result of debugInfo + * When a state machine is running, it will debug out information about the state it is running. + * It will debug the result of debugInfo * * @param currentState the current state so that it can be used in the debug * @return debug information about the state */ - public String debugInfo(int currentState){ + public String debugInfo(int currentState) { return debug + currentState + "\n Description" + description; } - } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java index 3bff746..8048121 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java @@ -24,22 +24,21 @@ of this software and associated documentation files (the "Software"), to deal package org.montclairrobotics.alloy.auto; import com.qualcomm.robotcore.util.ElapsedTime; -import org.montclairrobotics.alloy.components.Component; - import java.util.ArrayList; import java.util.Arrays; +import org.montclairrobotics.alloy.components.Component; /** * Created by MHS Robotics on 12/16/2017. * - * A state machine takes in states and runs them in a controlled order.
                                                            - * By default the states will run in a linear fashion and the next state will start - * when the previous state has finished.
                                                            - *
                                                            - * State machines can be used for controlling auto modes, - * but can also be ran in teleop modes for pre coded instructions that make driving easier. + *

                                                            A state machine takes in states and runs them in a controlled order.
                                                            + * By default the states will run in a linear fashion and the next state will start when the + * previous state has finished.
                                                            + *
                                                            + * State machines can be used for controlling auto modes, but can also be ran in teleop modes for + * pre coded instructions that make driving easier. * - * State machines are also states themselves so a state machine can run another state machine. + *

                                                            State machines are also states themselves so a state machine can run another state machine. * This allows for the reuse of auto code * * @author Garrett Burroughs @@ -48,9 +47,7 @@ of this software and associated documentation files (the "Software"), to deal */ public class StateMachine extends State { - /** - * The states list keeps track of all of the states that will be run in the state machine - */ + /** The states list keeps track of all of the states that will be run in the state machine */ ArrayList states; /** @@ -66,64 +63,47 @@ public class StateMachine extends State { */ Integer finalState; - /** - * The name of the state machine, this is purely for debugging purposes - */ + /** The name of the state machine, this is purely for debugging purposes */ String name; /** - * A boolean that keeps track of weather or not the current state has been run yet, - * this is used to determine it the start() method of the state should be run + * A boolean that keeps track of weather or not the current state has been run yet, this is used + * to determine it the start() method of the state should be run */ boolean stateStarted; - /** - * the time spent in the state that has most recently finished - */ + /** the time spent in the state that has most recently finished */ double timeInLastState; - /** - * A timer object to keep track of the time in states. - */ + /** A timer object to keep track of the time in states. */ private ElapsedTime timer; - /** - * Keeps track of weather or not the state machine has finished, - * True if it has - */ + /** Keeps track of weather or not the state machine has finished, True if it has */ boolean done = false; - /** - * Keeps track of the current state - */ + /** Keeps track of the current state */ int state; - public StateMachine(String name, int finalState, State ... states){ - this.name = name; - this.states = new ArrayList<>(Arrays.asList(states)); + public StateMachine(String name, int finalState, State... states) { + this.name = name; + this.states = new ArrayList<>(Arrays.asList(states)); this.finalState = finalState; description = "A state machine"; } - public StateMachine(String name, String description, int finalState, State ... states){ + public StateMachine(String name, String description, int finalState, State... states) { this(name, finalState, states); super.description = description; } - - /** - * Read out that the state has started and reset the timer - */ + /** Read out that the state has started and reset the timer */ @Override public void start() { Component.debugger.driverInfo("Running", name); timer.reset(); } - - /** - * The run method takes care of actually running the states - */ + /** The run method takes care of actually running the states */ @Override public void run() { State currentState = states.get(state); @@ -137,29 +117,31 @@ public void run() { currentState.run(); //run the state - if(currentState.isDone()){ //check if the state has finished + if (currentState.isDone()) { //check if the state has finished timeInLastState = timer.nanoseconds(); // Update the last state time currentState.stop(); // Run the stop() method on the state - if(currentState.getNextState(state) == finalState){ // Check if the state machine is done + if (currentState.getNextState(state) + == finalState) { // Check if the state machine is done done = true; // set the state machine as done return; // return (exit) out of the run() method } - if(currentState.getNextState(state) < states.size()) { // make sure there is a next state to go to + if (currentState.getNextState(state) + < states.size()) { // make sure there is a next state to go to state = currentState.getNextState(state); // go to the next state - }else{ - Component.debugger.error( "STATE MACHINE OUT OF BOUNDS"); // Give the user an error if there is no next state to go to + } else { + Component.debugger.error( + "STATE MACHINE OUT OF BOUNDS"); // Give the user an error if there is no next state to go to done = true; // stop the state machine return; // exit the run method to ensure nothing else runs } stateStarted = false; // The next state has not started yet. } - Component.debugger.test(name + " | State: " + state ,currentState.debugInfo(state)); // Debug info about the state + Component.debugger.test( + name + " | State: " + state, + currentState.debugInfo(state)); // Debug info about the state } - - /** - * When the state machine is finished, read out it has finished - */ + /** When the state machine is finished, read out it has finished */ @Override public void stop() { Component.debugger.test("Status", name + ", Finished "); @@ -176,12 +158,12 @@ public boolean isDone() { } /** - * Adds a state to the state machine. - * States can be added to a state machine but should not be added after the state machine + * Adds a state to the state machine. States can be added to a state machine but should not be + * added after the state machine * * @param state state that will be added to the state machine */ - public void addState(State state){ + public void addState(State state) { states.add(state); } @@ -190,7 +172,7 @@ public void addState(State state){ * * @return The time in last state */ - public double getTimeInLastState(){ + public double getTimeInLastState() { return timeInLastState; } } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/States/Drive.java b/src/main/java/org/montclairrobotics/alloy/auto/States/Drive.java index 7d2af04..9d0e114 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/States/Drive.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/States/Drive.java @@ -1,6 +1,36 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.auto.States; import org.montclairrobotics.alloy.auto.State; +import org.montclairrobotics.alloy.core.Alloy; +import org.montclairrobotics.alloy.drive.DTInput; +import org.montclairrobotics.alloy.drive.DriveTrain; +import org.montclairrobotics.alloy.utils.ConstantInput; +import org.montclairrobotics.alloy.vector.Angle; +import org.montclairrobotics.alloy.vector.Polar; +import org.montclairrobotics.alloy.vector.Vector; /** * Created by MHS Robotics on 1/26/2018. @@ -8,29 +38,53 @@ * @author Garrett Burroughs * @since */ -public class Drive extends State{ - - public Drive(double speed, double distance){ - +public class Drive extends State { + + DriveTrain driveTrain; + private double speed; + private double distance; + private int[] startValues; + private static int tolerance = 5; + + public static void setTolerance(int tolerance) { + Drive.tolerance = tolerance; + } + + public Drive(double speed, double distance) { + driveTrain = Alloy.getDriveTrain(); + this.speed = speed; + this.distance = distance; + } + + public Drive setDriveTrain(DriveTrain driveTrain) { + this.driveTrain = driveTrain; + return this; } - + @Override public void start() { - + startValues = driveTrain.getEncoderValues(); } - + @Override public void run() { - + driveTrain.setInput( + new ConstantInput(new DTInput(new Polar(speed, Angle.ZERO), Angle.ZERO))); } - + @Override public void stop() { - + driveTrain.setInput(new ConstantInput(new DTInput(Vector.ZERO, Angle.ZERO))); } - + @Override public boolean isDone() { - return false; + int[] currentValues = driveTrain.getEncoderValues(); + double total = 0; + for (int i = 0; i < startValues.length; i++) { + total += currentValues[i] - startValues[i]; + } + double average = total / (double) currentValues.length; + return Math.abs(distance - average) < tolerance; } } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java b/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java index adc5ae0..fc260af 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java @@ -1,6 +1,35 @@ +/* +MIT License + +Copyright (c) 2018 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.auto.States; import org.montclairrobotics.alloy.auto.State; +import org.montclairrobotics.alloy.core.Alloy; +import org.montclairrobotics.alloy.drive.DTInput; +import org.montclairrobotics.alloy.drive.DriveTrain; +import org.montclairrobotics.alloy.utils.ConstantInput; +import org.montclairrobotics.alloy.vector.Angle; +import org.montclairrobotics.alloy.vector.Vector; /** * Created by MHS Robotics on 1/26/2018. @@ -9,28 +38,69 @@ * @since */ public class Turn extends State { - - public Turn(double speed, double degrees){ - + + private double speed; + private double degrees; + private int[] rightSideStartValues; + private int[] leftSideStartValues; + private DriveTrain driveTrain; + + private static double ticksPerDegree = 1; + + public static void setTicksPerDegree(double ticksPerDegree) { + Turn.ticksPerDegree = ticksPerDegree; + } + + private static double tolerance = 5; + + public static void setTolerance(double tolerance) { + Turn.tolerance = tolerance; } - + + public Turn(double speed, double degrees) { + this.speed = speed; + this.degrees = degrees; + driveTrain = Alloy.getDriveTrain(); + } + @Override public void start() { - + rightSideStartValues = Alloy.getDriveTrain().getRightEncoderValues(); + leftSideStartValues = Alloy.getDriveTrain().getLeftEncoderValues(); } - + @Override public void run() { - + if (degrees > 0) { + driveTrain.setInput( + new ConstantInput(new DTInput(Vector.ZERO, new Angle(speed)))); + } else { + driveTrain.setInput( + new ConstantInput(new DTInput(Vector.ZERO, new Angle(-speed)))); + } } - + @Override public void stop() { - + driveTrain.setInput(new ConstantInput(new DTInput(Vector.ZERO, Angle.ZERO))); } - + @Override public boolean isDone() { - return false; + int rightTicks = 0; + int[] currentRight = driveTrain.getRightEncoderValues(); + for (int i = 0; i < rightSideStartValues.length; i++) { + rightTicks += Math.abs(currentRight[i] - rightSideStartValues[i]); + } + + int leftTicks = 0; + int[] currentLeft = driveTrain.getLeftEncoderValues(); + for (int i = 0; i < leftSideStartValues.length; i++) { + leftTicks += Math.abs(currentLeft[i] - leftSideStartValues[i]); + } + + int ticksMoved = rightTicks + leftTicks; + + return Math.abs(ticksMoved - degrees * ticksPerDegree) < tolerance; } } diff --git a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java index ab17011..1ec9c93 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Alloy.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Alloy.java @@ -34,17 +34,12 @@ of this software and associated documentation files (the "Software"), to deal /** * The main class that takes care of setting up the environment, and running all of the main methods * -<<<<<<< HEAD - * The main purpose behind the alloy class is to control how and when all of the methods in Robot are run - * as well as initialize all global variables -======= *

                                                            The alloy class is an extension of the FTC OpMode class, and takes care of preliminary setup * of:
                                                            * - Setting up the global FTC variables in RobotCore
                                                            * - Setting up the global Debugger
                                                            * - Initializing any "initializeables" in the project
                                                            * - Running the users defined methods
                                                            ->>>>>>> c6acf51e58c6fa9fea0d80aa10012c6112d66195 * * @author Garrett Burroughs * @version 0.1 @@ -87,6 +82,7 @@ public void init() { robotSetup(); initialization(); + driveTrain.setDefaultInput(); } @Override diff --git a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java index f227147..31973f3 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java @@ -188,7 +188,6 @@ public void test(String key, Object value) { log(key, value, Level.TEST); } - /** * A message that overrides the debug level system * diff --git a/src/main/java/org/montclairrobotics/alloy/core/Encoder.java b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java index f3bc16d..16e3fe3 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Encoder.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java @@ -61,12 +61,25 @@ public abstract class Encoder extends InputComponent { /** Max speed that the motor can go Measured in Ticks per Second */ private double maxSpeed; + /** Keeps track of the ticks when the encoder was "reset" */ + private int ticksAtReset; + /** * A method that should be overridden by the encoder * * @return the raw value of encoder ticks that the encoder reads */ - public abstract int getTicks(); + public abstract int getRawTicks(); + + /** Gets the ticks, this value is affected by encoder resets */ + public int getTicks() { + return getRawTicks() - ticksAtReset; + } + + /** soft reset the encoder, setting the current value as 0 ticks */ + public void reset() { + ticksAtReset = getRawTicks(); + } public Encoder(double distancePerTick, double maxSpeed) { this.distancePerTick = distancePerTick; diff --git a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java index 39bd492..dde70ba 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/DriveTrain.java @@ -23,10 +23,11 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.drive; -import org.montclairrobotics.alloy.components.InputComponent; +import java.util.ArrayList; import org.montclairrobotics.alloy.motor.Mapper; import org.montclairrobotics.alloy.motor.MotorGroup; import org.montclairrobotics.alloy.motor.MotorModule; +import org.montclairrobotics.alloy.utils.Input; /** * Created by MHS Robotics on 12/16/2017. @@ -35,17 +36,57 @@ of this software and associated documentation files (the "Software"), to deal * @since 0.1 */ public class DriveTrain extends MotorGroup { - public DriveTrain(InputComponent input, Mapper mapper, MotorModule... modules) { + Input defaultInput; + + public DriveTrain(Input input, Mapper mapper, MotorModule... modules) { super(input, mapper, modules); + defaultInput = input; + } + + public void setDefaultInput() { + setInput(defaultInput); + } + + public int[] getEncoderValues() { + ArrayList modules = getModules(); + int[] values = new int[modules.size()]; + for (int i = 0; i < values.length; i++) { + values[i] = modules.get(i).getEncoder().getTicks(); + } + return values; } - public DriveTrain setInput(InputComponent input) { - this.input = input; - return this; + public int[] getRightEncoderValues() { + ArrayList modules = getModules(); + int total = 0; + for (MotorModule m : modules) { + if (m.getOffset().getX() > 0) { + total++; + } + } + int[] values = new int[total]; + for (int i = 0; i < values.length; i++) { + if (modules.get(i).getOffset().getX() > 0) { + values[i] = modules.get(i).getEncoder().getTicks(); + } + } + return values; } - public DriveTrain setMapper(Mapper mapper) { - this.mapper = mapper; - return this; + public int[] getLeftEncoderValues() { + ArrayList modules = getModules(); + int total = 0; + for (MotorModule m : modules) { + if (m.getOffset().getX() < 0) { + total++; + } + } + int[] values = new int[total]; + for (int i = 0; i < values.length; i++) { + if (modules.get(i).getOffset().getX() < 0) { + values[i] = modules.get(i).getEncoder().getTicks(); + } + } + return values; } } diff --git a/src/main/java/org/montclairrobotics/alloy/drive/TankDrive.java b/src/main/java/org/montclairrobotics/alloy/drive/TankDrive.java index 350535e..ad42e97 100644 --- a/src/main/java/org/montclairrobotics/alloy/drive/TankDrive.java +++ b/src/main/java/org/montclairrobotics/alloy/drive/TankDrive.java @@ -31,7 +31,7 @@ public TankDrive(InputComponent input, MotorModule... modules) { super(input, new TankMapper(), modules); } - public TankDrive(MotorModule ... modules){ + public TankDrive(MotorModule... modules) { this(null, modules); } } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java index 12dcf39..f76f548 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCMotor.java @@ -103,7 +103,7 @@ public boolean getInverted() { public Encoder getEncoder() { return new Encoder() { @Override - public int getTicks() { + public int getRawTicks() { return motor.getCurrentPosition(); } }; diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index 97149ad..a667d80 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -208,7 +208,7 @@ public Mode getRunmode() { public Encoder getEncoder() { return new Encoder() { @Override - public int getTicks() { + public int getRawTicks() { return getPosition(); } }; diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java index 840a5b1..f676b2f 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorGroup.java @@ -26,8 +26,8 @@ of this software and associated documentation files (the "Software"), to deal import java.util.ArrayList; import java.util.Arrays; import org.montclairrobotics.alloy.components.Component; -import org.montclairrobotics.alloy.components.InputComponent; import org.montclairrobotics.alloy.update.Update; +import org.montclairrobotics.alloy.utils.Input; /** * A motor group is a group of motor modules that run together @@ -43,15 +43,15 @@ of this software and associated documentation files (the "Software"), to deal public class MotorGroup extends Component { /** The mapper that will be used for power assignment and calculation */ - public Mapper mapper; + private Mapper mapper; /** The modules contained in the motor group */ - public ArrayList modules; + private ArrayList modules; /** The control input for the motor group */ - public InputComponent input; + private Input input; - public MotorGroup(InputComponent input, Mapper mapper, MotorModule... modules) { + public MotorGroup(Input input, Mapper mapper, MotorModule... modules) { this.input = input; this.mapper = mapper; this.modules = (ArrayList) Arrays.asList(modules); @@ -63,7 +63,7 @@ public MotorGroup(InputComponent input, Mapper mapper, MotorModule... modules) { * @param input * @param modules */ - public MotorGroup(InputComponent input, MotorModule... modules) { + public MotorGroup(Input input, MotorModule... modules) { this(input, new DefaultMapper(), modules); } @@ -71,4 +71,24 @@ public MotorGroup(InputComponent input, MotorModule... modules) { public void controlPower() { mapper.map(input, modules.toArray(new MotorModule[modules.size()])); } + + public Mapper getMapper() { + return mapper; + } + + public void setMapper(Mapper mapper) { + this.mapper = mapper; + } + + public Input getInput() { + return input; + } + + public void setInput(Input input) { + this.input = input; + } + + public ArrayList getModules() { + return modules; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java index b3eae92..72567af 100644 --- a/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java +++ b/src/main/java/org/montclairrobotics/alloy/motor/MotorModule.java @@ -30,7 +30,9 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.components.Step; import org.montclairrobotics.alloy.core.Encoder; import org.montclairrobotics.alloy.core.Motor; +import org.montclairrobotics.alloy.exceptions.InvalidConfigurationException; import org.montclairrobotics.alloy.update.Update; +import org.montclairrobotics.alloy.utils.BangBang; import org.montclairrobotics.alloy.utils.ConstantInput; import org.montclairrobotics.alloy.utils.ErrorCorrection; import org.montclairrobotics.alloy.vector.Vector; @@ -53,24 +55,41 @@ of this software and associated documentation files (the "Software"), to deal */ public class MotorModule extends Component { /** The motors that the module will control */ - public ArrayList motors; + private ArrayList motors; /** The direction that the modules run for use in a motor group */ - public Vector direction; + private Vector direction; /** the position of the motor, relative to the center of the motor group */ - public Vector offset; + private Vector offset; /** An error correction that will control the power */ - public ErrorCorrection powerControl; + private ErrorCorrection powerControl; /** The encoder that keeps track of the position and controls the motors */ - public Encoder encoder; + private Encoder encoder; /** how fast the module should be running */ - public double targetPower; + private double targetPower; - public InputComponent modifier; + /** + * An input component, that takes in the motor input, and runs it to the output (setting the + * motor powers) this way, steps can be added to this modifier, and the input of the module can + * be changed + */ + private InputComponent modifier; + + /** True when the module is being set to a position */ + private boolean toPotsition = false; + + /** If running to a position, the target position the motor will aim to go to */ + private double targetPosition; + + /** Error Corrector to get to the right position */ + private ErrorCorrection positionCorrection; + + /** How fast the motors move when they are having their position be set */ + private double movementSpeed; /** * Create a fully functioning motor module @@ -99,6 +118,10 @@ public MotorModule( } modifier = new InputComponent() {}; + + positionCorrection = new BangBang(1); + + positionCorrection.setInput(encoder); } /** @@ -134,14 +157,28 @@ public MotorModule setErrorCorrection(ErrorCorrection powerControl) { return this; } + public MotorModule setPositionCorrection(ErrorCorrection positionCorrection) { + this.positionCorrection = positionCorrection; + return this; + } + @Update public void powerCorrection() { if (status.isEnabled()) { // Check if its enabled - for (Motor m : motors) { - if (powerControl != null) { - m.setMotorPower(targetPower + powerControl.getCorrection()); - } else { - m.setMotorPower(targetPower); + if (!toPotsition) { // Manual operation + for (Motor m : motors) { + if (powerControl != null) { + m.setMotorPower(targetPower + powerControl.getCorrection()); + } else { + m.setMotorPower(targetPower); + } + } + } else { // Autonomous operation + for (Motor m : motors) { + if (encoder == null) + throw new InvalidConfigurationException( + "Modules must have an encoder to set their position"); + m.setMotorPower(positionCorrection.getCorrection() * movementSpeed); } } } else { // If disabled, set the power to 0 @@ -161,6 +198,16 @@ public void setPower(double power) { modifier.applySteps(); targetPower = modifier.get(); powerControl.setTarget(modifier.get()); + toPotsition = false; + } + + public void setMovementSpeed(double speed) { + this.movementSpeed = speed; + } + + public void setTargetPosition(double targetPosition) { + positionCorrection.setTarget(targetPosition); + toPotsition = true; } public MotorModule setPowerModifier(InputComponent modifier) { @@ -181,6 +228,8 @@ public void disableAction() { } } + // Autonomous operation + /** @return the motor arraylist in the module */ public ArrayList getMotors() { return motors; @@ -215,4 +264,16 @@ public InputComponent getModifier() { public Vector getOffset() { return offset; } + + public boolean atTargetPosition(double tolerance) { + return Math.abs(encoder.getTicks() - targetPosition) < tolerance; + } + + public void toPosition() { + toPotsition = true; + } + + public void usingPower() { + toPotsition = false; + } } diff --git a/src/main/java/org/montclairrobotics/alloy/test/IntakeMapper.java b/src/main/java/org/montclairrobotics/alloy/test/IntakeMapper.java index f0e49a5..1dc7e68 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/IntakeMapper.java +++ b/src/main/java/org/montclairrobotics/alloy/test/IntakeMapper.java @@ -32,10 +32,10 @@ public class IntakeMapper implements Mapper { @Override public void map(Vector input, MotorModule... modules) { for (MotorModule m : modules) { - if (m.offset.getX() > 0) { - m.setPower((input.getY() + input.getX()) * Utils.sign(m.direction.getY())); + if (m.getOffset().getX() > 0) { + m.setPower((input.getY() + input.getX()) * Utils.sign(m.getDirection().getY())); } else { - m.setPower((input.getY() - input.getX()) * Utils.sign(m.direction.getY())); + m.setPower((input.getY() - input.getX()) * Utils.sign(m.getDirection().getY())); } } } diff --git a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java index bf413ad..e994a9f 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java +++ b/src/main/java/org/montclairrobotics/alloy/test/TestRobot.java @@ -72,7 +72,6 @@ public class TestRobot extends Alloy { InputComponent intakeController; InputComponent driveStick; - @Override public void robotSetup() { @@ -82,10 +81,10 @@ public void robotSetup() { // Create Drivetrain Modules (wheels) // By making it a tank drive, we use the default tank drive mapper - DriveTrain dt = new TankDrive( - new MotorModule(new XY(1, 0), d_rightFront, d_rightBack), - new MotorModule(new XY(-1, 0), d_leftFront, d_leftBack) - ); + DriveTrain dt = + new TankDrive( + new MotorModule(new XY(1, 0), d_rightFront, d_rightBack), + new MotorModule(new XY(-1, 0), d_leftFront, d_leftBack)); // Create the Drivetrain input driveStick = new FTCJoystick(RobotCore.getGamepad1(), FTCJoystick.Side.RIGHT); @@ -96,7 +95,6 @@ public void robotSetup() { // Set the Drivetrain Input dt.setInput(driveStick); - // ============================================================================================================= // EXAMPLE INTAKE SETUP // ============================================================================================================= @@ -111,16 +109,24 @@ public void robotSetup() { // Get the encoders from the motors Encoder intakeRightEncoder = - rightIntakeMotor.getEncoder().setMaxSpeed(100).setDistancePerTick(30); // These 100, and 30, are experimental values + rightIntakeMotor + .getEncoder() + .setMaxSpeed(100) + .setDistancePerTick(30); // These 100, and 30, are experimental values Encoder intakeLeftEncoder = rightIntakeMotor.getEncoder().setMaxSpeed(100).setDistancePerTick(30); // Define the right and left modules - MotorModule intakeRightSide = new MotorModule(new XY(0, 1), intakeRightEncoder, motorCorrection, rightIntakeMotor); - MotorModule intakeLeftSide = new MotorModule(new XY(0, 1), intakeLeftEncoder, motorCorrection, leftIntakeMotor); + MotorModule intakeRightSide = + new MotorModule( + new XY(0, 1), intakeRightEncoder, motorCorrection, rightIntakeMotor); + MotorModule intakeLeftSide = + new MotorModule(new XY(0, 1), intakeLeftEncoder, motorCorrection, leftIntakeMotor); // Create the intake - intake = new MotorGroup(intakeController, new IntakeMapper(), intakeRightSide, intakeLeftSide); + intake = + new MotorGroup( + intakeController, new IntakeMapper(), intakeRightSide, intakeLeftSide); } @Override diff --git a/src/main/java/org/montclairrobotics/alloy/vector/Polar.java b/src/main/java/org/montclairrobotics/alloy/vector/Polar.java index 66b3397..a3e3a6b 100644 --- a/src/main/java/org/montclairrobotics/alloy/vector/Polar.java +++ b/src/main/java/org/montclairrobotics/alloy/vector/Polar.java @@ -43,7 +43,7 @@ public class Polar implements Vector { public Polar(double magnitude, Angle angle) { this.magnitude = magnitude; - this.angle = angle; + this.angle = angle; } /** From 1c0271a5ee3fd581423d049be358a4ea019c8d06 Mon Sep 17 00:00:00 2001 From: GarrettBurroughs Date: Sun, 7 Oct 2018 11:31:26 -0400 Subject: [PATCH 32/54] added autonomous features and samples --- README.md | 8 +-- .../alloy/auto/AlloyAutonomous.java | 24 +++++++ .../alloy/auto/SimpleAutonomous.java | 5 +- .../alloy/auto/States/ConditionalState.java | 64 +++++++++++++++++++ .../alloy/auto/States/Turn.java | 4 +- .../alloy/test/SquareAuto.java | 31 +++++++++ 6 files changed, 125 insertions(+), 11 deletions(-) create mode 100644 src/main/java/org/montclairrobotics/alloy/auto/States/ConditionalState.java create mode 100644 src/main/java/org/montclairrobotics/alloy/test/SquareAuto.java diff --git a/README.md b/README.md index 2f5e761..10c617b 100644 --- a/README.md +++ b/README.md @@ -1,19 +1,14 @@ -<<<<<<< HEAD -# Alloy  [![Build Status](https://travis-ci.org/GarrettBurroughs/Alloy.svg?branch=master)](https://travis-ci.org/GarrettBurroughs/Alloy) [![CodeFactor](https://www.codefactor.io/repository/github/garrettburroughs/alloy/badge)](https://www.codefactor.io/repository/github/garrettburroughs/alloy) -======= # Alloy  [![Build Status](https://travis-ci.org/GarrettBurroughs/Alloy.svg?branch=master)](https://travis-ci.org/GarrettBurroughs/Alloy) [![CodeFactor](https://www.codefactor.io/repository/github/garrettburroughs/alloy/badge)](https://www.codefactor.io/repository/github/garrettburroughs/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) ->>>>>>> c6acf51e58c6fa9fea0d80aa10012c6112d66195 ![AlloyLogo](http://gdurl.com/AFl8) Status: **Beta** -<<<<<<< HEAD Alloy is a robot framework designed specifically for the First Tech Challenge (FTC). Alloy is based off the FRC robot framework [Sprocket](https://github.com/MontclairRobotics/Sprocket), but redesigned to abstract away the more complex ideas but still allow for advanced robot functionality. -======= + Note: Alloy is still under heavy development, and not ready or suggested for use in creating a robot Developed by FTC147 and FRC555 @@ -72,4 +67,3 @@ easier debugging, and updateable methods. But again, all of this can be done wit A. If you have a problem first see our [Troubleshooting guide](https://github.com/GarrettBurroughs/Alloy/wiki/Troubleshooting-Guide). If that does not fix your problem you can file an [Issue](https://github.com/GarrettBurroughs/Alloy/issues/new) using our issue template, please provide as much information as possible so we can fully understand the probelm and fix the issue. ->>>>>>> c6acf51e58c6fa9fea0d80aa10012c6112d66195 diff --git a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java index dc852a6..118f4b1 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java @@ -25,7 +25,14 @@ of this software and associated documentation files (the "Software"), to deal import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.util.ElapsedTime; +import java.lang.reflect.InvocationTargetException; +import java.lang.reflect.Modifier; +import java.util.Set; + +import org.montclairrobotics.alloy.core.Alloy; import org.montclairrobotics.alloy.core.RobotCore; +import org.reflections.Reflections; +import org.reflections.scanners.SubTypesScanner; /** * Created by MHS Robotics on 12/5/2017. @@ -44,6 +51,7 @@ of this software and associated documentation files (the "Software"), to deal * @since 0.1 */ public abstract class AlloyAutonomous extends OpMode { + /** Keeps track of when the auto mode is running (True after started and before finished) */ boolean running; @@ -75,6 +83,22 @@ public void start() { */ @Override public void init() { + Reflections reflections = new Reflections(new SubTypesScanner()); + Set> robots = reflections.getSubTypesOf(Alloy.class); + for (Class robot : robots) { + try { + if (!Modifier.isAbstract(robot.getMethod("robotSetup").getModifiers()) + || robot.getMethod("robotSetup") == null) { + robot.getMethod("robotSetup").invoke(robot.newInstance()); + } + } catch (NoSuchMethodException + | IllegalAccessException + | InstantiationException + | InvocationTargetException e) { + e.printStackTrace(); + } + } + new RobotCore(telemetry, hardwareMap, gamepad1, gamepad2); setup(); } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java index a45f712..a835db1 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java @@ -25,6 +25,7 @@ of this software and associated documentation files (the "Software"), to deal import org.montclairrobotics.alloy.auto.States.Drive; import org.montclairrobotics.alloy.auto.States.Turn; +import org.montclairrobotics.alloy.vector.Angle; /** * Created by MHS Robotics on 1/26/2018. @@ -45,7 +46,7 @@ public void drive(double speed, double distance) { auto.addState(new Drive(speed, distance)); } - public void turn(double speed, double degrees) { - auto.addState(new Turn(speed, degrees)); + public void turn(double speed, Angle angle) { + auto.addState(new Turn(speed, angle)); } } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/States/ConditionalState.java b/src/main/java/org/montclairrobotics/alloy/auto/States/ConditionalState.java new file mode 100644 index 0000000..e3913d6 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/auto/States/ConditionalState.java @@ -0,0 +1,64 @@ +package org.montclairrobotics.alloy.auto.States; + +import org.montclairrobotics.alloy.auto.State; +import org.montclairrobotics.alloy.utils.Input; + +/** + * A conditional state runs a state if the condition is true + * + * A conditional state takes in a boolean input, and evaluates it when the state starts. + * If the input is true when the state starts, the passed in state will execute. + */ +public class ConditionalState extends State { + /** + * The boolean input that will determine if the state is run + */ + Input condition; + + /** + * The state that will be run, if the input is true + */ + State state; + + /** + * A variable to keep track whether or not the state should be run + */ + boolean run; + + + public ConditionalState(Input condition, State state){ + this.condition = condition; + this.state = state; + } + + @Override + public void start() { + run = condition.get(); // Evaluate the condition + if(run){ + state.start(); + } + } + + @Override + public void run() { + if(run){ + state.run(); + } + } + + @Override + public void stop() { + if(run){ + state.stop(); + } + } + + @Override + public boolean isDone() { + if (run){ + return state.isDone(); + }else{ + return true; + } + } +} diff --git a/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java b/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java index fc260af..44c633c 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java @@ -57,9 +57,9 @@ public static void setTolerance(double tolerance) { Turn.tolerance = tolerance; } - public Turn(double speed, double degrees) { + public Turn(double speed, Angle angle) { this.speed = speed; - this.degrees = degrees; + this.degrees = angle.getDegrees(); driveTrain = Alloy.getDriveTrain(); } diff --git a/src/main/java/org/montclairrobotics/alloy/test/SquareAuto.java b/src/main/java/org/montclairrobotics/alloy/test/SquareAuto.java new file mode 100644 index 0000000..43b0e67 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/test/SquareAuto.java @@ -0,0 +1,31 @@ +package org.montclairrobotics.alloy.test; + +import org.montclairrobotics.alloy.auto.SimpleAutonomous; +import org.montclairrobotics.alloy.auto.States.Turn; +import org.montclairrobotics.alloy.vector.Angle; + +public class SquareAuto extends SimpleAutonomous { + + @Override + public void setup() { + Turn.setTicksPerDegree(10); // This is a dummy value, this value will need to be tested for + + /* + Keep in mind, even though states can be added like this, because they are created by methods inherited from + Simple autonomous, they are not actually run right here. + This means that you can not conditional add states here, for example + + if(sensor.value > 5){ + drive(1, 5); + } + a + would not work, because it would be reading the sensor value on startup. + If you want to run states conditionally, use ConditionalState + */ + for(int i = 0; i < 4; i++){ + // These functions come from SimpleAutonomous, they just add a new state to the state machine + drive(1, 100); + turn(1, new Angle(90)); + } + } +} From ee8e4de2859fcef6180b3787df8929b1d449a61a Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 14 Oct 2018 22:17:30 -0400 Subject: [PATCH 33/54] set up an artifactory repository --- .idea/compiler.xml | 2 + .idea/modules.xml | 3 +- .idea/modules/Frameworks-Alloy_main.iml | 25 +++++++++ .idea/modules/Frameworks-Alloy_test.iml | 29 ++++++++++ Alloy.iml | 2 +- build.gradle | 73 ++++++++++++++++++++++--- 6 files changed, 125 insertions(+), 9 deletions(-) create mode 100644 .idea/modules/Frameworks-Alloy_main.iml create mode 100644 .idea/modules/Frameworks-Alloy_test.iml diff --git a/.idea/compiler.xml b/.idea/compiler.xml index 3446932..0434dea 100644 --- a/.idea/compiler.xml +++ b/.idea/compiler.xml @@ -4,6 +4,8 @@ + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml index 9d7946a..4e06807 100644 --- a/.idea/modules.xml +++ b/.idea/modules.xml @@ -5,7 +5,8 @@ - + + \ No newline at end of file diff --git a/.idea/modules/Frameworks-Alloy_main.iml b/.idea/modules/Frameworks-Alloy_main.iml new file mode 100644 index 0000000..b41b665 --- /dev/null +++ b/.idea/modules/Frameworks-Alloy_main.iml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.idea/modules/Frameworks-Alloy_test.iml b/.idea/modules/Frameworks-Alloy_test.iml new file mode 100644 index 0000000..dd23334 --- /dev/null +++ b/.idea/modules/Frameworks-Alloy_test.iml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Alloy.iml b/Alloy.iml index fea8e87..ae37e13 100644 --- a/Alloy.iml +++ b/Alloy.iml @@ -1,5 +1,5 @@ - + diff --git a/build.gradle b/build.gradle index 4482cb7..15d6a66 100644 --- a/build.gradle +++ b/build.gradle @@ -1,24 +1,83 @@ +buildscript { + repositories { + maven { + url 'http://67.205.146.144:8081/artifactory/plugins-release' + credentials { + username = "${artifactory_user}" + password = "${artifactory_password}" + } + } + + } + dependencies { + //Check for the latest version here: http://plugins.gradle.org/plugin/com.jfrog.artifactory + classpath "org.jfrog.buildinfo:build-info-extractor-gradle:4.8.1" + } +} + +allprojects { + apply plugin: "com.jfrog.artifactory" +} + apply plugin: 'java' apply plugin: 'maven' +apply plugin: 'maven-publish' -group = 'Alloy' -version = '0.0.1-SNAPSHOT' +def snapshot = false + +group = 'org.montclairrobotics' +version = "0.0.1${snapshot ? "-SNAPSHOT" : ""}" description = """Alloy""" sourceCompatibility = 1.8 targetCompatibility = 1.8 - - repositories { - - maven { url "http://repo.maven.apache.org/maven2" } - + maven { url "http://repo.maven.apache.org/maven2" } + jcenter() } dependencies{ + testCompile 'junit:junit:4.12' compile fileTree(dir: "src/main/libs/", include: ['*.jar']) compile 'org.reflections:reflections:0.9.11' } + + +publishing { + publications { + Alloy(MavenPublication) { + from components.java + } + } +} + + +artifactory { + contextUrl = "${artifactory_contextUrl}" //The base Artifactory URL if not overridden by the publisher/resolver + publish { + repository { + repoKey = "libs-${snapshot ? "snapshot" : "release"}-local" + username = "${artifactory_user}" + password = "${artifactory_password}" + maven = true + + } + defaults{ + publications('Alloy') + publishPom = true + } + } + resolve { + repository { + repoKey = "libs-${snapshot ? "snapshot" : "release"}-local" + username = "${artifactory_user}" + password = "${artifactory_password}" + maven = true + + } + } +} + From d3a0b743f3f81552cb2158ea01a3e9db42cc36a1 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 14 Oct 2018 22:52:30 -0400 Subject: [PATCH 34/54] fixed global gradle properties problem --- build.gradle | 20 ++++++++------------ 1 file changed, 8 insertions(+), 12 deletions(-) diff --git a/build.gradle b/build.gradle index 8370a0e..aef76b9 100644 --- a/build.gradle +++ b/build.gradle @@ -1,13 +1,6 @@ buildscript { repositories { - maven { - url 'http://67.205.146.144:8081/artifactory/plugins-release' - credentials { - username = "${artifactory_user}" - password = "${artifactory_password}" - } - } - + jcenter() } dependencies { //Check for the latest version here: http://plugins.gradle.org/plugin/com.jfrog.artifactory @@ -25,6 +18,9 @@ allprojects { apply plugin: "com.jfrog.artifactory" } +def usr = hasProperty('artifactory_user') ? artifactory_user : System.getenv('artifactory_user') +def pwd = hasProperty('artifactory_password') ? artifactory_password : System.getenv('artifactory_password') + def snapshot = false @@ -76,8 +72,8 @@ artifactory { publish { repository { repoKey = "libs-${snapshot ? "snapshot" : "release"}-local" - username = "${artifactory_user}" - password = "${artifactory_password}" + username = "${usr}" + password = "${pwd}" maven = true } @@ -89,8 +85,8 @@ artifactory { resolve { repository { repoKey = "libs-${snapshot ? "snapshot" : "release"}-local" - username = "${artifactory_user}" - password = "${artifactory_password}" + username = "${usr}" + password = "${pwd}" maven = true } From c3f4d8d359da87e38e1a4c5e2c43e3215da51761 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 14 Oct 2018 22:55:16 -0400 Subject: [PATCH 35/54] fixed one more global variable --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index aef76b9..0291e6f 100644 --- a/build.gradle +++ b/build.gradle @@ -68,7 +68,7 @@ publishing { artifactory { - contextUrl = "${artifactory_contextUrl}" //The base Artifactory URL if not overridden by the publisher/resolver + contextUrl = "http://67.205.146.144:8081/artifactory" //The base Artifactory URL if not overridden by the publisher/resolver publish { repository { repoKey = "libs-${snapshot ? "snapshot" : "release"}-local" From 9507116175623125be1cda62357c10759a4b197c Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 16 Dec 2018 10:32:46 -0500 Subject: [PATCH 36/54] Delete accidentally committed file --- components | 0 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 components diff --git a/components b/components deleted file mode 100644 index e69de29..0000000 From 558b26cba3180090303bd1cae4616cacd48a0644 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Thu, 24 Jan 2019 16:51:08 -0500 Subject: [PATCH 37/54] Fixed Merge conflicts and Removed InvalidParameterException --- .../Exceptions/InvalidParameterException.java | 32 ------------------- .../montclairrobotics/alloy/auto/README.md | 3 -- 2 files changed, 35 deletions(-) delete mode 100644 src/main/java/org/montclairrobotics/alloy/Exceptions/InvalidParameterException.java diff --git a/src/main/java/org/montclairrobotics/alloy/Exceptions/InvalidParameterException.java b/src/main/java/org/montclairrobotics/alloy/Exceptions/InvalidParameterException.java deleted file mode 100644 index 275c9a5..0000000 --- a/src/main/java/org/montclairrobotics/alloy/Exceptions/InvalidParameterException.java +++ /dev/null @@ -1,32 +0,0 @@ -/* -MIT License - -Copyright (c) 2018 Garrett Burroughs - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. -*/ -package org.montclairrobotics.alloy.Exceptions; - -/** - * Created by MHS Robotics on 1/26/2018. - * - * @author Garrett Burroughs - * @since - */ -public class InvalidParameterException extends Exception {} diff --git a/src/main/java/org/montclairrobotics/alloy/auto/README.md b/src/main/java/org/montclairrobotics/alloy/auto/README.md index da57b95..c6c4e6c 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/README.md +++ b/src/main/java/org/montclairrobotics/alloy/auto/README.md @@ -17,9 +17,6 @@ when they have finished running 3. Alloy Autonomus - This is the basic framework for alloy auto's. An alloy autonomous takes care of running the state machine
                                                            that the auto is using so all the user has to do is create the state machine and define functionality. You can read more about how to use an Alloy Autonomous [Here](https://github.com/GarrettBurroughs/Alloy/wiki/Creating-An-Auto-Mode) -<<<<<<< HEAD 4. Simple Autonomous - A simple autonomous mode further abstracts away auto mode creation allowing for command like auto mode programming. You can read more about how to use a Simple autonomous [Here](https://github.com/GarrettBurroughs/Alloy/wiki/Creating-An-Auto-Mode) -======= ->>>>>>> c6acf51e58c6fa9fea0d80aa10012c6112d66195 From 37412c624058eb918b6bf77ca47c9b022feb9394 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Thu, 24 Jan 2019 17:00:52 -0500 Subject: [PATCH 38/54] Updated Format and debugging for states --- .../alloy/auto/AlloyAutonomous.java | 1 - .../montclairrobotics/alloy/auto/State.java | 12 +++-- .../alloy/auto/StateMachine.java | 5 +- .../alloy/auto/States/ConditionalState.java | 54 ++++++++++++------- .../alloy/test/SquareAuto.java | 25 ++++++++- 5 files changed, 69 insertions(+), 28 deletions(-) diff --git a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java index 118f4b1..bacb5e9 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/AlloyAutonomous.java @@ -28,7 +28,6 @@ of this software and associated documentation files (the "Software"), to deal import java.lang.reflect.InvocationTargetException; import java.lang.reflect.Modifier; import java.util.Set; - import org.montclairrobotics.alloy.core.Alloy; import org.montclairrobotics.alloy.core.RobotCore; import org.reflections.Reflections; diff --git a/src/main/java/org/montclairrobotics/alloy/auto/State.java b/src/main/java/org/montclairrobotics/alloy/auto/State.java index 5035059..d19ef5f 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/State.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/State.java @@ -37,9 +37,9 @@ of this software and associated documentation files (the "Software"), to deal */ public abstract class State { - Integer nextState = null; - String debug = "Running State: "; - String description = "None"; + private Integer nextState = null; + protected String debug = "Running State: "; + protected String description = "None"; /** The start method is the first thing called when the state is run */ public abstract void start(); @@ -80,6 +80,10 @@ public int getNextState(int currentState) { * @return debug information about the state */ public String debugInfo(int currentState) { - return debug + currentState + "\n Description" + description; + return debug + currentState; + } + + public String verboseDebug() { + return description; } } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java index 8048121..fd28ca4 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java @@ -136,9 +136,8 @@ public void run() { } stateStarted = false; // The next state has not started yet. } - Component.debugger.test( - name + " | State: " + state, - currentState.debugInfo(state)); // Debug info about the state + Component.debugger.test(name + " | State: ", state); // Debug info about the state + Component.debugger.debug(currentState.debugInfo(state), currentState.verboseDebug()); } /** When the state machine is finished, read out it has finished */ diff --git a/src/main/java/org/montclairrobotics/alloy/auto/States/ConditionalState.java b/src/main/java/org/montclairrobotics/alloy/auto/States/ConditionalState.java index e3913d6..d92e0a4 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/States/ConditionalState.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/States/ConditionalState.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2019 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.auto.States; import org.montclairrobotics.alloy.auto.State; @@ -6,27 +29,20 @@ /** * A conditional state runs a state if the condition is true * - * A conditional state takes in a boolean input, and evaluates it when the state starts. - * If the input is true when the state starts, the passed in state will execute. + *

                                                            A conditional state takes in a boolean input, and evaluates it when the state starts. If the + * input is true when the state starts, the passed in state will execute. */ -public class ConditionalState extends State { - /** - * The boolean input that will determine if the state is run - */ +public class ConditionalState extends State { + /** The boolean input that will determine if the state is run */ Input condition; - /** - * The state that will be run, if the input is true - */ + /** The state that will be run, if the input is true */ State state; - /** - * A variable to keep track whether or not the state should be run - */ + /** A variable to keep track whether or not the state should be run */ boolean run; - - public ConditionalState(Input condition, State state){ + public ConditionalState(Input condition, State state) { this.condition = condition; this.state = state; } @@ -34,30 +50,30 @@ public ConditionalState(Input condition, State state){ @Override public void start() { run = condition.get(); // Evaluate the condition - if(run){ + if (run) { state.start(); } } @Override public void run() { - if(run){ + if (run) { state.run(); } } @Override public void stop() { - if(run){ + if (run) { state.stop(); } } @Override public boolean isDone() { - if (run){ + if (run) { return state.isDone(); - }else{ + } else { return true; } } diff --git a/src/main/java/org/montclairrobotics/alloy/test/SquareAuto.java b/src/main/java/org/montclairrobotics/alloy/test/SquareAuto.java index 43b0e67..728af90 100644 --- a/src/main/java/org/montclairrobotics/alloy/test/SquareAuto.java +++ b/src/main/java/org/montclairrobotics/alloy/test/SquareAuto.java @@ -1,3 +1,26 @@ +/* +MIT License + +Copyright (c) 2019 Garrett Burroughs + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ package org.montclairrobotics.alloy.test; import org.montclairrobotics.alloy.auto.SimpleAutonomous; @@ -22,7 +45,7 @@ public void setup() { would not work, because it would be reading the sensor value on startup. If you want to run states conditionally, use ConditionalState */ - for(int i = 0; i < 4; i++){ + for (int i = 0; i < 4; i++) { // These functions come from SimpleAutonomous, they just add a new state to the state machine drive(1, 100); turn(1, new Angle(90)); From b62483bd51d7a60c680d4e26dcdb78f619d7dd31 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Thu, 24 Jan 2019 17:04:27 -0500 Subject: [PATCH 39/54] Updated Description and debug info for state machines --- .../alloy/auto/StateMachine.java | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java index fd28ca4..973d063 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java @@ -88,14 +88,26 @@ public StateMachine(String name, int finalState, State... states) { this.name = name; this.states = new ArrayList<>(Arrays.asList(states)); this.finalState = finalState; - description = "A state machine"; + description = ""; } + public StateMachine(State ... states){ + this("State Machine", 0, states); + } + public StateMachine(String name, String description, int finalState, State... states) { this(name, finalState, states); super.description = description; } - + + public void setFinalState(Integer finalState) { + this.finalState = finalState; + } + + public void setName(String name) { + this.name = name; + } + /** Read out that the state has started and reset the timer */ @Override public void start() { From f7efc987f10651bce5df66d061e387b14d2f9d5d Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Thu, 24 Jan 2019 17:07:55 -0500 Subject: [PATCH 40/54] Updated Simple Autonomous --- .../alloy/auto/SimpleAutonomous.java | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java index a835db1..81e4f4c 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java @@ -23,8 +23,10 @@ of this software and associated documentation files (the "Software"), to deal */ package org.montclairrobotics.alloy.auto; +import org.montclairrobotics.alloy.auto.States.ConditionalState; import org.montclairrobotics.alloy.auto.States.Drive; import org.montclairrobotics.alloy.auto.States.Turn; +import org.montclairrobotics.alloy.utils.Input; import org.montclairrobotics.alloy.vector.Angle; /** @@ -43,10 +45,18 @@ public class SimpleAutonomous extends AlloyAutonomous { public void setup() {} public void drive(double speed, double distance) { - auto.addState(new Drive(speed, distance)); + addState(new Drive(speed, distance)); } public void turn(double speed, Angle angle) { - auto.addState(new Turn(speed, angle)); + addState(new Turn(speed, angle)); + } + + public void contition(Input condition, State state){ + addState(new ConditionalState(condition, state)); + } + + public void addState(State state){ + auto.addState(state); } } From 232fccb4de169ef85ab4bf63310c697164e47360 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Thu, 24 Jan 2019 17:22:02 -0500 Subject: [PATCH 41/54] Updated Javadocs and fixed some formatting --- .idea/misc.xml | 18 + docs/javadoc/allclasses-frame.html | 9 +- docs/javadoc/allclasses-noframe.html | 9 +- docs/javadoc/constant-values.html | 6 +- docs/javadoc/deprecated-list.html | 6 +- docs/javadoc/help-doc.html | 10 +- docs/javadoc/index-files/index-1.html | 18 +- docs/javadoc/index-files/index-10.html | 6 +- docs/javadoc/index-files/index-11.html | 6 +- docs/javadoc/index-files/index-12.html | 10 +- docs/javadoc/index-files/index-13.html | 24 +- docs/javadoc/index-files/index-14.html | 10 +- docs/javadoc/index-files/index-15.html | 12 +- docs/javadoc/index-files/index-16.html | 10 +- docs/javadoc/index-files/index-17.html | 18 +- docs/javadoc/index-files/index-18.html | 73 +++- docs/javadoc/index-files/index-19.html | 26 +- docs/javadoc/index-files/index-2.html | 6 +- docs/javadoc/index-files/index-20.html | 13 +- docs/javadoc/index-files/index-21.html | 8 +- docs/javadoc/index-files/index-22.html | 6 +- docs/javadoc/index-files/index-23.html | 6 +- docs/javadoc/index-files/index-24.html | 6 +- docs/javadoc/index-files/index-3.html | 14 +- docs/javadoc/index-files/index-4.html | 28 +- docs/javadoc/index-files/index-5.html | 10 +- docs/javadoc/index-files/index-6.html | 6 +- docs/javadoc/index-files/index-7.html | 31 +- docs/javadoc/index-files/index-8.html | 6 +- docs/javadoc/index-files/index-9.html | 22 +- docs/javadoc/index.html | 2 +- .../alloy/auto/AlloyAutonomous.html | 181 +++++++- .../alloy/auto/SimpleAutonomous.html | 394 +++++++++++++++++ .../montclairrobotics/alloy/auto/State.html | 135 +++++- .../alloy/auto/StateMachine.html | 158 +++++-- .../alloy/auto/States/ConditionalState.html | 375 ++++++++++++++++ .../alloy/auto/States/Drive.html | 401 +++++++++++++++++ .../alloy/auto/States/Turn.html | 402 ++++++++++++++++++ .../alloy/auto/States/package-frame.html | 22 + .../alloy/auto/States/package-summary.html | 154 +++++++ .../alloy/auto/States/package-tree.html | 141 ++++++ .../alloy/auto/package-frame.html | 5 +- .../alloy/auto/package-summary.html | 18 +- .../alloy/auto/package-tree.html | 16 +- .../alloy/components/Component.html | 10 +- .../alloy/components/InputComponent.html | 10 +- .../alloy/components/Step.html | 10 +- .../alloy/components/package-frame.html | 4 +- .../alloy/components/package-summary.html | 10 +- .../alloy/components/package-tree.html | 10 +- .../alloy/control/ButtonAction.html | 10 +- .../alloy/control/ToggleButton.html | 10 +- .../alloy/control/package-frame.html | 4 +- .../alloy/control/package-summary.html | 6 +- .../alloy/control/package-tree.html | 6 +- .../montclairrobotics/alloy/core/Alloy.html | 10 +- .../montclairrobotics/alloy/core/Button.html | 10 +- .../montclairrobotics/alloy/core/Debug.html | 10 +- .../alloy/core/Debugger.Level.html | 8 +- .../alloy/core/Debugger.html | 43 +- .../montclairrobotics/alloy/core/Encoder.html | 71 +++- .../alloy/core/Joystick.html | 10 +- .../montclairrobotics/alloy/core/Mode.html | 10 +- .../montclairrobotics/alloy/core/Motor.html | 10 +- .../alloy/core/RobotCore.html | 10 +- .../alloy/core/TargetMotor.html | 10 +- .../alloy/core/package-frame.html | 4 +- .../alloy/core/package-summary.html | 6 +- .../alloy/core/package-tree.html | 8 +- .../alloy/drive/DTInput.html | 10 +- .../alloy/drive/DTMapper.html | 10 +- .../alloy/drive/DriveModule.html | 19 +- .../alloy/drive/DriveTrain.html | 75 ++-- .../alloy/drive/TankDrive.html | 35 +- .../alloy/drive/TankMapper.html | 10 +- .../alloy/drive/package-frame.html | 4 +- .../alloy/drive/package-summary.html | 6 +- .../alloy/drive/package-tree.html | 6 +- .../InvalidConfigurationException.html | 6 +- .../alloy/exceptions/UpdateException.html | 6 +- .../alloy/exceptions/package-frame.html | 4 +- .../alloy/exceptions/package-summary.html | 6 +- .../alloy/exceptions/package-tree.html | 6 +- .../alloy/ftc/FTCButton.html | 10 +- .../alloy/ftc/FTCDebugger.html | 10 +- .../alloy/ftc/FTCJoystick.Side.html | 6 +- .../alloy/ftc/FTCJoystick.html | 10 +- .../montclairrobotics/alloy/ftc/FTCMotor.html | 10 +- .../alloy/ftc/FTCTargetMotor.html | 12 +- .../alloy/ftc/package-frame.html | 4 +- .../alloy/ftc/package-summary.html | 6 +- .../alloy/ftc/package-tree.html | 6 +- .../alloy/motor/DefaultMapper.html | 6 +- .../montclairrobotics/alloy/motor/Mapper.html | 10 +- .../alloy/motor/MotorGroup.html | 158 +++---- .../alloy/motor/MotorModule.html | 248 +++++------ .../alloy/motor/package-frame.html | 4 +- .../alloy/motor/package-summary.html | 6 +- .../alloy/motor/package-tree.html | 6 +- .../alloy/steps/Deadzone.html | 10 +- .../alloy/steps/VectorDeadzone.html | 10 +- .../alloy/steps/package-frame.html | 4 +- .../alloy/steps/package-summary.html | 6 +- .../alloy/steps/package-tree.html | 6 +- .../alloy/test/IntakeMapper.html | 10 +- .../alloy/test/SquareAuto.html | 335 +++++++++++++++ .../alloy/test/TestRobot.html | 10 +- .../alloy/test/package-frame.html | 5 +- .../alloy/test/package-summary.html | 10 +- .../alloy/test/package-tree.html | 15 +- .../alloy/update/Update.html | 10 +- .../alloy/update/Updateable.html | 8 +- .../alloy/update/Updater.html | 8 +- .../alloy/update/package-frame.html | 4 +- .../alloy/update/package-summary.html | 6 +- .../alloy/update/package-tree.html | 6 +- .../alloy/utils/BangBang.html | 10 +- .../alloy/utils/BooleanToggle.html | 10 +- .../alloy/utils/ConstantInput.html | 10 +- .../alloy/utils/Differential.html | 10 +- .../alloy/utils/ErrorCorrection.html | 8 +- .../alloy/utils/GyroCorrection.html | 10 +- .../alloy/utils/Initializeable.html | 10 +- .../montclairrobotics/alloy/utils/Input.html | 10 +- .../alloy/utils/Monitor.html | 8 +- .../montclairrobotics/alloy/utils/PID.html | 10 +- .../alloy/utils/Toggleable.Status.html | 6 +- .../alloy/utils/Toggleable.html | 8 +- .../alloy/utils/TuneablePID.html | 10 +- .../montclairrobotics/alloy/utils/Utils.html | 10 +- .../alloy/utils/package-frame.html | 4 +- .../alloy/utils/package-summary.html | 6 +- .../alloy/utils/package-tree.html | 6 +- .../montclairrobotics/alloy/vector/Angle.html | 10 +- .../montclairrobotics/alloy/vector/Polar.html | 10 +- .../alloy/vector/Vector.html | 10 +- .../montclairrobotics/alloy/vector/XY.html | 10 +- .../alloy/vector/package-frame.html | 4 +- .../alloy/vector/package-summary.html | 6 +- .../alloy/vector/package-tree.html | 6 +- docs/javadoc/overview-frame.html | 5 +- docs/javadoc/overview-summary.html | 32 +- docs/javadoc/overview-tree.html | 22 +- docs/javadoc/package-list | 1 + docs/javadoc/serialized-form.html | 6 +- .../alloy/auto/SimpleAutonomous.java | 8 +- .../alloy/auto/StateMachine.java | 10 +- .../alloy/auto/States/Turn.java | 2 +- .../alloy/core/Debugger.java | 2 + .../montclairrobotics/alloy/core/Encoder.java | 2 +- .../alloy/ftc/FTCTargetMotor.java | 2 +- 151 files changed, 3487 insertions(+), 1132 deletions(-) create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/SimpleAutonomous.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/States/ConditionalState.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/States/Drive.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/States/Turn.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/States/package-frame.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/States/package-summary.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/auto/States/package-tree.html create mode 100644 docs/javadoc/org/montclairrobotics/alloy/test/SquareAuto.html diff --git a/.idea/misc.xml b/.idea/misc.xml index 8ed5f34..692bd32 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -1,5 +1,23 @@ + + diff --git a/docs/javadoc/allclasses-frame.html b/docs/javadoc/allclasses-frame.html index cce8734..1614a93 100644 --- a/docs/javadoc/allclasses-frame.html +++ b/docs/javadoc/allclasses-frame.html @@ -2,9 +2,9 @@ - + All Classes - + @@ -20,6 +20,7 @@

                                                            All Classes

                                                          • Button
                                                          • ButtonAction
                                                          • Component
                                                            • +
                                                          • ConditionalState
                                                          • ConstantInput
                                                          • Deadzone
                                                          • Debug
                                                            • @@ -27,6 +28,7 @@

                                                            All Classes

                                                          • Debugger.Level
                                                          • DefaultMapper
                                                          • Differential
                                                            • +
                                                          • Drive
                                                          • DriveModule
                                                          • DriveTrain
                                                          • DTInput
                                                            • @@ -55,6 +57,8 @@

                                                            All Classes

                                                          • PID
                                                          • Polar
                                                          • RobotCore
                                                            • +
                                                          • SimpleAutonomous
                                                            • +
                                                          • SquareAuto
                                                          • State
                                                          • StateMachine
                                                          • Step
                                                            • @@ -66,6 +70,7 @@

                                                            All Classes

                                                          • Toggleable.Status
                                                          • ToggleButton
                                                          • TuneablePID
                                                            • +
                                                          • Turn
                                                          • Update
                                                          • Updateable
                                                          • UpdateException
                                                            • diff --git a/docs/javadoc/allclasses-noframe.html b/docs/javadoc/allclasses-noframe.html index e40b0de..3daf2ce 100644 --- a/docs/javadoc/allclasses-noframe.html +++ b/docs/javadoc/allclasses-noframe.html @@ -2,9 +2,9 @@ - + All Classes - + @@ -20,6 +20,7 @@

                                                            All Classes

                                                          • Button
                                                          • ButtonAction
                                                          • Component
                                                            • +
                                                          • ConditionalState
                                                          • ConstantInput
                                                          • Deadzone
                                                          • Debug
                                                            • @@ -27,6 +28,7 @@

                                                            All Classes

                                                          • Debugger.Level
                                                          • DefaultMapper
                                                          • Differential
                                                            • +
                                                          • Drive
                                                          • DriveModule
                                                          • DriveTrain
                                                          • DTInput
                                                            • @@ -55,6 +57,8 @@

                                                            All Classes

                                                          • PID
                                                          • Polar
                                                          • RobotCore
                                                            • +
                                                          • SimpleAutonomous
                                                            • +
                                                          • SquareAuto
                                                          • State
                                                          • StateMachine
                                                          • Step
                                                            • @@ -66,6 +70,7 @@

                                                            All Classes

                                                          • Toggleable.Status
                                                          • ToggleButton
                                                          • TuneablePID
                                                            • +
                                                          • Turn
                                                          • Update
                                                          • Updateable
                                                          • UpdateException
                                                            • diff --git a/docs/javadoc/constant-values.html b/docs/javadoc/constant-values.html index b01d419..d6eeae3 100644 --- a/docs/javadoc/constant-values.html +++ b/docs/javadoc/constant-values.html @@ -2,9 +2,9 @@ - + Constant Field Values - + @@ -34,7 +34,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -85,7 +84,6 @@

                                                            Contents

                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/deprecated-list.html b/docs/javadoc/deprecated-list.html index 4224e63..8ccd240 100644 --- a/docs/javadoc/deprecated-list.html +++ b/docs/javadoc/deprecated-list.html @@ -2,9 +2,9 @@ - + Deprecated List - + @@ -34,7 +34,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -85,7 +84,6 @@

                                                            Contents

                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/help-doc.html b/docs/javadoc/help-doc.html index 4d11cf1..0532bcc 100644 --- a/docs/javadoc/help-doc.html +++ b/docs/javadoc/help-doc.html @@ -2,9 +2,9 @@ - + API Help - + @@ -34,7 +34,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -137,10 +136,6 @@

                                                            Enum

                                                          • -

                                                            Use

                                                            -

                                                            Each documented package, class and interface has its own Use page. This page describes what packages, classes, methods, constructors and fields use any part of the given class or package. Given a class or interface A, its Use page includes subclasses of A, fields declared as A, methods that return A, and methods and constructors with parameters of type A. You can access this page by first going to the package, class or interface, then clicking on the "Use" link in the navigation bar.

                                                            -
                                                            • -

                                                          • Tree (Class Hierarchy)

                                                            There is a Class Hierarchy page for all packages, plus a hierarchy for each package. Each hierarchy page contains a list of classes and a list of interfaces. The classes are organized by inheritance structure starting with java.lang.Object. The interfaces do not inherit from java.lang.Object.

                                                              @@ -190,7 +185,6 @@

                                                              Constant Field Values

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-1.html b/docs/javadoc/index-files/index-1.html index 2872e2b..fd7123b 100644 --- a/docs/javadoc/index-files/index-1.html +++ b/docs/javadoc/index-files/index-1.html @@ -2,9 +2,9 @@ - + A-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -95,8 +94,12 @@

                                                              A

                                                              Adds multiple debugs to the components, they will be debugged out every loop if debug mode is enabled
                                                              -
                                                              addState(State) - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                              addState(State) - Method in class org.montclairrobotics.alloy.auto.SimpleAutonomous
                                                               
                                                              +
                                                              addState(State) - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                              +
                                                              Adds a state to the state machine.
                                                              +
                                                              addStep(Step) - Method in class org.montclairrobotics.alloy.components.InputComponent
                                                              A daisy-chainable method that adds a step to the input component
                                                              @@ -144,6 +147,12 @@

                                                              A

                                                              Apply all of the steps, in order, taking the output of one step and passing it as the input to the next
                                                              +
                                                              atTargetPosition(double) - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              +
                                                               
                                                              +
                                                              auto - Variable in class org.montclairrobotics.alloy.auto.AlloyAutonomous
                                                              +
                                                              +
                                                              The actual auto mode that should be instantiated in setup
                                                              +
                                                              A B C D E F G H I J K L M N O P R S T U V W X Z  @@ -158,7 +167,6 @@

                                                              A

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-10.html b/docs/javadoc/index-files/index-10.html index 8cd70fa..d0917d1 100644 --- a/docs/javadoc/index-files/index-10.html +++ b/docs/javadoc/index-files/index-10.html @@ -2,9 +2,9 @@ - + J-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -92,7 +91,6 @@

                                                              J

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-11.html b/docs/javadoc/index-files/index-11.html index 61ce819..cd6a285 100644 --- a/docs/javadoc/index-files/index-11.html +++ b/docs/javadoc/index-files/index-11.html @@ -2,9 +2,9 @@ - + K-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -92,7 +91,6 @@

                                                              K

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-12.html b/docs/javadoc/index-files/index-12.html index 63ee5d2..cdc3325 100644 --- a/docs/javadoc/index-files/index-12.html +++ b/docs/javadoc/index-files/index-12.html @@ -2,9 +2,9 @@ - + L-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -79,7 +78,9 @@

                                                              L

                                                              Debugs a value if the level is lower than the current debug level
                                                              loop() - Method in class org.montclairrobotics.alloy.auto.AlloyAutonomous
                                                              -
                                                               
                                                              +
                                                              +
                                                              the Loop method takes care of running the state machine
                                                              +
                                                              loop() - Method in class org.montclairrobotics.alloy.core.Alloy
                                                               
                                                              lowOut - Variable in class org.montclairrobotics.alloy.utils.BangBang
                                                              @@ -98,7 +99,6 @@

                                                              L

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-13.html b/docs/javadoc/index-files/index-13.html index 39b5434..5238011 100644 --- a/docs/javadoc/index-files/index-13.html +++ b/docs/javadoc/index-files/index-13.html @@ -2,9 +2,9 @@ - + M-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -93,20 +92,10 @@

                                                              M

                                                              A mapper takes an input, and maps it to the set of motor modules
                                                              -
                                                              mapper - Variable in class org.montclairrobotics.alloy.motor.MotorGroup
                                                              -
                                                              -
                                                              The mapper that will be used for power assignment and calculation
                                                              -
                                                              Mode - Enum in org.montclairrobotics.alloy.core
                                                              All of the different running states that the robot can be in
                                                              -
                                                              modifier - Variable in class org.montclairrobotics.alloy.motor.MotorModule
                                                              -
                                                               
                                                              -
                                                              modules - Variable in class org.montclairrobotics.alloy.motor.MotorGroup
                                                              -
                                                              -
                                                              The modules contained in the motor group
                                                              -
                                                              Monitor - Class in org.montclairrobotics.alloy.utils
                                                              Created by MHS Robotics on 3/12/2018.
                                                              @@ -125,9 +114,9 @@

                                                              M

                                                              A motor group is a group of motor modules that run together
                                                              -
                                                              MotorGroup(InputComponent, Mapper, MotorModule...) - Constructor for class org.montclairrobotics.alloy.motor.MotorGroup
                                                              +
                                                              MotorGroup(Input, Mapper, MotorModule...) - Constructor for class org.montclairrobotics.alloy.motor.MotorGroup
                                                               
                                                              -
                                                              MotorGroup(InputComponent<Double>, MotorModule...) - Constructor for class org.montclairrobotics.alloy.motor.MotorGroup
                                                              +
                                                              MotorGroup(Input<Double>, MotorModule...) - Constructor for class org.montclairrobotics.alloy.motor.MotorGroup
                                                              Creates a motor group with a default mapper that simply
                                                              @@ -143,10 +132,6 @@

                                                              M

                                                              Create motor module without the use of an encoder
                                                              -
                                                              motors - Variable in class org.montclairrobotics.alloy.motor.MotorModule
                                                              -
                                                              -
                                                              The motors that the module will control
                                                              -
                                                              A B C D E F G H I J K L M N O P R S T U V W X Z  @@ -161,7 +146,6 @@

                                                              M

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-14.html b/docs/javadoc/index-files/index-14.html index 8dbdd49..4ba03cc 100644 --- a/docs/javadoc/index-files/index-14.html +++ b/docs/javadoc/index-files/index-14.html @@ -2,9 +2,9 @@ - + N-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -74,6 +73,10 @@

                                                              N

                                                              +
                                                              newState(State) - Method in class org.montclairrobotics.alloy.auto.AlloyAutonomous
                                                              +
                                                              +
                                                              A wrapper around the add state method to allow the user to add states to the auto mode
                                                              +
                                                              normalize() - Method in class org.montclairrobotics.alloy.vector.Polar
                                                              Normalizes a vector and returns the result
                                                              @@ -100,7 +103,6 @@

                                                              N

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-15.html b/docs/javadoc/index-files/index-15.html index 1a09737..cbd500f 100644 --- a/docs/javadoc/index-files/index-15.html +++ b/docs/javadoc/index-files/index-15.html @@ -2,9 +2,9 @@ - + O-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -74,10 +73,6 @@

                                                              O

                                                              -
                                                              offset - Variable in class org.montclairrobotics.alloy.motor.MotorModule
                                                              -
                                                              -
                                                              the position of the motor, relative to the center of the motor group
                                                              -
                                                              onPressed() - Method in class org.montclairrobotics.alloy.control.ButtonAction
                                                              On pressed is called once, when the button goes from being unpressed, to pressed
                                                              @@ -96,6 +91,8 @@

                                                              O

                                                              org.montclairrobotics.alloy.auto - package org.montclairrobotics.alloy.auto
                                                               
                                                              +
                                                              org.montclairrobotics.alloy.auto.States - package org.montclairrobotics.alloy.auto.States
                                                              +
                                                               
                                                              org.montclairrobotics.alloy.components - package org.montclairrobotics.alloy.components
                                                               
                                                              org.montclairrobotics.alloy.control - package org.montclairrobotics.alloy.control
                                                              @@ -150,7 +147,6 @@

                                                              O

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-16.html b/docs/javadoc/index-files/index-16.html index 2ab7d2c..439e13b 100644 --- a/docs/javadoc/index-files/index-16.html +++ b/docs/javadoc/index-files/index-16.html @@ -2,9 +2,9 @@ - + P-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -110,10 +109,6 @@

                                                              P

                                                              The power that the motor should be running at
                                                              -
                                                              powerControl - Variable in class org.montclairrobotics.alloy.motor.MotorModule
                                                              -
                                                              -
                                                              An error correction that will control the power
                                                              -
                                                              powerCorrection() - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                               
                                                              @@ -130,7 +125,6 @@

                                                              P

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-17.html b/docs/javadoc/index-files/index-17.html index 2a43895..a8dc5ac 100644 --- a/docs/javadoc/index-files/index-17.html +++ b/docs/javadoc/index-files/index-17.html @@ -2,9 +2,9 @@ - + R-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -76,6 +75,10 @@

                                                              R

                                                              registerUpdatables() - Static method in class org.montclairrobotics.alloy.update.Updater
                                                               
                                                              +
                                                              reset() - Method in class org.montclairrobotics.alloy.core.Encoder
                                                              +
                                                              +
                                                              soft reset the encoder, setting the current value as 0 ticks
                                                              +
                                                              RobotCore - Class in org.montclairrobotics.alloy.core
                                                              Stores all of the global robot objects, including telemetry, the hardware map, and gamepads
                                                              @@ -106,6 +109,14 @@

                                                              R

                                                              The run method is called every loop while the state is running
                                                              run() - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                              +
                                                              The run method takes care of actually running the states
                                                              +
                                                              +
                                                              run() - Method in class org.montclairrobotics.alloy.auto.States.ConditionalState
                                                              +
                                                               
                                                              +
                                                              run() - Method in class org.montclairrobotics.alloy.auto.States.Drive
                                                              +
                                                               
                                                              +
                                                              run() - Method in class org.montclairrobotics.alloy.auto.States.Turn
                                                               
                                                              run() - Method in class org.montclairrobotics.alloy.update.Updateable
                                                               
                                                              @@ -123,7 +134,6 @@

                                                              R

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-18.html b/docs/javadoc/index-files/index-18.html index 89469b6..823bd43 100644 --- a/docs/javadoc/index-files/index-18.html +++ b/docs/javadoc/index-files/index-18.html @@ -2,9 +2,9 @@ - + S-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -106,6 +105,8 @@

                                                              S

                                                              Set the debug level
                                                              +
                                                              setDefaultInput() - Method in class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                               
                                                              setDegrees(double) - Method in class org.montclairrobotics.alloy.vector.Angle
                                                              set the angle in degrees
                                                              @@ -114,6 +115,8 @@

                                                              S

                                                              Set the distance per tick
                                                              +
                                                              setDriveTrain(DriveTrain) - Method in class org.montclairrobotics.alloy.auto.States.Drive
                                                              +
                                                               
                                                              setDriveTrain(DriveTrain) - Static method in class org.montclairrobotics.alloy.core.Alloy
                                                               
                                                              setEncoder(Encoder) - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              @@ -128,11 +131,13 @@

                                                              S

                                                              set the power control for the module
                                                              +
                                                              setFinalState(Integer) - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                               
                                                              setInput(Input<T>) - Method in class org.montclairrobotics.alloy.components.InputComponent
                                                              A daisy-chainable method that sets the initial input of the input component
                                                              -
                                                              setInput(InputComponent<DTInput>) - Method in class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                              setInput(Input<T>) - Method in class org.montclairrobotics.alloy.motor.MotorGroup
                                                               
                                                              setInput(Input) - Method in class org.montclairrobotics.alloy.utils.BangBang
                                                               
                                                              @@ -168,7 +173,7 @@

                                                              S

                                                              Sets the magnitude of the vector
                                                              -
                                                              setMapper(Mapper) - Method in class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                              setMapper(Mapper) - Method in class org.montclairrobotics.alloy.motor.MotorGroup
                                                               
                                                              setMaxSpeed(double) - Method in class org.montclairrobotics.alloy.core.Encoder
                                                              @@ -182,6 +187,10 @@

                                                              S

                                                              Sets the motor Power
                                                              +
                                                              setMovementSpeed(double) - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              +
                                                               
                                                              +
                                                              setName(String) - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                               
                                                              setPosition(int) - Method in interface org.montclairrobotics.alloy.core.TargetMotor
                                                              Sets the motor position
                                                              @@ -190,6 +199,8 @@

                                                              S

                                                              Sets the motor position
                                                              +
                                                              setPositionCorrection(ErrorCorrection) - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              +
                                                               
                                                              setPower(double) - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              Set the target power of the module
                                                              @@ -214,6 +225,8 @@

                                                              S

                                                              Set the target for the correction When the input is equal to the target the error is 0
                                                              +
                                                              setTargetPosition(double) - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              +
                                                               
                                                              setTargetPower(double) - Method in interface org.montclairrobotics.alloy.core.TargetMotor
                                                              Sets the motor Power
                                                              @@ -222,6 +235,12 @@

                                                              S

                                                              Sets the motor Power
                                                              +
                                                              setTicksPerDegree(double) - Static method in class org.montclairrobotics.alloy.auto.States.Turn
                                                              +
                                                               
                                                              +
                                                              setTolerance(int) - Static method in class org.montclairrobotics.alloy.auto.States.Drive
                                                              +
                                                               
                                                              +
                                                              setTolerance(double) - Static method in class org.montclairrobotics.alloy.auto.States.Turn
                                                              +
                                                               
                                                              setTolerance(int) - Method in class org.montclairrobotics.alloy.steps.Deadzone
                                                              set the threshold value
                                                              @@ -230,6 +249,14 @@

                                                              S

                                                              set the threshold value
                                                              +
                                                              setup() - Method in class org.montclairrobotics.alloy.auto.AlloyAutonomous
                                                              +
                                                              +
                                                              This is where the user should define all their code and where "Auto", should be instantiated
                                                              +
                                                              +
                                                              setup() - Method in class org.montclairrobotics.alloy.auto.SimpleAutonomous
                                                              +
                                                               
                                                              +
                                                              setup() - Method in class org.montclairrobotics.alloy.test.SquareAuto
                                                              +
                                                               
                                                              setX(double) - Method in class org.montclairrobotics.alloy.vector.Polar
                                                              Sets the x component of the vector
                                                              @@ -258,15 +285,38 @@

                                                              S

                                                              Returns the sign of a number
                                                              +
                                                              SimpleAutonomous - Class in org.montclairrobotics.alloy.auto
                                                              +
                                                              +
                                                              Created by MHS Robotics on 1/26/2018.
                                                              +
                                                              +
                                                              SimpleAutonomous() - Constructor for class org.montclairrobotics.alloy.auto.SimpleAutonomous
                                                              +
                                                               
                                                              sin() - Method in class org.montclairrobotics.alloy.vector.Angle
                                                              get the sine of the angle
                                                              +
                                                              SquareAuto - Class in org.montclairrobotics.alloy.test
                                                              +
                                                               
                                                              +
                                                              SquareAuto() - Constructor for class org.montclairrobotics.alloy.test.SquareAuto
                                                              +
                                                               
                                                              +
                                                              start() - Method in class org.montclairrobotics.alloy.auto.AlloyAutonomous
                                                              +
                                                              +
                                                              Runs when the play button is pressed Start will set up everything that the auto mode needs to + run
                                                              +
                                                              start() - Method in class org.montclairrobotics.alloy.auto.State
                                                              The start method is the first thing called when the state is run
                                                              start() - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                              +
                                                              Read out that the state has started and reset the timer
                                                              +
                                                              +
                                                              start() - Method in class org.montclairrobotics.alloy.auto.States.ConditionalState
                                                              +
                                                               
                                                              +
                                                              start() - Method in class org.montclairrobotics.alloy.auto.States.Drive
                                                              +
                                                               
                                                              +
                                                              start() - Method in class org.montclairrobotics.alloy.auto.States.Turn
                                                               
                                                              State - Class in org.montclairrobotics.alloy.auto
                                                              @@ -278,8 +328,12 @@

                                                              S

                                                              Created by MHS Robotics on 12/16/2017.
                                                              +
                                                              StateMachine(String, int, State...) - Constructor for class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                               
                                                              StateMachine(State...) - Constructor for class org.montclairrobotics.alloy.auto.StateMachine
                                                               
                                                              +
                                                              StateMachine(String, String, int, State...) - Constructor for class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                               
                                                              status - Variable in class org.montclairrobotics.alloy.utils.Toggleable
                                                              The status of the toggleable, to keep track of weather it is enabled, or disabled
                                                              @@ -297,6 +351,14 @@

                                                              S

                                                              The Stop method is the last thing called once the state is done
                                                              stop() - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                              +
                                                              When the state machine is finished, read out it has finished
                                                              +
                                                              +
                                                              stop() - Method in class org.montclairrobotics.alloy.auto.States.ConditionalState
                                                              +
                                                               
                                                              +
                                                              stop() - Method in class org.montclairrobotics.alloy.auto.States.Drive
                                                              +
                                                               
                                                              +
                                                              stop() - Method in class org.montclairrobotics.alloy.auto.States.Turn
                                                               
                                                              subtract(Vector) - Method in class org.montclairrobotics.alloy.vector.Polar
                                                              @@ -324,7 +386,6 @@

                                                              S

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-19.html b/docs/javadoc/index-files/index-19.html index 8a983dc..6a1edf3 100644 --- a/docs/javadoc/index-files/index-19.html +++ b/docs/javadoc/index-files/index-19.html @@ -2,9 +2,9 @@ - + T-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -82,6 +81,8 @@

                                                              T

                                                               
                                                              TankDrive(InputComponent<DTInput>, MotorModule...) - Constructor for class org.montclairrobotics.alloy.drive.TankDrive
                                                               
                                                              +
                                                              TankDrive(MotorModule...) - Constructor for class org.montclairrobotics.alloy.drive.TankDrive
                                                              +
                                                               
                                                              TankMapper - Class in org.montclairrobotics.alloy.drive
                                                               
                                                              TankMapper() - Constructor for class org.montclairrobotics.alloy.drive.TankMapper
                                                              @@ -100,10 +101,6 @@

                                                              T

                                                              Target motor is a motor interface for motors that have encoders.
                                                              -
                                                              targetPower - Variable in class org.montclairrobotics.alloy.motor.MotorModule
                                                              -
                                                              -
                                                              how fast the module should be running
                                                              -
                                                              telemetry - Static variable in class org.montclairrobotics.alloy.core.RobotCore
                                                              Telemetry is used for reading out information on the phones and is useful for debugging, The @@ -117,6 +114,10 @@

                                                              T

                                                               
                                                              TestRobot() - Constructor for class org.montclairrobotics.alloy.test.TestRobot
                                                               
                                                              +
                                                              timer - Variable in class org.montclairrobotics.alloy.auto.AlloyAutonomous
                                                              +
                                                              +
                                                              A timer to keep track of time in the autoMode
                                                              +
                                                              toggle() - Method in class org.montclairrobotics.alloy.utils.Toggleable
                                                              Switches(Toggles), between the two states, If the toggleable is disabled, enable it If the @@ -141,12 +142,22 @@

                                                              T

                                                              How far the input can be away from the target while still being true
                                                              +
                                                              toPosition() - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              +
                                                               
                                                              TuneablePID - Class in org.montclairrobotics.alloy.utils
                                                              A PID class that takes in tunable inputs to make PID tuning easier
                                                              TuneablePID() - Constructor for class org.montclairrobotics.alloy.utils.TuneablePID
                                                               
                                                              +
                                                              turn(double, Angle) - Method in class org.montclairrobotics.alloy.auto.SimpleAutonomous
                                                              +
                                                               
                                                              +
                                                              Turn - Class in org.montclairrobotics.alloy.auto.States
                                                              +
                                                              +
                                                              Created by MHS Robotics on 1/26/2018.
                                                              +
                                                              +
                                                              Turn(double, Angle) - Constructor for class org.montclairrobotics.alloy.auto.States.Turn
                                                              +
                                                               
                                                              TWO_PI - Static variable in class org.montclairrobotics.alloy.vector.Angle
                                                               
                                                              @@ -163,7 +174,6 @@

                                                              T

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-2.html b/docs/javadoc/index-files/index-2.html index b876e51..8668d3c 100644 --- a/docs/javadoc/index-files/index-2.html +++ b/docs/javadoc/index-files/index-2.html @@ -2,9 +2,9 @@ - + B-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -119,7 +118,6 @@

                                                              B

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-20.html b/docs/javadoc/index-files/index-20.html index 9d5c66d..4d6a078 100644 --- a/docs/javadoc/index-files/index-20.html +++ b/docs/javadoc/index-files/index-20.html @@ -2,9 +2,9 @@ - + U-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -112,6 +111,13 @@

                                                              U

                                                              Updater() - Constructor for class org.montclairrobotics.alloy.update.Updater
                                                               
                                                              +
                                                              userLoop() - Method in class org.montclairrobotics.alloy.auto.AlloyAutonomous
                                                              +
                                                              +
                                                              The user loop can be overridden in the auto mode and is called every loop before the state is + run.
                                                              +
                                                              +
                                                              usingPower() - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                              +
                                                               
                                                              Utils - Class in org.montclairrobotics.alloy.utils
                                                              A set of common methods that are useful in writing robot code
                                                              @@ -132,7 +138,6 @@

                                                              U

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-21.html b/docs/javadoc/index-files/index-21.html index 0296619..a007f31 100644 --- a/docs/javadoc/index-files/index-21.html +++ b/docs/javadoc/index-files/index-21.html @@ -2,9 +2,9 @@ - + V-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -130,6 +129,8 @@

                                                              V

                                                              Create a VectorDeadzone with a default tolerance of 0.05
                                                              +
                                                              verboseDebug() - Method in class org.montclairrobotics.alloy.auto.State
                                                              +
                                                               
                                                              A B C D E F G H I J K L M N O P R S T U V W X Z  @@ -144,7 +145,6 @@

                                                              V

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-22.html b/docs/javadoc/index-files/index-22.html index cf0dddb..2851f87 100644 --- a/docs/javadoc/index-files/index-22.html +++ b/docs/javadoc/index-files/index-22.html @@ -2,9 +2,9 @@ - + W-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -113,7 +112,6 @@

                                                              W

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-23.html b/docs/javadoc/index-files/index-23.html index a385f06..efc414b 100644 --- a/docs/javadoc/index-files/index-23.html +++ b/docs/javadoc/index-files/index-23.html @@ -2,9 +2,9 @@ - + X-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -96,7 +95,6 @@

                                                              X

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-24.html b/docs/javadoc/index-files/index-24.html index 406db9f..09139f5 100644 --- a/docs/javadoc/index-files/index-24.html +++ b/docs/javadoc/index-files/index-24.html @@ -2,9 +2,9 @@ - + Z-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -92,7 +91,6 @@

                                                              Z

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-3.html b/docs/javadoc/index-files/index-3.html index 4017ab8..651ddf4 100644 --- a/docs/javadoc/index-files/index-3.html +++ b/docs/javadoc/index-files/index-3.html @@ -2,9 +2,9 @@ - + C-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -90,6 +89,12 @@

                                                              C

                                                              a static reference of all the components that are made
                                                              +
                                                              ConditionalState - Class in org.montclairrobotics.alloy.auto.States
                                                              +
                                                              +
                                                              A conditional state runs a state if the condition is true
                                                              +
                                                              +
                                                              ConditionalState(Input<Boolean>, State) - Constructor for class org.montclairrobotics.alloy.auto.States.ConditionalState
                                                              +
                                                               
                                                              ConstantInput<T> - Class in org.montclairrobotics.alloy.utils
                                                              Created by MHS Robotics on 3/30/2018.
                                                              @@ -100,6 +105,8 @@

                                                              C

                                                              Makes sure that a value is between 2 different values
                                                              +
                                                              contition(Input<Boolean>, State) - Method in class org.montclairrobotics.alloy.auto.SimpleAutonomous
                                                              +
                                                               
                                                              controlPower() - Method in class org.montclairrobotics.alloy.motor.MotorGroup
                                                               
                                                              copy() - Method in class org.montclairrobotics.alloy.utils.BangBang
                                                              @@ -160,7 +167,6 @@

                                                              C

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-4.html b/docs/javadoc/index-files/index-4.html index d964ac2..c8946f7 100644 --- a/docs/javadoc/index-files/index-4.html +++ b/docs/javadoc/index-files/index-4.html @@ -2,9 +2,9 @@ - + D-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -86,6 +85,8 @@

                                                              D

                                                              Create a deadzone with a default tolerance of 0.05
                                                              +
                                                              debug - Variable in class org.montclairrobotics.alloy.auto.State
                                                              +
                                                               
                                                              debug() - Method in class org.montclairrobotics.alloy.components.Component
                                                               
                                                              Debug - Class in org.montclairrobotics.alloy.core
                                                              @@ -120,6 +121,10 @@

                                                              D

                                                               
                                                              Debugger.Level - Enum in org.montclairrobotics.alloy.core
                                                               
                                                              +
                                                              debugInfo(int) - Method in class org.montclairrobotics.alloy.auto.State
                                                              +
                                                              +
                                                              When a state machine is running, it will debug out information about the state it is running.
                                                              +
                                                              debugLevel - Static variable in class org.montclairrobotics.alloy.core.Debugger
                                                              Current Debug Level
                                                              @@ -130,16 +135,14 @@

                                                              D

                                                              DefaultMapper() - Constructor for class org.montclairrobotics.alloy.motor.DefaultMapper
                                                               
                                                              +
                                                              description - Variable in class org.montclairrobotics.alloy.auto.State
                                                              +
                                                               
                                                              Differential - Class in org.montclairrobotics.alloy.utils
                                                              A class to calculate how an input varies with time
                                                              Differential(Input) - Constructor for class org.montclairrobotics.alloy.utils.Differential
                                                               
                                                              -
                                                              direction - Variable in class org.montclairrobotics.alloy.motor.MotorModule
                                                              -
                                                              -
                                                              The direction that the modules run for use in a motor group
                                                              -
                                                              disable() - Method in class org.montclairrobotics.alloy.utils.Toggleable
                                                              Disables the toggleable
                                                              @@ -184,6 +187,14 @@

                                                              D

                                                              Returns the dot product of two vectors
                                                              +
                                                              drive(double, double) - Method in class org.montclairrobotics.alloy.auto.SimpleAutonomous
                                                              +
                                                               
                                                              +
                                                              Drive - Class in org.montclairrobotics.alloy.auto.States
                                                              +
                                                              +
                                                              Created by MHS Robotics on 1/26/2018.
                                                              +
                                                              +
                                                              Drive(double, double) - Constructor for class org.montclairrobotics.alloy.auto.States.Drive
                                                              +
                                                               
                                                              DriveModule - Class in org.montclairrobotics.alloy.drive
                                                               
                                                              DriveModule(Vector, Encoder, ErrorCorrection<Double>, Motor...) - Constructor for class org.montclairrobotics.alloy.drive.DriveModule
                                                              @@ -198,7 +209,7 @@

                                                              D

                                                              Created by MHS Robotics on 12/16/2017.
                                                              -
                                                              DriveTrain(InputComponent<DTInput>, Mapper, MotorModule...) - Constructor for class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                              DriveTrain(Input<DTInput>, Mapper, MotorModule...) - Constructor for class org.montclairrobotics.alloy.drive.DriveTrain
                                                               
                                                              DTInput - Class in org.montclairrobotics.alloy.drive
                                                              @@ -224,7 +235,6 @@

                                                              D

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-5.html b/docs/javadoc/index-files/index-5.html index a33b5bc..74f406e 100644 --- a/docs/javadoc/index-files/index-5.html +++ b/docs/javadoc/index-files/index-5.html @@ -2,9 +2,9 @@ - + E-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -106,10 +105,6 @@

                                                              E

                                                              Create a new encoder with default values
                                                              -
                                                              encoder - Variable in class org.montclairrobotics.alloy.motor.MotorModule
                                                              -
                                                              -
                                                              The encoder that keeps track of the position and controls the motors
                                                              -
                                                              error(String) - Method in class org.montclairrobotics.alloy.core.Debugger
                                                              Gives an error message to the user
                                                              @@ -132,7 +127,6 @@

                                                              E

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-6.html b/docs/javadoc/index-files/index-6.html index a5e563b..d95b07c 100644 --- a/docs/javadoc/index-files/index-6.html +++ b/docs/javadoc/index-files/index-6.html @@ -2,9 +2,9 @@ - + F-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -135,7 +134,6 @@

                                                              F

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-7.html b/docs/javadoc/index-files/index-7.html index 430bebd..db70a4e 100644 --- a/docs/javadoc/index-files/index-7.html +++ b/docs/javadoc/index-files/index-7.html @@ -2,9 +2,9 @@ - + G-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -156,6 +155,8 @@

                                                              G

                                                              getEncoder() - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                               
                                                              +
                                                              getEncoderValues() - Method in class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                               
                                                              getErrorCorrection() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
                                                               
                                                              getGamepad1() - Static method in class org.montclairrobotics.alloy.core.RobotCore
                                                              @@ -170,6 +171,8 @@

                                                              G

                                                              Gets the hardware map of the robot
                                                              +
                                                              getInput() - Method in class org.montclairrobotics.alloy.motor.MotorGroup
                                                              +
                                                               
                                                              getInput() - Method in class org.montclairrobotics.alloy.utils.Differential
                                                               
                                                              getInverted() - Method in interface org.montclairrobotics.alloy.core.Motor
                                                              @@ -182,6 +185,8 @@

                                                              G

                                                              getLeftBumper(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
                                                               
                                                              +
                                                              getLeftEncoderValues() - Method in class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                               
                                                              getLeftTrigger(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
                                                               
                                                              getManitude() - Method in class org.montclairrobotics.alloy.vector.Polar
                                                              @@ -196,8 +201,12 @@

                                                              G

                                                              Gets the magnitude of the vector
                                                              +
                                                              getMapper() - Method in class org.montclairrobotics.alloy.motor.MotorGroup
                                                              +
                                                               
                                                              getModifier() - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                               
                                                              +
                                                              getModules() - Method in class org.montclairrobotics.alloy.motor.MotorGroup
                                                              +
                                                               
                                                              getMotor() - Method in class org.montclairrobotics.alloy.ftc.FTCTargetMotor
                                                               
                                                              getMotorPower() - Method in interface org.montclairrobotics.alloy.core.Motor
                                                              @@ -211,7 +220,10 @@

                                                              G

                                                              getMotors() - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                               
                                                              getNextState(int) - Method in class org.montclairrobotics.alloy.auto.State
                                                              -
                                                               
                                                              +
                                                              +
                                                              In order to have a non linear state machine, the state machine must know what state to go to + when it is done with the previous state.
                                                              +
                                                              getOffset() - Method in class org.montclairrobotics.alloy.motor.MotorModule
                                                               
                                                              getOutput(T) - Method in interface org.montclairrobotics.alloy.components.Step
                                                              @@ -238,6 +250,10 @@

                                                              G

                                                              getRank() - Method in enum org.montclairrobotics.alloy.core.Debugger.Level
                                                               
                                                              +
                                                              getRawTicks() - Method in class org.montclairrobotics.alloy.core.Encoder
                                                              +
                                                              +
                                                              A method that should be overridden by the encoder
                                                              +
                                                              getRawVelocity() - Method in class org.montclairrobotics.alloy.core.Encoder
                                                              Get the velocity in Ticks per Second
                                                              @@ -248,6 +264,8 @@

                                                              G

                                                              getRightBumper(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
                                                               
                                                              +
                                                              getRightEncoderValues() - Method in class org.montclairrobotics.alloy.drive.DriveTrain
                                                              +
                                                               
                                                              getRightTrigger(Gamepad) - Static method in class org.montclairrobotics.alloy.ftc.FTCButton
                                                               
                                                              getRotation() - Method in class org.montclairrobotics.alloy.drive.DTInput
                                                              @@ -277,8 +295,10 @@

                                                              G

                                                              getTelemetry() - Method in class org.montclairrobotics.alloy.ftc.FTCDebugger
                                                               
                                                              getTicks() - Method in class org.montclairrobotics.alloy.core.Encoder
                                                              +
                                                               
                                                              +
                                                              getTimeInLastState() - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                              -
                                                              A method that should be overridden by the encoder
                                                              +
                                                              Gets the time in the most recently completed state
                                                              getTolerance() - Method in class org.montclairrobotics.alloy.steps.Deadzone
                                                               
                                                              @@ -361,7 +381,6 @@

                                                              G

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-8.html b/docs/javadoc/index-files/index-8.html index f31bd67..22a4883 100644 --- a/docs/javadoc/index-files/index-8.html +++ b/docs/javadoc/index-files/index-8.html @@ -2,9 +2,9 @@ - + H-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -97,7 +96,6 @@

                                                              H

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index-files/index-9.html b/docs/javadoc/index-files/index-9.html index a00f32f..46e2cf0 100644 --- a/docs/javadoc/index-files/index-9.html +++ b/docs/javadoc/index-files/index-9.html @@ -2,9 +2,9 @@ - + I-Index - + @@ -34,7 +34,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -75,7 +74,9 @@

                                                              I

                                                              init() - Method in class org.montclairrobotics.alloy.auto.AlloyAutonomous
                                                              -
                                                               
                                                              +
                                                              +
                                                              Init is called when the INIT button is pressed on the drivers station.
                                                              +
                                                              init() - Method in class org.montclairrobotics.alloy.core.Alloy
                                                               
                                                              init() - Method in class org.montclairrobotics.alloy.utils.Initializeable
                                                              @@ -100,10 +101,6 @@

                                                              I

                                                              The initial input value
                                                              -
                                                              input - Variable in class org.montclairrobotics.alloy.motor.MotorGroup
                                                              -
                                                              -
                                                              The control input for the motor group
                                                              -
                                                              input - Variable in class org.montclairrobotics.alloy.utils.Differential
                                                              The dependant variable in the situation
                                                              @@ -140,6 +137,14 @@

                                                              I

                                                              IsDone should return true when the state is finished
                                                              isDone() - Method in class org.montclairrobotics.alloy.auto.StateMachine
                                                              +
                                                              +
                                                              determine if the state machine is done
                                                              +
                                                              +
                                                              isDone() - Method in class org.montclairrobotics.alloy.auto.States.ConditionalState
                                                              +
                                                               
                                                              +
                                                              isDone() - Method in class org.montclairrobotics.alloy.auto.States.Drive
                                                              +
                                                               
                                                              +
                                                              isDone() - Method in class org.montclairrobotics.alloy.auto.States.Turn
                                                               
                                                              isEnabled() - Method in enum org.montclairrobotics.alloy.utils.Toggleable.Status
                                                               
                                                              @@ -157,7 +162,6 @@

                                                              I

                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • diff --git a/docs/javadoc/index.html b/docs/javadoc/index.html index aa36676..4bb8c64 100644 --- a/docs/javadoc/index.html +++ b/docs/javadoc/index.html @@ -2,7 +2,7 @@ - + Generated Documentation (Untitled) @@ -18,8 +18,8 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10}; -var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":6,"i4":10,"i5":10}; +var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; var tableTab = "tableTab"; @@ -40,7 +40,6 @@
                                                            • Overview
                                                            • Package
                                                            • Class
                                                              • -
                                                            • Use
                                                            • Tree
                                                            • Deprecated
                                                            • Index
                                                              • @@ -50,7 +49,7 @@
                                                              • Frames
                                                                • @@ -75,13 +74,13 @@ @@ -112,14 +111,27 @@

                                                                Class AlloyAutonomous

                                                                • +
                                                                  +
                                                                  Direct Known Subclasses:
                                                                  +
                                                                  SimpleAutonomous
                                                                  +

                                                                  public abstract class AlloyAutonomous
 extends com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                                  -
                                                                  Created by MHS Robotics on 12/5/2017.
                                                                  +
                                                                  Created by MHS Robotics on 12/5/2017. + + AlloyAutonomous is the core framework for coding auto modes + When an auto mode extends AlloyAutonomous, it needs to override + the setup() method, and has the option of overriding the userLoop() + method. In the setup method, auto needs to be set to a + state machine, that will be run during the auto mode + + The optional userLoop() method can be used to update or perform + actions every loop, it is called before the state in the state machine
                                                                  -
                                                                  Author:
                                                                  -
                                                                  Garrett Burroughs
                                                                  +
                                                                  Since:
                                                                  +
                                                                  0.1
                                                                @@ -133,6 +145,25 @@

                                                                Class AlloyAutonomous

                                                                Field Summary

                                                                +
                                                            • voidShooterMapper.map(Vector input, +IntakeMapper.map(Vector input, MotorModule... modules) 
                                                            Angle -
                                                            Created by MHS Robotics on 11/13/2017.
                                                            +
                                                            A class to keep track of angles
                                                            Angle -
                                                            Created by MHS Robotics on 11/13/2017.
                                                            +
                                                            A class to keep track of angles
                                                            Angle -
                                                            Created by MHS Robotics on 11/13/2017.
                                                            +
                                                            A class to keep track of angles
                                                            + + + + + + + + + + + + + +
                                                            Fields 
                                                            Modifier and TypeField and Description
                                                            StateMachineauto +
                                                            The actual auto mode that should be instantiated in setup
                                                            +
                                                            com.qualcomm.robotcore.util.ElapsedTimetimer +
                                                            A timer to keep track of time in the autoMode
                                                            +
                                                            • @@ -166,18 +197,48 @@

                                                              Constructor Summary

                                                              Method Summary

                                                              - + - + - + + + + + + + + + + + + + + + + +
                                                              All Methods Instance Methods Concrete Methods All Methods Instance Methods Abstract Methods Concrete Methods 
                                                              Modifier and Type Method and Description
                                                              voidinit() init() +
                                                              Init is called when the INIT button is pressed on the drivers station.
                                                              +
                                                              voidloop() loop() +
                                                              the Loop method takes care of running the state machine
                                                              +
                                                              voidnewState(State state) +
                                                              A wrapper around the add state method to allow the user to add states to the auto mode
                                                              +
                                                              abstract voidsetup() +
                                                              This is where the user should define all their code and where "Auto", should be instantiated
                                                              +
                                                              voidstart() +
                                                              Runs when the play button is pressed Start will set up everything that the auto mode needs to + run
                                                              +
                                                              voiduserLoop() +
                                                              The user loop can be overridden in the auto mode and is called every loop before the state is + run.
                                                              +
                                                                @@ -185,7 +246,7 @@

                                                                Method Summary

                                                                Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

                                                                -getRuntime, init_loop, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, start, stop, updateTelemetry +getRuntime, init_loop, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, stop, updateTelemetry
                                                              • @@ -202,6 +263,34 @@

                                                                Methods inherited from class java.lang.Object

                                                                • + +
                                                                    +
                                                                  • + + +

                                                                    Field Detail

                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      auto

                                                                      +
                                                                      public StateMachine auto
                                                                      +
                                                                      The actual auto mode that should be instantiated in setup
                                                                      +
                                                                      • +
                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      timer

                                                                      +
                                                                      public com.qualcomm.robotcore.util.ElapsedTime timer
                                                                      +
                                                                      A timer to keep track of time in the autoMode
                                                                      +
                                                                      • +
                                                                    +
                                                                    • +
                                                                  • @@ -225,6 +314,31 @@

                                                                    AlloyAutonomous

                                                                    Method Detail

                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      setup

                                                                      +
                                                                      public abstract void setup()
                                                                      +
                                                                      This is where the user should define all their code and where "Auto", should be instantiated
                                                                      +
                                                                      • +
                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      start

                                                                      +
                                                                      public void start()
                                                                      +
                                                                      Runs when the play button is pressed Start will set up everything that the auto mode needs to + run
                                                                      +
                                                                      +
                                                                      Overrides:
                                                                      +
                                                                      start in class com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                                      +
                                                                      +
                                                                      • +
                                                                    @@ -232,25 +346,53 @@

                                                                    Method Detail

                                                                  • init

                                                                    public void init()
                                                                    +
                                                                    Init is called when the INIT button is pressed on the drivers station. The init method takes + care of setting up global robot variables and running the user setup method
                                                                    Specified by:
                                                                    init in class com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                                  + + + +
                                                                    +
                                                                  • +

                                                                    userLoop

                                                                    +
                                                                    public void userLoop()
                                                                    +
                                                                    The user loop can be overridden in the auto mode and is called every loop before the state is + run. This can be useful for updating information used in states.
                                                                    +
                                                                    • +
                                                                  -
                                                                    +

                                                                    • loop

                                                                      public void loop()
                                                                      +
                                                                      the Loop method takes care of running the state machine
                                                                      Specified by:
                                                                      loop in class com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      newState

                                                                      +
                                                                      public void newState(State state)
                                                                      +
                                                                      A wrapper around the add state method to allow the user to add states to the auto mode
                                                                      +
                                                                      +
                                                                      Parameters:
                                                                      +
                                                                      state - the state to be added
                                                                      +
                                                                      +
                                                                      • +
                                                                  • @@ -270,7 +412,6 @@

                                                                  loop

                                                                • Overview
                                                                • Package
                                                                • Class
                                                                  • -
                                                                • Use
                                                                • Tree
                                                                • Deprecated
                                                                • Index
                                                                  • @@ -280,7 +421,7 @@

                                                                  loop

                                                                  • Frames
                                                                    • @@ -305,13 +446,13 @@

                                                                    loop

                                                                    diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/SimpleAutonomous.html b/docs/javadoc/org/montclairrobotics/alloy/auto/SimpleAutonomous.html new file mode 100644 index 0000000..153d4d5 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/SimpleAutonomous.html @@ -0,0 +1,394 @@ + + + + + +SimpleAutonomous + + + + + + + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    + + +
                                                                    +
                                                                    org.montclairrobotics.alloy.auto
                                                                    +

                                                                    Class SimpleAutonomous

                                                                    +
                                                                    +
                                                                    + +
                                                                    +
                                                                      +
                                                                    • +
                                                                      +
                                                                      Direct Known Subclasses:
                                                                      +
                                                                      SquareAuto
                                                                      +
                                                                      +
                                                                      +
                                                                      +
                                                                      public class SimpleAutonomous
+extends AlloyAutonomous
                                                                      +
                                                                      Created by MHS Robotics on 1/26/2018. + +

                                                                      SimpleAutonomous abstracts away the concept of adding states to a state machine, so that + states can be added as if they were commands to be executed by the auto mode. This class only has + the pre-written states included, so another class extending this one would need to be created to + add any custom states

                                                                      +
                                                                      +
                                                                      Since:
                                                                      +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    +
                                                                      +
                                                                    • + +
                                                                        +
                                                                      • + + +

                                                                        Field Summary

                                                                        + +
                                                                          +
                                                                        • + + +

                                                                          Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

                                                                          +gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry, time
                                                                          • +
                                                                        +
                                                                        • +
                                                                      + +
                                                                        +
                                                                      • + + +

                                                                        Constructor Summary

                                                                        + + + + + + + + +
                                                                        Constructors 
                                                                        Constructor and Description
                                                                        SimpleAutonomous() 
                                                                        +
                                                                        • +
                                                                      + +
                                                                        +
                                                                      • + + +

                                                                        Method Summary

                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                        All Methods Instance Methods Concrete Methods 
                                                                        Modifier and TypeMethod and Description
                                                                        voidaddState(State state) 
                                                                        voidcontition(Input<java.lang.Boolean> condition, + State state) 
                                                                        voiddrive(double speed, + double distance) 
                                                                        voidsetup() +
                                                                        This is where the user should define all their code and where "Auto", should be instantiated
                                                                        +
                                                                        voidturn(double speed, + Angle angle) 
                                                                        + +
                                                                          +
                                                                        • + + +

                                                                          Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

                                                                          +getRuntime, init_loop, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, stop, updateTelemetry
                                                                          • +
                                                                        +
                                                                          +
                                                                        • + + +

                                                                          Methods inherited from class java.lang.Object

                                                                          +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    +
                                                                      +
                                                                    • + +
                                                                        +
                                                                      • + + +

                                                                        Constructor Detail

                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          SimpleAutonomous

                                                                          +
                                                                          public SimpleAutonomous()
                                                                          +
                                                                          • +
                                                                        +
                                                                        • +
                                                                      + +
                                                                        +
                                                                      • + + +

                                                                        Method Detail

                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          setup

                                                                          +
                                                                          public void setup()
                                                                          +
                                                                          Description copied from class: AlloyAutonomous
                                                                          +
                                                                          This is where the user should define all their code and where "Auto", should be instantiated
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          setup in class AlloyAutonomous
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          drive

                                                                          +
                                                                          public void drive(double speed,
+                  double distance)
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          turn

                                                                          +
                                                                          public void turn(double speed,
+                 Angle angle)
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          contition

                                                                          +
                                                                          public void contition(Input<java.lang.Boolean> condition,
+                      State state)
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          addState

                                                                          +
                                                                          public void addState(State state)
                                                                          +
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/State.html b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html index 9ad288d..e007e35 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/State.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/State.html @@ -2,9 +2,9 @@ - + State - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":6,"i2":6,"i3":6,"i4":6}; +var methods = {"i0":10,"i1":10,"i2":6,"i3":6,"i4":6,"i5":6,"i6":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -40,7 +40,6 @@
                                                                  • Overview
                                                                  • Package
                                                                  • Class
                                                                    • -
                                                                  • Use
                                                                  • Tree
                                                                  • Deprecated
                                                                  • Index
                                                                    • @@ -49,7 +48,7 @@
                                                                    @@ -75,13 +74,13 @@ @@ -109,7 +108,7 @@

                                                                    Class State

                                                                  • Direct Known Subclasses:
                                                                    -
                                                                    StateMachine
                                                                    +
                                                                    ConditionalState, Drive, StateMachine, Turn

                                                                    @@ -122,10 +121,6 @@

                                                                    Class State

                                                                    Since:
                                                                    0.1
                                                                    -
                                                                    Version:
                                                                    -
                                                                    0.1
                                                                    -
                                                                    Author:
                                                                    -
                                                                    Garrett Burroughs
                                                                    See Also:
                                                                    StateMachine, AlloyAutonomous
                                                                    @@ -136,6 +131,29 @@

                                                                    Class State

                                                                    • + +
                                                                        +
                                                                      • + + +

                                                                        Field Summary

                                                                        + + + + + + + + + + + + + + +
                                                                        Fields 
                                                                        Modifier and TypeField and Description
                                                                        protected java.lang.Stringdebug 
                                                                        protected java.lang.Stringdescription 
                                                                        +
                                                                        • +
                                                                      • @@ -166,33 +184,46 @@

                                                                        Method Summary

                                                                        Method and Description -int -                                                                        getNextState(int currentState)  +java.lang.String +debugInfo(int currentState) +
                                                                        When a state machine is running, it will debug out information about the state it is running.
                                                                        + +int +getNextState(int currentState) +
                                                                        In order to have a non linear state machine, the state machine must know what state to go to + when it is done with the previous state.
                                                                        + + + abstract boolean isDone()
                                                                        IsDone should return true when the state is finished
                                                                        - + abstract void run()
                                                                        The run method is called every loop while the state is running
                                                                        - + abstract void start()
                                                                        The start method is the first thing called when the state is run
                                                                        - + abstract void stop()
                                                                        The Stop method is the last thing called once the state is done
                                                                        + +java.lang.String +verboseDebug()  +
                                                                        • @@ -209,6 +240,32 @@

                                                                          Methods inherited from class java.lang.Object

                                                                          • + +
                                                                              +
                                                                            • + + +

                                                                              Field Detail

                                                                              + + + +
                                                                                +
                                                                              • +

                                                                                debug

                                                                                +
                                                                                protected java.lang.String debug
                                                                                +
                                                                                • +
                                                                              + + + +
                                                                                +
                                                                              • +

                                                                                description

                                                                                +
                                                                                protected java.lang.String description
                                                                                +
                                                                                • +
                                                                              +
                                                                              • +
                                                                            • @@ -279,10 +336,45 @@

                                                                              isDone

                                                                               -
                                                                                +

                                                                                • getNextState

                                                                                  public int getNextState(int currentState)
                                                                                  +
                                                                                  In order to have a non linear state machine, the state machine must know what state to go to + when it is done with the previous state. The state also sometimes needs to know the current + state for example if it just wanted to increment the state by one.
                                                                                  +
                                                                                  +
                                                                                  Parameters:
                                                                                  +
                                                                                  currentState - the state the state machine is currently running
                                                                                  +
                                                                                  Returns:
                                                                                  +
                                                                                  the state the state machine should go to
                                                                                  +
                                                                                  +
                                                                                  • +
                                                                                + + + +
                                                                                  +
                                                                                • +

                                                                                  debugInfo

                                                                                  +
                                                                                  public java.lang.String debugInfo(int currentState)
                                                                                  +
                                                                                  When a state machine is running, it will debug out information about the state it is running. + It will debug the result of debugInfo
                                                                                  +
                                                                                  +
                                                                                  Parameters:
                                                                                  +
                                                                                  currentState - the current state so that it can be used in the debug
                                                                                  +
                                                                                  Returns:
                                                                                  +
                                                                                  debug information about the state
                                                                                  +
                                                                                  +
                                                                                  • +
                                                                                + + + +
                                                                                  +
                                                                                • +

                                                                                  verboseDebug

                                                                                  +
                                                                                  public java.lang.String verboseDebug()
                                                                                @@ -304,7 +396,6 @@

                                                                                getNextState

                                                                              • Overview
                                                                              • Package
                                                                              • Class
                                                                                • -
                                                                              • Use
                                                                              • Tree
                                                                              • Deprecated
                                                                              • Index
                                                                                • @@ -313,7 +404,7 @@

                                                                                getNextState

                                                                            @@ -339,13 +430,13 @@

                                                                            getNextState

                                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html index 3edda90..3222739 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/StateMachine.html @@ -2,9 +2,9 @@ - + StateMachine - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -40,7 +40,6 @@
                                                                          • Overview
                                                                          • Package
                                                                          • Class
                                                                            • -
                                                                          • Use
                                                                          • Tree
                                                                          • Deprecated
                                                                          • Index
                                                                            • @@ -75,7 +74,7 @@ @@ -123,12 +122,13 @@

                                                                            Class StateMachine

                                                                            previous state has finished.

                                                                            State machines can be used for controlling auto modes, but can also be ran in teleop modes for - pre coded instructions that make driving easier.
                                                                          + pre coded instructions that make driving easier. + +

                                                                          State machines are also states themselves so a state machine can run another state machine. + This allows for the reuse of auto code

                                                                    Since:
                                                                    0.1
                                                                    -
                                                                    Author:
                                                                    -
                                                                    Garrett Burroughs
                                                                  @@ -136,6 +136,21 @@

                                                                  Class StateMachine

                                                                  • + + @@ -167,30 +193,46 @@

                                                                    Method Summary

                                                                    void -addState(State state)  +addState(State state) +
                                                                    Adds a state to the state machine.
                                                                    + +double +getTimeInLastState() +
                                                                    Gets the time in the most recently completed state
                                                                    + + + boolean isDone() -
                                                                    IsDone should return true when the state is finished
                                                                    +
                                                                    determine if the state machine is done
                                                                    - + void run() -
                                                                    The run method is called every loop while the state is running
                                                                    +
                                                                    The run method takes care of actually running the states
                                                                    - + +void +setFinalState(java.lang.Integer finalState)  + + +void +setName(java.lang.String name)  + + void start() -
                                                                    The start method is the first thing called when the state is run
                                                                    +
                                                                    Read out that the state has started and reset the timer
                                                                    - + void stop() -
                                                                    The Stop method is the last thing called once the state is done
                                                                    +
                                                                    When the state machine is finished, read out it has finished
                                                                    @@ -199,7 +241,7 @@

                                                                    Method Summary

                                                                    Methods inherited from class org.montclairrobotics.alloy.auto.State

                                                                    -getNextState
                                                                    • +debugInfo, getNextState, verboseDebug
                                                                  • @@ -222,15 +264,38 @@

                                                                    Methods inherited from class java.lang.Object

                                                                    Constructor Detail

                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      StateMachine

                                                                      +
                                                                      public StateMachine(java.lang.String name,
+                    int finalState,
+                    State... states)
                                                                      +
                                                                      • +
                                                                    -
                                                                      +

                                                                      • StateMachine

                                                                        public StateMachine(State... states)
                                                                      + + + +
                                                                        +
                                                                      • +

                                                                        StateMachine

                                                                        +
                                                                        public StateMachine(java.lang.String name,
+                    java.lang.String description,
+                    int finalState,
+                    State... states)
                                                                        +
                                                                        • +
                                                                    @@ -239,6 +304,24 @@

                                                                    StateMachine

                                                                    Method Detail

                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      setFinalState

                                                                      +
                                                                      public void setFinalState(java.lang.Integer finalState)
                                                                      +
                                                                      • +
                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      setName

                                                                      +
                                                                      public void setName(java.lang.String name)
                                                                      +
                                                                      • +
                                                                    @@ -246,8 +329,7 @@

                                                                    Method Detail

                                                                  • start

                                                                    public void start()
                                                                    -
                                                                    Description copied from class: State
                                                                    -
                                                                    The start method is the first thing called when the state is run
                                                                    +
                                                                    Read out that the state has started and reset the timer
                                                                    Specified by:
                                                                    start in class State
                                                                    @@ -261,8 +343,7 @@

                                                                    start

                                                                  • run

                                                                    public void run()
                                                                    -
                                                                    Description copied from class: State
                                                                    -
                                                                    The run method is called every loop while the state is running
                                                                    +
                                                                    The run method takes care of actually running the states
                                                                    Specified by:
                                                                    run in class State
                                                                    @@ -276,8 +357,7 @@

                                                                    run

                                                                  • stop

                                                                    public void stop()
                                                                    -
                                                                    Description copied from class: State
                                                                    -
                                                                    The Stop method is the last thing called once the state is done
                                                                    +
                                                                    When the state machine is finished, read out it has finished
                                                                    Specified by:
                                                                    stop in class State
                                                                    @@ -291,23 +371,42 @@

                                                                    stop

                                                                  • isDone

                                                                    public boolean isDone()
                                                                    -
                                                                    Description copied from class: State
                                                                    -
                                                                    IsDone should return true when the state is finished
                                                                    +
                                                                    determine if the state machine is done
                                                                    Specified by:
                                                                    isDone in class State
                                                                    Returns:
                                                                    -
                                                                    true if the state is done
                                                                    +
                                                                    true if the state machine is done
                                                                  -
                                                                    +

                                                                    • addState

                                                                      public void addState(State state)
                                                                      +
                                                                      Adds a state to the state machine. States can be added to a state machine but should not be + added after the state machine
                                                                      +
                                                                      +
                                                                      Parameters:
                                                                      +
                                                                      state - state that will be added to the state machine
                                                                      +
                                                                      +
                                                                      • +
                                                                    + + + +
                                                                      +
                                                                    • +

                                                                      getTimeInLastState

                                                                      +
                                                                      public double getTimeInLastState()
                                                                      +
                                                                      Gets the time in the most recently completed state
                                                                      +
                                                                      +
                                                                      Returns:
                                                                      +
                                                                      The time in last state
                                                                      +
                                                                    @@ -329,7 +428,6 @@

                                                                    addState

                                                                  • Overview
                                                                  • Package
                                                                  • Class
                                                                    • -
                                                                  • Use
                                                                  • Tree
                                                                  • Deprecated
                                                                  • Index
                                                                    • @@ -364,7 +462,7 @@

                                                                    addState

                                                                    diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/States/ConditionalState.html b/docs/javadoc/org/montclairrobotics/alloy/auto/States/ConditionalState.html new file mode 100644 index 0000000..528cacd --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/States/ConditionalState.html @@ -0,0 +1,375 @@ + + + + + +ConditionalState + + + + + + + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    + + +
                                                                    +
                                                                    org.montclairrobotics.alloy.auto.States
                                                                    +

                                                                    Class ConditionalState

                                                                    +
                                                                    +
                                                                    + +
                                                                    +
                                                                      +
                                                                    • +
                                                                      +
                                                                      +
                                                                      public class ConditionalState
+extends State
                                                                      +
                                                                      A conditional state runs a state if the condition is true + +

                                                                      A conditional state takes in a boolean input, and evaluates it when the state starts. If the + input is true when the state starts, the passed in state will execute.

                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    +
                                                                      +
                                                                    • + + + +
                                                                        +
                                                                      • + + +

                                                                        Constructor Summary

                                                                        + + + + + + + + +
                                                                        Constructors 
                                                                        Constructor and Description
                                                                        ConditionalState(Input<java.lang.Boolean> condition, + State state) 
                                                                        +
                                                                        • +
                                                                      + +
                                                                        +
                                                                      • + + +

                                                                        Method Summary

                                                                        + + + + + + + + + + + + + + + + + + + + + + +
                                                                        All Methods Instance Methods Concrete Methods 
                                                                        Modifier and TypeMethod and Description
                                                                        booleanisDone() +
                                                                        IsDone should return true when the state is finished
                                                                        +
                                                                        voidrun() +
                                                                        The run method is called every loop while the state is running
                                                                        +
                                                                        voidstart() +
                                                                        The start method is the first thing called when the state is run
                                                                        +
                                                                        voidstop() +
                                                                        The Stop method is the last thing called once the state is done
                                                                        +
                                                                        + +
                                                                          +
                                                                        • + + +

                                                                          Methods inherited from class java.lang.Object

                                                                          +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    +
                                                                      +
                                                                    • + +
                                                                        +
                                                                      • + + +

                                                                        Constructor Detail

                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          ConditionalState

                                                                          +
                                                                          public ConditionalState(Input<java.lang.Boolean> condition,
+                        State state)
                                                                          +
                                                                          • +
                                                                        +
                                                                        • +
                                                                      + +
                                                                        +
                                                                      • + + +

                                                                        Method Detail

                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          start

                                                                          +
                                                                          public void start()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          The start method is the first thing called when the state is run
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          start in class State
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          run

                                                                          +
                                                                          public void run()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          The run method is called every loop while the state is running
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          run in class State
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          stop

                                                                          +
                                                                          public void stop()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          The Stop method is the last thing called once the state is done
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          stop in class State
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          isDone

                                                                          +
                                                                          public boolean isDone()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          IsDone should return true when the state is finished
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          isDone in class State
                                                                          +
                                                                          Returns:
                                                                          +
                                                                          true if the state is done
                                                                          +
                                                                          +
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/States/Drive.html b/docs/javadoc/org/montclairrobotics/alloy/auto/States/Drive.html new file mode 100644 index 0000000..0be526e --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/States/Drive.html @@ -0,0 +1,401 @@ + + + + + +Drive + + + + + + + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    + + +
                                                                    +
                                                                    org.montclairrobotics.alloy.auto.States
                                                                    +

                                                                    Class Drive

                                                                    +
                                                                    +
                                                                    + +
                                                                    +
                                                                      +
                                                                    • +
                                                                      +
                                                                      +
                                                                      public class Drive
+extends State
                                                                      +
                                                                      Created by MHS Robotics on 1/26/2018.
                                                                      +
                                                                      +
                                                                      Since:
                                                                      +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    +
                                                                      +
                                                                    • + + + +
                                                                        +
                                                                      • + + +

                                                                        Constructor Summary

                                                                        + + + + + + + + +
                                                                        Constructors 
                                                                        Constructor and Description
                                                                        Drive(double speed, + double distance) 
                                                                        +
                                                                        • +
                                                                      + +
                                                                        +
                                                                      • + + +

                                                                        Method Summary

                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                        All Methods Static Methods Instance Methods Concrete Methods 
                                                                        Modifier and TypeMethod and Description
                                                                        booleanisDone() +
                                                                        IsDone should return true when the state is finished
                                                                        +
                                                                        voidrun() +
                                                                        The run method is called every loop while the state is running
                                                                        +
                                                                        DrivesetDriveTrain(DriveTrain driveTrain) 
                                                                        static voidsetTolerance(int tolerance) 
                                                                        voidstart() +
                                                                        The start method is the first thing called when the state is run
                                                                        +
                                                                        voidstop() +
                                                                        The Stop method is the last thing called once the state is done
                                                                        +
                                                                        + +
                                                                          +
                                                                        • + + +

                                                                          Methods inherited from class java.lang.Object

                                                                          +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    +
                                                                      +
                                                                    • + +
                                                                        +
                                                                      • + + +

                                                                        Constructor Detail

                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          Drive

                                                                          +
                                                                          public Drive(double speed,
+             double distance)
                                                                          +
                                                                          • +
                                                                        +
                                                                        • +
                                                                      + +
                                                                        +
                                                                      • + + +

                                                                        Method Detail

                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          setTolerance

                                                                          +
                                                                          public static void setTolerance(int tolerance)
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          setDriveTrain

                                                                          +
                                                                          public Drive setDriveTrain(DriveTrain driveTrain)
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          start

                                                                          +
                                                                          public void start()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          The start method is the first thing called when the state is run
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          start in class State
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          run

                                                                          +
                                                                          public void run()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          The run method is called every loop while the state is running
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          run in class State
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          stop

                                                                          +
                                                                          public void stop()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          The Stop method is the last thing called once the state is done
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          stop in class State
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          isDone

                                                                          +
                                                                          public boolean isDone()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          IsDone should return true when the state is finished
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          isDone in class State
                                                                          +
                                                                          Returns:
                                                                          +
                                                                          true if the state is done
                                                                          +
                                                                          +
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/States/Turn.html b/docs/javadoc/org/montclairrobotics/alloy/auto/States/Turn.html new file mode 100644 index 0000000..c7f27dd --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/States/Turn.html @@ -0,0 +1,402 @@ + + + + + +Turn + + + + + + + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    + + +
                                                                    +
                                                                    org.montclairrobotics.alloy.auto.States
                                                                    +

                                                                    Class Turn

                                                                    +
                                                                    +
                                                                    + +
                                                                    +
                                                                      +
                                                                    • +
                                                                      +
                                                                      +
                                                                      public class Turn
+extends State
                                                                      +
                                                                      Created by MHS Robotics on 1/26/2018.
                                                                      +
                                                                      +
                                                                      Since:
                                                                      +
                                                                      0.1
                                                                      +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    +
                                                                      +
                                                                    • + + + +
                                                                        +
                                                                      • + + +

                                                                        Constructor Summary

                                                                        + + + + + + + + +
                                                                        Constructors 
                                                                        Constructor and Description
                                                                        Turn(double speed, + Angle angle) 
                                                                        +
                                                                        • +
                                                                      + +
                                                                        +
                                                                      • + + +

                                                                        Method Summary

                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                        All Methods Static Methods Instance Methods Concrete Methods 
                                                                        Modifier and TypeMethod and Description
                                                                        booleanisDone() +
                                                                        IsDone should return true when the state is finished
                                                                        +
                                                                        voidrun() +
                                                                        The run method is called every loop while the state is running
                                                                        +
                                                                        static voidsetTicksPerDegree(double ticksPerDegree) 
                                                                        static voidsetTolerance(double tolerance) 
                                                                        voidstart() +
                                                                        The start method is the first thing called when the state is run
                                                                        +
                                                                        voidstop() +
                                                                        The Stop method is the last thing called once the state is done
                                                                        +
                                                                        + +
                                                                          +
                                                                        • + + +

                                                                          Methods inherited from class java.lang.Object

                                                                          +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    +
                                                                      +
                                                                    • + +
                                                                        +
                                                                      • + + +

                                                                        Constructor Detail

                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          Turn

                                                                          +
                                                                          public Turn(double speed,
+            Angle angle)
                                                                          +
                                                                          • +
                                                                        +
                                                                        • +
                                                                      + +
                                                                        +
                                                                      • + + +

                                                                        Method Detail

                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          setTicksPerDegree

                                                                          +
                                                                          public static void setTicksPerDegree(double ticksPerDegree)
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          setTolerance

                                                                          +
                                                                          public static void setTolerance(double tolerance)
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          start

                                                                          +
                                                                          public void start()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          The start method is the first thing called when the state is run
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          start in class State
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          run

                                                                          +
                                                                          public void run()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          The run method is called every loop while the state is running
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          run in class State
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          stop

                                                                          +
                                                                          public void stop()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          The Stop method is the last thing called once the state is done
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          stop in class State
                                                                          +
                                                                          +
                                                                          • +
                                                                        + + + +
                                                                          +
                                                                        • +

                                                                          isDone

                                                                          +
                                                                          public boolean isDone()
                                                                          +
                                                                          Description copied from class: State
                                                                          +
                                                                          IsDone should return true when the state is finished
                                                                          +
                                                                          +
                                                                          Specified by:
                                                                          +
                                                                          isDone in class State
                                                                          +
                                                                          Returns:
                                                                          +
                                                                          true if the state is done
                                                                          +
                                                                          +
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                      • +
                                                                    +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    +
                                                                    + + +
                                                                    + + +
                                                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/States/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/auto/States/package-frame.html new file mode 100644 index 0000000..b21376c --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/States/package-frame.html @@ -0,0 +1,22 @@ + + + + + +org.montclairrobotics.alloy.auto.States + + + + + +

                                                                    org.montclairrobotics.alloy.auto.States

                                                                    +
                                                                    +

                                                                    Classes

                                                                    + +
                                                                    + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/States/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/auto/States/package-summary.html new file mode 100644 index 0000000..def31fb --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/States/package-summary.html @@ -0,0 +1,154 @@ + + + + + +org.montclairrobotics.alloy.auto.States + + + + + + + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    + + +
                                                                    + +
                                                                    +

                                                                    Package org.montclairrobotics.alloy.auto.States

                                                                    +
                                                                    +
                                                                    +
                                                                      +
                                                                    • + + + + + + + + + + + + + + + + + + + + +
                                                                      Class Summary 
                                                                      ClassDescription
                                                                      ConditionalState +
                                                                      A conditional state runs a state if the condition is true
                                                                      +
                                                                      Drive +
                                                                      Created by MHS Robotics on 1/26/2018.
                                                                      +
                                                                      Turn +
                                                                      Created by MHS Robotics on 1/26/2018.
                                                                      +
                                                                      +
                                                                      • +
                                                                    +
                                                                    + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    + + +
                                                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/States/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/auto/States/package-tree.html new file mode 100644 index 0000000..e82a12e --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/States/package-tree.html @@ -0,0 +1,141 @@ + + + + + +org.montclairrobotics.alloy.auto.States Class Hierarchy + + + + + + + + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    + + +
                                                                    + +
                                                                    +

                                                                    Hierarchy For Package org.montclairrobotics.alloy.auto.States

                                                                    +Package Hierarchies: + +
                                                                    +
                                                                    +

                                                                    Class Hierarchy

                                                                    +
                                                                      +
                                                                    • java.lang.Object +
                                                                        +
                                                                      • org.montclairrobotics.alloy.auto.State +
                                                                          +
                                                                        • org.montclairrobotics.alloy.auto.States.ConditionalState
                                                                          • +
                                                                        • org.montclairrobotics.alloy.auto.States.Drive
                                                                          • +
                                                                        • org.montclairrobotics.alloy.auto.States.Turn
                                                                          • +
                                                                        +
                                                                        • +
                                                                      +
                                                                      • +
                                                                    +
                                                                    + +
                                                                    + + +
                                                                    Skip navigation links
                                                                    + + + + +
                                                                    +
                                                                    + + + +
                                                                    + +
                                                                    + + +
                                                                    + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html index f0ad3f9..9e047ca 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto - + @@ -14,6 +14,7 @@

                                                                    Classes

                                                                    diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html index d2032ed..b50aa28 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto - + @@ -34,7 +34,6 @@
                                                                  • Overview
                                                                  • Package
                                                                  • Class
                                                                    • -
                                                                  • Use
                                                                  • Tree
                                                                  • Deprecated
                                                                  • Index
                                                                    • @@ -44,7 +43,7 @@
                                                                    • Frames
                                                                      • @@ -89,12 +88,18 @@

                                                                      Package org.montclairrobotics.alloy.auto< +SimpleAutonomous + +
                                                                      Created by MHS Robotics on 1/26/2018.
                                                                      + + + State
                                                                      Created by MHS Robotics on 12/16/2017.
                                                                      - + StateMachine
                                                                      Created by MHS Robotics on 12/16/2017.
                                                                      @@ -117,7 +122,6 @@

                                                                      Package org.montclairrobotics.alloy.auto<
                                                                    • Overview
                                                                    • Package
                                                                    • Class
                                                                      • -
                                                                    • Use
                                                                    • Tree
                                                                    • Deprecated
                                                                    • Index
                                                                      • @@ -127,7 +131,7 @@

                                                                      Package org.montclairrobotics.alloy.auto<
                                                                      • Frames
                                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html index 1941cd3..9996006 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/auto/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.auto Class Hierarchy - + @@ -34,7 +34,6 @@
                                                                      • Overview
                                                                      • Package
                                                                      • Class
                                                                        • -
                                                                      • Use
                                                                      • Tree
                                                                      • Deprecated
                                                                      • Index
                                                                        • @@ -44,7 +43,7 @@
                                                                        • Frames
                                                                          • @@ -83,7 +82,11 @@

                                                                          Class Hierarchy

                                                                          • com.qualcomm.robotcore.eventloop.opmode.OpMode
                                                                          • org.montclairrobotics.alloy.auto.State @@ -107,7 +110,6 @@

                                                                            Class Hierarchy

                                                                          • Overview
                                                                          • Package
                                                                          • Class
                                                                            • -
                                                                          • Use
                                                                          • Tree
                                                                          • Deprecated
                                                                          • Index
                                                                            • @@ -117,7 +119,7 @@

                                                                            Class Hierarchy

                                                                            • Frames
                                                                              • diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/Component.html b/docs/javadoc/org/montclairrobotics/alloy/components/Component.html index 803cf15..19dc590 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/Component.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/Component.html @@ -2,9 +2,9 @@ - + Component - + @@ -40,7 +40,6 @@
                                                                            • Overview
                                                                            • Package
                                                                            • Class
                                                                              • -
                                                                            • Use
                                                                            • Tree
                                                                            • Deprecated
                                                                            • Index
                                                                              • @@ -143,10 +142,6 @@

                                                                              Class Component

                                                                              Since:
                                                                              0.1
                                                                              -
                                                                              Version:
                                                                              -
                                                                              0.1
                                                                              -
                                                                              Author:
                                                                              -
                                                                              Garrett Burroughs
                                                                              See Also:
                                                                              InputComponent
                                                                              @@ -459,7 +454,6 @@

                                                                              disableAction

                                                                            • Overview
                                                                            • Package
                                                                            • Class
                                                                              • -
                                                                            • Use
                                                                            • Tree
                                                                            • Deprecated
                                                                            • Index
                                                                              • diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html b/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html index 558eba9..c138570 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/InputComponent.html @@ -2,9 +2,9 @@ - + InputComponent - + @@ -40,7 +40,6 @@
                                                                            • Overview
                                                                            • Package
                                                                            • Class
                                                                              • -
                                                                            • Use
                                                                            • Tree
                                                                            • Deprecated
                                                                            • Index
                                                                              • @@ -147,10 +146,6 @@

                                                                              Class InputComponent<T>

                                                                              Since:
                                                                              0.1
                                                                              -
                                                                              Version:
                                                                              -
                                                                              0.1
                                                                              -
                                                                              Author:
                                                                              -
                                                                              Garrett Burroughs
                                                                            @@ -426,7 +421,6 @@

                                                                            setInput

                                                                          • Overview
                                                                          • Package
                                                                          • Class
                                                                            • -
                                                                          • Use
                                                                          • Tree
                                                                          • Deprecated
                                                                          • Index
                                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/Step.html b/docs/javadoc/org/montclairrobotics/alloy/components/Step.html index d22af67..2c1a962 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/Step.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/Step.html @@ -2,9 +2,9 @@ - + Step - + @@ -40,7 +40,6 @@
                                                                          • Overview
                                                                          • Package
                                                                          • Class
                                                                            • -
                                                                          • Use
                                                                          • Tree
                                                                          • Deprecated
                                                                          • Index
                                                                            • @@ -117,10 +116,6 @@

                                                                            Interface Step<T>

                                                                            Since:
                                                                            0.1
                                                                            -
                                                                            Version:
                                                                            -
                                                                            0.1
                                                                            -
                                                                            Author:
                                                                            -
                                                                            Garrett Burroughs
                                                                          @@ -192,7 +187,6 @@

                                                                          getOutput

                                                                        • Overview
                                                                        • Package
                                                                        • Class
                                                                          • -
                                                                        • Use
                                                                        • Tree
                                                                        • Deprecated
                                                                        • Index
                                                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html index a7cb683..a790a05 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.components - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html index ff7db49..ce57f2a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.components - + @@ -34,7 +34,6 @@
                                                                        • Overview
                                                                        • Package
                                                                        • Class
                                                                          • -
                                                                        • Use
                                                                        • Tree
                                                                        • Deprecated
                                                                        • Index
                                                                          • @@ -43,7 +42,7 @@
                                                                          @@ -128,7 +127,6 @@

                                                                          Package org.montclairrobotics.alloy.compo
                                                                        • Overview
                                                                        • Package
                                                                        • Class
                                                                          • -
                                                                        • Use
                                                                        • Tree
                                                                        • Deprecated
                                                                        • Index
                                                                          • @@ -137,7 +135,7 @@

                                                                          Package org.montclairrobotics.alloy.compo

                                                                          diff --git a/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html index fc500d3..85d1f5b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/components/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.components Class Hierarchy - + @@ -34,7 +34,6 @@
                                                                        • Overview
                                                                        • Package
                                                                        • Class
                                                                          • -
                                                                        • Use
                                                                        • Tree
                                                                        • Deprecated
                                                                        • Index
                                                                          • @@ -43,7 +42,7 @@
                                                                          diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html b/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html index 305dba9..5a37d7e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/ButtonAction.html @@ -2,9 +2,9 @@ - + ButtonAction - + @@ -40,7 +40,6 @@
                                                                        • Overview
                                                                        • Package
                                                                        • Class
                                                                          • -
                                                                        • Use
                                                                        • Tree
                                                                        • Deprecated
                                                                        • Index
                                                                          • @@ -120,10 +119,6 @@

                                                                          Class ButtonAction

                                                                          Since:
                                                                          0.1
                                                                          -
                                                                          Version:
                                                                          -
                                                                          0.1
                                                                          -
                                                                          Author:
                                                                          -
                                                                          Garrett Burroughs
                                                                        @@ -355,7 +350,6 @@

                                                                        update

                                                                      • Overview
                                                                      • Package
                                                                      • Class
                                                                        • -
                                                                      • Use
                                                                      • Tree
                                                                      • Deprecated
                                                                      • Index
                                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html b/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html index 4e23560..3b4fe01 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/ToggleButton.html @@ -2,9 +2,9 @@ - + ToggleButton - + @@ -40,7 +40,6 @@
                                                                      • Overview
                                                                      • Package
                                                                      • Class
                                                                        • -
                                                                      • Use
                                                                      • Tree
                                                                      • Deprecated
                                                                      • Index
                                                                        • @@ -121,10 +120,6 @@

                                                                        Class ToggleButton

                                                                        Since:
                                                                        0.1
                                                                        -
                                                                        Version:
                                                                        -
                                                                        0.1
                                                                        -
                                                                        Author:
                                                                        -
                                                                        Garrett Burroughs
                                                                        See Also:
                                                                        Toggleable, ButtonAction
                                                                        @@ -326,7 +321,6 @@

                                                                        whileReleased

                                                                      • Overview
                                                                      • Package
                                                                      • Class
                                                                        • -
                                                                      • Use
                                                                      • Tree
                                                                      • Deprecated
                                                                      • Index
                                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html index c6077f9..c00b19a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html index 428828a..be18844 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control - + @@ -34,7 +34,6 @@
                                                                      • Overview
                                                                      • Package
                                                                      • Class
                                                                        • -
                                                                      • Use
                                                                      • Tree
                                                                      • Deprecated
                                                                      • Index
                                                                        • @@ -113,7 +112,6 @@

                                                                        Package org.montclairrobotics.alloy.contr
                                                                      • Overview
                                                                      • Package
                                                                      • Class
                                                                        • -
                                                                      • Use
                                                                      • Tree
                                                                      • Deprecated
                                                                      • Index
                                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html index db55626..99e4605 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/control/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.control Class Hierarchy - + @@ -34,7 +34,6 @@
                                                                      • Overview
                                                                      • Package
                                                                      • Class
                                                                        • -
                                                                      • Use
                                                                      • Tree
                                                                      • Deprecated
                                                                      • Index
                                                                        • @@ -102,7 +101,6 @@

                                                                        Class Hierarchy

                                                                      • Overview
                                                                      • Package
                                                                      • Class
                                                                        • -
                                                                      • Use
                                                                      • Tree
                                                                      • Deprecated
                                                                      • Index
                                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html index 2daf676..2a1130d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Alloy.html @@ -2,9 +2,9 @@ - + Alloy - + @@ -40,7 +40,6 @@
                                                                      • Overview
                                                                      • Package
                                                                      • Class
                                                                        • -
                                                                      • Use
                                                                      • Tree
                                                                      • Deprecated
                                                                      • Index
                                                                        • @@ -131,10 +130,6 @@

                                                                        Class Alloy

                                                                        Since:
                                                                        0.1
                                                                        -
                                                                        Version:
                                                                        -
                                                                        0.1
                                                                        -
                                                                        Author:
                                                                        -
                                                                        Garrett Burroughs
                                                                      @@ -395,7 +390,6 @@

                                                                      getDriveTrain

                                                                    • Overview
                                                                    • Package
                                                                    • Class
                                                                      • -
                                                                    • Use
                                                                    • Tree
                                                                    • Deprecated
                                                                    • Index
                                                                      • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Button.html b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html index 63b1aa8..3548968 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Button.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Button.html @@ -2,9 +2,9 @@ - + Button - + @@ -40,7 +40,6 @@
                                                                    • Overview
                                                                    • Package
                                                                    • Class
                                                                      • -
                                                                    • Use
                                                                    • Tree
                                                                    • Deprecated
                                                                    • Index
                                                                      • @@ -114,10 +113,6 @@

                                                                      Interface Button

                                                                      Since:
                                                                      0.1
                                                                      -
                                                                      Version:
                                                                      -
                                                                      0.1
                                                                      -
                                                                      Author:
                                                                      -
                                                                      Garrett Burroughs

                                                                    @@ -191,7 +186,6 @@

                                                                    getValue

                                                                  • Overview
                                                                  • Package
                                                                  • Class
                                                                    • -
                                                                  • Use
                                                                  • Tree
                                                                  • Deprecated
                                                                  • Index
                                                                    • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html index e4f7993..bbb14ff 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debug.html @@ -2,9 +2,9 @@ - + Debug - + @@ -34,7 +34,6 @@
                                                                  • Overview
                                                                  • Package
                                                                  • Class
                                                                    • -
                                                                  • Use
                                                                  • Tree
                                                                  • Deprecated
                                                                  • Index
                                                                    • @@ -116,10 +115,6 @@

                                                                    Class Debug

                                                                    Since:
                                                                    0.1
                                                                    -
                                                                    Version:
                                                                    -
                                                                    0.1
                                                                    -
                                                                    Author:
                                                                    -
                                                                    Garrett Burroughs
                                                                    See Also:
                                                                    Debugger
                                                                    @@ -278,7 +273,6 @@

                                                                    Debug

                                                                  • Overview
                                                                  • Package
                                                                  • Class
                                                                    • -
                                                                  • Use
                                                                  • Tree
                                                                  • Deprecated
                                                                  • Index
                                                                    • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html index 868ffcc..019bce1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.Level.html @@ -2,9 +2,9 @@ - + Debugger.Level - + @@ -40,7 +40,6 @@
                                                                  • Overview
                                                                  • Package
                                                                  • Class
                                                                    • -
                                                                  • Use
                                                                  • Tree
                                                                  • Deprecated
                                                                  • Index
                                                                    • @@ -299,7 +298,7 @@

                                                                    TEST

                                                                    DEBUG

                                                                    public static final Debugger.Level DEBUG
                                                                    Debugs should contain the most information about a mechanism or process. For example, - debug informtion for a motor would include its target speed, current speed, target + debug information for a motor would include its target speed, current speed, target position, current position, direction, % error, and so on. Debugs should only be turned on when fixing problems, as the amount of information can be quite cluttering
                                                                    @@ -382,7 +381,6 @@

                                                                    getRank

                                                                  • Overview
                                                                  • Package
                                                                  • Class
                                                                    • -
                                                                  • Use
                                                                  • Tree
                                                                  • Deprecated
                                                                  • Index
                                                                    • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html index dfbf909..5ef7144 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Debugger.html @@ -2,9 +2,9 @@ - + Debugger - + @@ -40,7 +40,6 @@
                                                                  • Overview
                                                                  • Package
                                                                  • Class
                                                                    • -
                                                                  • Use
                                                                  • Tree
                                                                  • Deprecated
                                                                  • Index
                                                                    • @@ -128,10 +127,6 @@

                                                                    Class Debugger

                                                                    Since:
                                                                    0.1
                                                                    -
                                                                    Version:
                                                                    -
                                                                    0.1
                                                                    -
                                                                    Author:
                                                                    -
                                                                    Garrett Burroughs
                                                                  @@ -376,6 +371,7 @@

                                                                  log

                                                                  Parameters:
                                                                  key - Name of the value
                                                                  value - Value to be debugged
                                                                  +
                                                                  level - the level this debug is, if the debug level is lower than the current level, this will not be degbugged
                                                                @@ -393,6 +389,22 @@

                                                                debug

                                                              + + + +
                                                                +
                                                              • +

                                                                debug

                                                                +
                                                                public void debug(java.lang.String key,
+                  java.lang.Object value)
                                                                +
                                                                Debug out verbose information
                                                                +
                                                                +
                                                                Parameters:
                                                                +
                                                                key - Name of the value
                                                                +
                                                                value - Value to be displayed
                                                                +
                                                                +
                                                                • +
                                                              @@ -453,22 +465,6 @@

                                                              test

                                                            - - - -
                                                              -
                                                            • -

                                                              debug

                                                              -
                                                              public void debug(java.lang.String key,
-                  java.lang.Object value)
                                                              -
                                                              Debug out verbose information
                                                              -
                                                              -
                                                              Parameters:
                                                              -
                                                              key - Name of the value
                                                              -
                                                              value - Value to be displayed
                                                              -
                                                              -
                                                              • -
                                                            @@ -504,7 +500,6 @@

                                                            override

                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html b/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html index 500639a..22a92e8 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Encoder.html @@ -2,9 +2,9 @@ - + Encoder - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":6,"i5":10,"i6":10,"i7":10,"i8":10}; +var methods = {"i0":10,"i1":10,"i2":6,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -40,7 +40,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -138,10 +137,6 @@

                                                            Class Encoder

                                                            Since:
                                                            0.1
                                                            -
                                                            Version:
                                                            -
                                                            0.1
                                                            -
                                                            Author:
                                                            -
                                                            Garrett Burroughs

                                                          @@ -240,41 +235,51 @@

                                                          Method Summary

                                                          getAccelerationDifferential()  +abstract int +getRawTicks() +
                                                          A method that should be overridden by the encoder
                                                          + + + double getRawVelocity()
                                                          Get the velocity in Ticks per Second
                                                          - + double getScaledVelocity()
                                                          Get a scaled value (0 - 1) of how fast the motor is going
                                                          - -abstract int -getTicks() -
                                                          A method that should be overridden by the encoder
                                                          - - +int +getTicks()  + + double getVelocity()
                                                          Get the velocity in distance per second The distance is set by the distance per tick method, it is important to keep distances consistent throughout the project.
                                                          - + Differential getVelocityDifferential()  - + +void +reset() +
                                                          soft reset the encoder, setting the current value as 0 ticks
                                                          + + + Encoder setDistancePerTick(double distancePerTick)
                                                          Set the distance per tick
                                                          - + Encoder setMaxSpeed(double maxSpeed)
                                                          Set the max speed (In Ticks per Second) that the motor can run
                                                          @@ -351,13 +356,13 @@

                                                          Encoder

                                                          Method Detail

                                                          - +
                                                          • -

                                                            getTicks

                                                            -
                                                            public abstract int getTicks()
                                                            +

                                                            getRawTicks

                                                            +
                                                            public abstract int getRawTicks()
                                                            A method that should be overridden by the encoder
                                                            Returns:
                                                            @@ -365,6 +370,29 @@

                                                            getTicks

                                                          + + + +
                                                            +
                                                          • +

                                                            getTicks

                                                            +
                                                            public int getTicks()
                                                            +
                                                            +
                                                            Returns:
                                                            +
                                                            the currnet ticks, this value is affected by encoder resets
                                                            +
                                                            +
                                                            • +
                                                          + + + +
                                                            +
                                                          • +

                                                            reset

                                                            +
                                                            public void reset()
                                                            +
                                                            soft reset the encoder, setting the current value as 0 ticks
                                                            +
                                                            • +
                                                          @@ -504,7 +532,6 @@

                                                          getAccelerationDifferential

                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html b/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html index 5c845e7..2b85d03 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Joystick.html @@ -2,9 +2,9 @@ - + Joystick - + @@ -40,7 +40,6 @@
                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • @@ -112,10 +111,6 @@

                                                          Interface Joystick

                                                          Since:
                                                          0.1
                                                          -
                                                          Version:
                                                          -
                                                          0.1
                                                          -
                                                          Author:
                                                          -
                                                          Garrett Burroughs
                                                        @@ -189,7 +184,6 @@

                                                        getValue

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html b/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html index da1e20c..e728f82 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Mode.html @@ -2,9 +2,9 @@ - + Mode - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -124,10 +123,6 @@

                                                        Enum Mode

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -302,7 +297,6 @@

                                                        valueOf

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html b/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html index e9b78af..ba5634d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/Motor.html @@ -2,9 +2,9 @@ - + Motor - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -117,10 +116,6 @@

                                                        Interface Motor

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -254,7 +249,6 @@

                                                        getInverted

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html b/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html index 1f40330..1243a7f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/RobotCore.html @@ -2,9 +2,9 @@ - + RobotCore - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -122,10 +121,6 @@

                                                        Class RobotCore

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        See Also:
                                                        OpMode, Alloy
                                                        @@ -407,7 +402,6 @@

                                                        getGamepad2

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html index 3752544..2f7576e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/TargetMotor.html @@ -2,9 +2,9 @@ - + TargetMotor - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -120,10 +119,6 @@

                                                        Interface TargetMotor

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -264,7 +259,6 @@

                                                        getPosition

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html index fe24053..a74c60d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html index feb2dd8..8d8552d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -185,7 +184,6 @@

                                                        Package org.montclairrobotics.alloy.core<
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html index 08c77d5..7a48901 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/core/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.core Class Hierarchy - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -121,8 +120,8 @@

                                                        Enum Hierarchy

                                                        • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable)
                                                        @@ -141,7 +140,6 @@

                                                        Enum Hierarchy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html index 48dd388..20c9815 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DTInput.html @@ -2,9 +2,9 @@ - + DTInput - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -119,10 +118,6 @@

                                                        Class DTInput

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -253,7 +248,6 @@

                                                        getRotation

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html index 8392d42..ce01fab 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DTMapper.html @@ -2,9 +2,9 @@ - + DTMapper - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -109,10 +108,6 @@

                                                        Interface DTMapper

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -152,7 +147,6 @@

                                                        Methods inherited from interface org.montclairrobotics.alloy.motor.Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html index 6d25538..e9011c9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveModule.html @@ -2,9 +2,9 @@ - + DriveModule - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -69,7 +68,7 @@ @@ -148,13 +147,6 @@

                                                        Nested classes/interfaces inherited from class org.montclairrobotics.al

                                                        Field Summary

                                                        -
                                                        • @@ -282,7 +274,6 @@

                                                          DriveModule

                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • @@ -317,7 +308,7 @@

                                                          DriveModule

                                                          diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html index fb16466..1e16437 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/DriveTrain.html @@ -2,9 +2,9 @@ - + DriveTrain - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -40,7 +40,6 @@
                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • @@ -75,7 +74,7 @@ @@ -134,8 +133,6 @@

                                                          Class DriveTrain

                                                          Since:
                                                          0.1
                                                          -
                                                          Author:
                                                          -
                                                          Garrett Burroughs
                                                        @@ -165,13 +162,6 @@

                                                        Nested classes/interfaces inherited from class org.montclairrobotics.al

                                                        Field Summary

                                                        -
                                                        • @@ -199,7 +189,7 @@

                                                          Constructor Summary

                                                          Constructor and Description -DriveTrain(InputComponent<DTInput> input, +DriveTrain(Input<DTInput> input, Mapper mapper, MotorModule... modules)  @@ -219,12 +209,20 @@

                                                          Method Summary

                                                          Method and Description -DriveTrain -setInput(InputComponent<DTInput> input)  +int[] +getEncoderValues()  -DriveTrain -setMapper(Mapper mapper)  +int[] +getLeftEncoderValues()  + + +int[] +getRightEncoderValues()  + + +void +setDefaultInput() 
                                                          • @@ -269,13 +267,13 @@

                                                            Methods inherited from class java.lang.Object

                                                            Constructor Detail

                                                            - + @@ -329,7 +324,6 @@

                                                            map

                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html index fa2ed1f..c36f193 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html index 9aeb4fa..4478ad9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive - + @@ -34,7 +34,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -140,7 +139,6 @@

                                                            Package org.montclairrobotics.alloy.drive
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html index 0fa67b8..d68a51f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/drive/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.drive Class Hierarchy - + @@ -34,7 +34,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -129,7 +128,6 @@

                                                            Interface Hierarchy

                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html index 7ef0a0d..169667c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/InvalidConfigurationException.html @@ -2,9 +2,9 @@ - + InvalidConfigurationException - + @@ -34,7 +34,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -217,7 +216,6 @@

                                                            InvalidConfigurationException

                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html index 2d0b500..2f693e3 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/UpdateException.html @@ -2,9 +2,9 @@ - + UpdateException - + @@ -34,7 +34,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -214,7 +213,6 @@

                                                            UpdateException

                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html index 72cb7be..176c9aa 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.exceptions - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html index c03cbe9..606fa6e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.exceptions - + @@ -34,7 +34,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -114,7 +113,6 @@

                                                            Package org.montclairrobotics.alloy.excep
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html index 387b419..5bf04b2 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/exceptions/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.exceptions Class Hierarchy - + @@ -34,7 +34,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -111,7 +110,6 @@

                                                            Class Hierarchy

                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html index ab082c5..6c74fdb 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCButton.html @@ -2,9 +2,9 @@ - + FTCButton - + @@ -40,7 +40,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -120,10 +119,6 @@

                                                            Class FTCButton

                                                            Since:
                                                            0.1
                                                            -
                                                            Version:
                                                            -
                                                            0.1
                                                            -
                                                            Author:
                                                            -
                                                            Garrett Burroughs
                                                          @@ -427,7 +422,6 @@

                                                          getLeftTrigger

                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html index c4c699c..0e73f9e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCDebugger.html @@ -2,9 +2,9 @@ - + FTCDebugger - + @@ -40,7 +40,6 @@
                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • @@ -120,10 +119,6 @@

                                                          Class FTCDebugger

                                                          Since:
                                                          0.1
                                                          -
                                                          Version:
                                                          -
                                                          0.1
                                                          -
                                                          Author:
                                                          -
                                                          Garrett Burroughs
                                                        @@ -296,7 +291,6 @@

                                                        out

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html index f169df7..7af4e09 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.Side.html @@ -2,9 +2,9 @@ - + FTCJoystick.Side - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -293,7 +292,6 @@

                                                        valueOf

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html index a9048e3..3fe5fba 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCJoystick.html @@ -2,9 +2,9 @@ - + FTCJoystick - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -141,10 +140,6 @@

                                                        Class FTCJoystick

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -363,7 +358,6 @@

                                                        updateControls

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html index 4840d26..ba90743 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCMotor.html @@ -2,9 +2,9 @@ - + FTCMotor - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -137,10 +136,6 @@

                                                        Class FTCMotor

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        See Also:
                                                        FTCTargetMotor
                                                        @@ -470,7 +465,6 @@

                                                        disableAction

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html index 5d9d3ae..06c8d62 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/FTCTargetMotor.html @@ -2,9 +2,9 @@ - + FTCTargetMotor - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -141,10 +140,6 @@

                                                        Class FTCTargetMotor

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -356,7 +351,7 @@

                                                        FTCTargetMotor

                                                        should only do this if you know what you are doing
                                                        Parameters:
                                                        -
                                                        motorConfiguration -
                                                        +
                                                        motorConfiguration - the name of the motor
                                                        See Also:
                                                        ErrorCorrection
                                                        @@ -544,7 +539,6 @@

                                                        getEncoder

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html index 1980c5e..8e7dcd0 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html index c4b77c0..535144e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -147,7 +146,6 @@

                                                        Package org.montclairrobotics.alloy.ftcOverview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html index 16de8e2..fcec1ee 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/ftc/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.ftc Class Hierarchy - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -133,7 +132,6 @@

                                                        Enum Hierarchy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html index 93e76af..092305b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/DefaultMapper.html @@ -2,9 +2,9 @@ - + DefaultMapper - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -235,7 +234,6 @@

                                                        map

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html b/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html index fe2a84b..752a2c9 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/Mapper.html @@ -2,9 +2,9 @@ - + Mapper - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -121,10 +120,6 @@

                                                        Interface Mapper<T>

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -198,7 +193,6 @@

                                                        map

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html index b0417c7..c4e6858 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/MotorGroup.html @@ -2,9 +2,9 @@ - + MotorGroup - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -75,13 +74,13 @@ @@ -161,31 +160,6 @@

                                                        Nested classes/interfaces inherited from class org.montclairrobotics.al

                                                        Field Summary

                                                        - - - - - - - - - - - - - - - - - - -
                                                        Fields 
                                                        Modifier and TypeField and Description
                                                        InputComponent<T>input -
                                                        The control input for the motor group
                                                        -
                                                        Mappermapper -
                                                        The mapper that will be used for power assignment and calculation
                                                        -
                                                        java.util.ArrayList<MotorModule>modules -
                                                        The modules contained in the motor group
                                                        -
                                                        + + + + @@ -551,6 +455,24 @@

                                                        setPower

                                                        + + + +
                                                          +
                                                        • +

                                                          setMovementSpeed

                                                          +
                                                          public void setMovementSpeed(double speed)
                                                          +
                                                          • +
                                                        + + + +
                                                          +
                                                        • +

                                                          setTargetPosition

                                                          +
                                                          public void setTargetPosition(double targetPosition)
                                                          +
                                                          • +
                                                        @@ -664,7 +586,7 @@

                                                        getModifier

                                                        -
                                                          +

                                                          • getOffset

                                                            public Vector getOffset()
                                                            @@ -674,6 +596,33 @@

                                                            getOffset

                                                          + + + +
                                                            +
                                                          • +

                                                            atTargetPosition

                                                            +
                                                            public boolean atTargetPosition(double tolerance)
                                                            +
                                                            • +
                                                          + + + +
                                                            +
                                                          • +

                                                            toPosition

                                                            +
                                                            public void toPosition()
                                                            +
                                                            • +
                                                          + + + +
                                                            +
                                                          • +

                                                            usingPower

                                                            +
                                                            public void usingPower()
                                                            +
                                                            • +
                                                        @@ -693,7 +642,6 @@

                                                        getOffset

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -728,13 +676,13 @@

                                                        getOffset

                                                        diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html index 8578c47..b88920a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.motor - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html index dfd8c97..fd068f1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.motor - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -134,7 +133,6 @@

                                                        Package org.montclairrobotics.alloy.motor
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html index 7978955..f9773ef 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/motor/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.motor Class Hierarchy - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -112,7 +111,6 @@

                                                        Interface Hierarchy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html index 6f575c4..197a5a7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/Deadzone.html @@ -2,9 +2,9 @@ - + Deadzone - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -125,10 +124,6 @@

                                                        Class Deadzone

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -374,7 +369,6 @@

                                                        setTolerance

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html b/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html index 7ee45b4..89139c1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/VectorDeadzone.html @@ -2,9 +2,9 @@ - + VectorDeadzone - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -125,10 +124,6 @@

                                                        Class VectorDeadzone

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -374,7 +369,6 @@

                                                        setTolerance

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html index 610dd72..83afc14 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.steps - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html index 7cf54b3..80cba11 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.steps - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -111,7 +110,6 @@

                                                        Package org.montclairrobotics.alloy.steps
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html index 3e0a0e3..baafe2d 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/steps/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.steps Class Hierarchy - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -103,7 +102,6 @@

                                                        Class Hierarchy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/IntakeMapper.html b/docs/javadoc/org/montclairrobotics/alloy/test/IntakeMapper.html index bc71f77..047d3b5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/IntakeMapper.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/IntakeMapper.html @@ -2,9 +2,9 @@ - + IntakeMapper - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -50,7 +49,7 @@
                                                        • Frames
                                                          • @@ -232,7 +231,6 @@

                                                          map

                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • @@ -242,7 +240,7 @@

                                                          map

                                                          • Frames
                                                            • diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/SquareAuto.html b/docs/javadoc/org/montclairrobotics/alloy/test/SquareAuto.html new file mode 100644 index 0000000..c4c7f69 --- /dev/null +++ b/docs/javadoc/org/montclairrobotics/alloy/test/SquareAuto.html @@ -0,0 +1,335 @@ + + + + + +SquareAuto + + + + + + + + +
                                                            + + +
                                                            Skip navigation links
                                                            + + + + +
                                                            +
                                                            + + + +
                                                            + +
                                                            +
                                                            + + +
                                                            + + +
                                                            + + +
                                                            +
                                                            org.montclairrobotics.alloy.test
                                                            +

                                                            Class SquareAuto

                                                            +
                                                            +
                                                            + +
                                                            + +
                                                            +
                                                            +
                                                              +
                                                            • + +
                                                                +
                                                              • + + +

                                                                Field Summary

                                                                + +
                                                                  +
                                                                • + + +

                                                                  Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

                                                                  +gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry, time
                                                                  • +
                                                                +
                                                                • +
                                                              + +
                                                                +
                                                              • + + +

                                                                Constructor Summary

                                                                + + + + + + + + +
                                                                Constructors 
                                                                Constructor and Description
                                                                SquareAuto() 
                                                                +
                                                                • +
                                                              + +
                                                                +
                                                              • + + +

                                                                Method Summary

                                                                + + + + + + + + + + +
                                                                All Methods Instance Methods Concrete Methods 
                                                                Modifier and TypeMethod and Description
                                                                voidsetup() +
                                                                This is where the user should define all their code and where "Auto", should be instantiated
                                                                +
                                                                + + +
                                                                  +
                                                                • + + +

                                                                  Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

                                                                  +getRuntime, init_loop, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, stop, updateTelemetry
                                                                  • +
                                                                +
                                                                  +
                                                                • + + +

                                                                  Methods inherited from class java.lang.Object

                                                                  +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                                                  • +
                                                                +
                                                                • +
                                                              +
                                                              • +
                                                            +
                                                            +
                                                            +
                                                              +
                                                            • + +
                                                                +
                                                              • + + +

                                                                Constructor Detail

                                                                + + + +
                                                                  +
                                                                • +

                                                                  SquareAuto

                                                                  +
                                                                  public SquareAuto()
                                                                  +
                                                                  • +
                                                                +
                                                                • +
                                                              + +
                                                                +
                                                              • + + +

                                                                Method Detail

                                                                + + + +
                                                                  +
                                                                • +

                                                                  setup

                                                                  +
                                                                  public void setup()
                                                                  +
                                                                  Description copied from class: AlloyAutonomous
                                                                  +
                                                                  This is where the user should define all their code and where "Auto", should be instantiated
                                                                  +
                                                                  +
                                                                  Overrides:
                                                                  +
                                                                  setup in class SimpleAutonomous
                                                                  +
                                                                  +
                                                                  • +
                                                                +
                                                                • +
                                                              +
                                                              • +
                                                            +
                                                            +
                                                            + + +
                                                            + + +
                                                            Skip navigation links
                                                            + + + + +
                                                            +
                                                            + + + +
                                                            + +
                                                            +
                                                            + + +
                                                            + + +
                                                            + + + diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html index b71598c..8beed5f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/TestRobot.html @@ -2,9 +2,9 @@ - + TestRobot - + @@ -40,7 +40,6 @@
                                                          • Overview
                                                          • Package
                                                          • Class
                                                            • -
                                                          • Use
                                                          • Tree
                                                          • Deprecated
                                                          • Index
                                                            • @@ -49,7 +48,7 @@
                                                            diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html index 90c0544..a27b8b0 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test - + @@ -14,6 +14,7 @@

                                                            Classes

                                                          diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html index 85957e3..d12ff11 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test - + @@ -34,7 +34,6 @@
                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • @@ -87,6 +86,10 @@

                                                          Package org.montclairrobotics.alloy.test<   +SquareAuto +  + + TestRobot   @@ -107,7 +110,6 @@

                                                          Package org.montclairrobotics.alloy.test<
                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • diff --git a/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html index 06572b8..12d08f1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/test/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.test Class Hierarchy - + @@ -34,7 +34,6 @@
                                                        • Overview
                                                        • Package
                                                        • Class
                                                          • -
                                                        • Use
                                                        • Tree
                                                        • Deprecated
                                                        • Index
                                                          • @@ -89,6 +88,15 @@

                                                          Class Hierarchy

                                                        • org.montclairrobotics.alloy.test.TestRobot
                                                        +
                                                      • org.montclairrobotics.alloy.auto.AlloyAutonomous + +
                                                        • @@ -107,7 +115,6 @@

                                                        Class Hierarchy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Update.html b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html index 16b0273..24e224b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Update.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Update.html @@ -2,9 +2,9 @@ - + Update - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -103,10 +102,6 @@

                                                        Annotation Type Update

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -197,7 +192,6 @@

                                                        priority

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html index 12130cb..b6fdf80 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updateable.html @@ -2,9 +2,9 @@ - + Updateable - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -119,8 +118,6 @@

                                                        Class Updateable

                                                        Since:
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        See Also:
                                                        Updater
                                                        @@ -225,7 +222,6 @@

                                                        getUpdateRate

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html index b66c765..2e125e0 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/Updater.html @@ -2,9 +2,9 @@ - + Updater - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -115,8 +114,6 @@

                                                        Class Updater

                                                        Since:
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -244,7 +241,6 @@

                                                        update

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html index 6c8cc90..636bd16 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html index 7cfaedc..1f31a43 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -128,7 +127,6 @@

                                                        Package org.montclairrobotics.alloy.updat
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html index 88b2f9b..6619e43 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/update/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.update Class Hierarchy - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -103,7 +102,6 @@

                                                        Annotation Type Hierarchy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html b/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html index 7d8ea50..abfadf5 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/BangBang.html @@ -2,9 +2,9 @@ - + BangBang - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -139,10 +138,6 @@

                                                        Class BangBang

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -471,7 +466,6 @@

                                                        calculateCorrection

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html b/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html index fd1303e..9247c08 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/BooleanToggle.html @@ -2,9 +2,9 @@ - + BooleanToggle - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -125,10 +124,6 @@

                                                        Class BooleanToggle

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -319,7 +314,6 @@

                                                        disableAction

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html b/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html index 472b194..cba5cfb 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/ConstantInput.html @@ -2,9 +2,9 @@ - + ConstantInput - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -124,10 +123,6 @@

                                                        Class ConstantInput<T>

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -259,7 +254,6 @@

                                                        setConstantValue

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html index 4087393..9cf9f22 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Differential.html @@ -2,9 +2,9 @@ - + Differential - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -144,10 +143,6 @@

                                                        Class Differential

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -364,7 +359,6 @@

                                                        getInput

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html index 42addc3..8f614b1 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/ErrorCorrection.html @@ -2,9 +2,9 @@ - + ErrorCorrection - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -122,8 +121,6 @@

                                                        Interface ErrorCorrection<
                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        See Also:
                                                        PID
                                                        @@ -260,7 +257,6 @@

                                                        copy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/GyroCorrection.html b/docs/javadoc/org/montclairrobotics/alloy/utils/GyroCorrection.html index 41b1d9f..01bbd01 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/GyroCorrection.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/GyroCorrection.html @@ -2,9 +2,9 @@ - + GyroCorrection - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -134,10 +133,6 @@

                                                        Class GyroCorrection

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -323,7 +318,6 @@

                                                        getCorrection

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html index 4e86f42..e5dd7b4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Initializeable.html @@ -2,9 +2,9 @@ - + Initializeable - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -115,10 +114,6 @@

                                                        Class Initializeable

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -229,7 +224,6 @@

                                                        init

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html index c90a768..474971f 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Input.html @@ -2,9 +2,9 @@ - + Input - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -114,10 +113,6 @@

                                                        Interface Input<T>

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -184,7 +179,6 @@

                                                        get

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html index 6882eb1..fad2dfe 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Monitor.html @@ -2,9 +2,9 @@ - + Monitor - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -125,8 +124,6 @@

                                                        Class Monitor

                                                        Since:
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -313,7 +310,6 @@

                                                        get

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html index c6ded51..2c9ed26 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/PID.html @@ -2,9 +2,9 @@ - + PID - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -147,10 +146,6 @@

                                                        Class PID

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -457,7 +452,6 @@

                                                        copy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html index 77e7993..2dd1d3c 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.Status.html @@ -2,9 +2,9 @@ - + Toggleable.Status - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -304,7 +303,6 @@

                                                        isEnabled

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html index 5c1b88a..0af6890 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Toggleable.html @@ -2,9 +2,9 @@ - + Toggleable - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -123,8 +122,6 @@

                                                        Class Toggleable

                                                        Since:
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        See Also:
                                                        ToggleButton
                                                        @@ -361,7 +358,6 @@

                                                        toggle

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html index 24312fa..970a3f7 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/TuneablePID.html @@ -2,9 +2,9 @@ - + TuneablePID - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -140,10 +139,6 @@

                                                        Class TuneablePID

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -392,7 +387,6 @@

                                                        copy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html b/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html index 37fa421..8f92458 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/Utils.html @@ -2,9 +2,9 @@ - + Utils - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -117,10 +116,6 @@

                                                        Class Utils

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        garrettburroughs
                                                        @@ -329,7 +324,6 @@

                                                        pow2

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html index f2306d4..8b45d3a 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html index b0a82a9..c1c7b74 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -203,7 +202,6 @@

                                                        Package org.montclairrobotics.alloy.utils
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html index 9d06007..4c7c293 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/utils/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.utils Class Hierarchy - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -136,7 +135,6 @@

                                                        Enum Hierarchy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html index 9377a96..e5acb95 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Angle.html @@ -2,9 +2,9 @@ - + Angle - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -119,10 +118,6 @@

                                                        Class Angle

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        @@ -505,7 +500,6 @@

                                                        createRadians

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html index c04c91f..b69087e 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Polar.html @@ -2,9 +2,9 @@ - + Polar - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -126,10 +125,6 @@

                                                        Class Polar

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        See Also:
                                                        Vector
                                                        @@ -690,7 +685,6 @@

                                                        copy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html index 9a52cec..977ce6b 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/Vector.html @@ -2,9 +2,9 @@ - + Vector - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -126,10 +125,6 @@

                                                        Interface Vector

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        See Also:
                                                        Polar, XY
                                                        @@ -623,7 +618,6 @@

                                                        copy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html index 1561aa3..920f9a4 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/XY.html @@ -2,9 +2,9 @@ - + XY - + @@ -40,7 +40,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -126,10 +125,6 @@

                                                        Class XY

                                                        Since:
                                                        0.1
                                                        -
                                                        Version:
                                                        -
                                                        0.1
                                                        -
                                                        Author:
                                                        -
                                                        Garrett Burroughs
                                                        See Also:
                                                        Vector
                                                        @@ -702,7 +697,6 @@

                                                        copy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html index 75eb168..c39f240 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-frame.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.vector - + diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html index ba20b4e..6e12539 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-summary.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.vector - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -134,7 +133,6 @@

                                                        Package org.montclairrobotics.alloy.vecto
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html b/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html index 74d2c6f..ae9f9ba 100644 --- a/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html +++ b/docs/javadoc/org/montclairrobotics/alloy/vector/package-tree.html @@ -2,9 +2,9 @@ - + org.montclairrobotics.alloy.vector Class Hierarchy - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -104,7 +103,6 @@

                                                        Interface Hierarchy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/overview-frame.html b/docs/javadoc/overview-frame.html index b6f65ef..36da9a1 100644 --- a/docs/javadoc/overview-frame.html +++ b/docs/javadoc/overview-frame.html @@ -2,9 +2,9 @@ - + Overview List - + @@ -14,6 +14,7 @@

                                                        Packages

                                                      • org.montclairrobotics.alloy.vector.Polar (implements org.montclairrobotics.alloy.vector.Vector)
                                                      • org.montclairrobotics.alloy.core.RobotCore
                                                      • org.montclairrobotics.alloy.auto.State
                                                          +
                                                        • org.montclairrobotics.alloy.auto.States.ConditionalState
                                                          • +
                                                        • org.montclairrobotics.alloy.auto.States.Drive
                                                        • org.montclairrobotics.alloy.auto.StateMachine
                                                          • +
                                                        • org.montclairrobotics.alloy.auto.States.Turn
                                                      • java.lang.Throwable (implements java.io.Serializable) @@ -222,8 +233,8 @@

                                                        Enum Hierarchy

                                                      • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable)
                                                        • @@ -243,7 +254,6 @@

                                                        Enum Hierarchy

                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/docs/javadoc/package-list b/docs/javadoc/package-list index 66cb634..57a2ed3 100644 --- a/docs/javadoc/package-list +++ b/docs/javadoc/package-list @@ -1,4 +1,5 @@ org.montclairrobotics.alloy.auto +org.montclairrobotics.alloy.auto.States org.montclairrobotics.alloy.components org.montclairrobotics.alloy.control org.montclairrobotics.alloy.core diff --git a/docs/javadoc/serialized-form.html b/docs/javadoc/serialized-form.html index 061c020..e043575 100644 --- a/docs/javadoc/serialized-form.html +++ b/docs/javadoc/serialized-form.html @@ -2,9 +2,9 @@ - + Serialized Form - + @@ -34,7 +34,6 @@
                                                      • Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • @@ -103,7 +102,6 @@

                                                        Class Overview
                                                      • Package
                                                      • Class
                                                        • -
                                                      • Use
                                                      • Tree
                                                      • Deprecated
                                                      • Index
                                                        • diff --git a/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java b/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java index 81e4f4c..f47ba4f 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/SimpleAutonomous.java @@ -51,12 +51,12 @@ public void drive(double speed, double distance) { public void turn(double speed, Angle angle) { addState(new Turn(speed, angle)); } - - public void contition(Input condition, State state){ + + public void contition(Input condition, State state) { addState(new ConditionalState(condition, state)); } - - public void addState(State state){ + + public void addState(State state) { auto.addState(state); } } diff --git a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java index 973d063..1472f4d 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/StateMachine.java @@ -91,23 +91,23 @@ public StateMachine(String name, int finalState, State... states) { description = ""; } - public StateMachine(State ... states){ + public StateMachine(State... states) { this("State Machine", 0, states); } - + public StateMachine(String name, String description, int finalState, State... states) { this(name, finalState, states); super.description = description; } - + public void setFinalState(Integer finalState) { this.finalState = finalState; } - + public void setName(String name) { this.name = name; } - + /** Read out that the state has started and reset the timer */ @Override public void start() { diff --git a/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java b/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java index 44c633c..748a5ce 100644 --- a/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java +++ b/src/main/java/org/montclairrobotics/alloy/auto/States/Turn.java @@ -35,7 +35,7 @@ of this software and associated documentation files (the "Software"), to deal * Created by MHS Robotics on 1/26/2018. * * @author Garrett Burroughs - * @since + * @since 0.1 */ public class Turn extends State { diff --git a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java index 31973f3..91559ef 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Debugger.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Debugger.java @@ -124,6 +124,8 @@ public static void setDebugLevel(Level level) { * * @param key Name of the value * @param value Value to be debugged + * @param level the level this debug is, if the debug level is lower than the current level, + * this will not be degbugged */ public void log(String key, Object value, Level level) { if (level.getRank() < debugLevel.getRank()) { diff --git a/src/main/java/org/montclairrobotics/alloy/core/Encoder.java b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java index 16e3fe3..c35aa59 100644 --- a/src/main/java/org/montclairrobotics/alloy/core/Encoder.java +++ b/src/main/java/org/montclairrobotics/alloy/core/Encoder.java @@ -71,7 +71,7 @@ public abstract class Encoder extends InputComponent { */ public abstract int getRawTicks(); - /** Gets the ticks, this value is affected by encoder resets */ + /** @return the currnet ticks, this value is affected by encoder resets */ public int getTicks() { return getRawTicks() - ticksAtReset; } diff --git a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java index a667d80..f3a7240 100644 --- a/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java +++ b/src/main/java/org/montclairrobotics/alloy/ftc/FTCTargetMotor.java @@ -65,7 +65,7 @@ public class FTCTargetMotor extends FTCMotor implements TargetMotor { * should only do this if you know what you are doing * * @see ErrorCorrection - * @param motorConfiguration + * @param motorConfiguration the name of the motor */ public FTCTargetMotor(String motorConfiguration) { super(motorConfiguration); From c339ff762f19a93685389f59ec67a307e00acc1b Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Thu, 24 Jan 2019 19:49:48 -0500 Subject: [PATCH 42/54] Updated readme badge to jenkins --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 10c617b..b0e1548 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# Alloy  [![Build Status](https://travis-ci.org/GarrettBurroughs/Alloy.svg?branch=master)](https://travis-ci.org/GarrettBurroughs/Alloy) [![CodeFactor](https://www.codefactor.io/repository/github/garrettburroughs/alloy/badge)](https://www.codefactor.io/repository/github/garrettburroughs/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) +# Alloy  [![Build Status](https://ci.montclairrobotics.org/buildStatus/icon?job=Alloy)](https://ci.montclairrobotics.org/job/Alloy/) [![CodeFactor](https://www.codefactor.io/repository/github/garrettburroughs/alloy/badge)](https://www.codefactor.io/repository/github/garrettburroughs/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) ![AlloyLogo](http://gdurl.com/AFl8) From fc3e3bd82dcdfea30bff7e2226f139df828d1100 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Thu, 24 Jan 2019 22:38:35 -0500 Subject: [PATCH 43/54] Updated gradle wrapper and implemented mecanum mapper --- gradle/wrapper/gradle-wrapper.jar | Bin 54333 -> 55741 bytes gradle/wrapper/gradle-wrapper.properties | 3 +- gradlew | 2 +- gradlew.bat | 2 +- .../alloy/drive/MecanumMapper.java | 44 ++++++++++++++++++ 5 files changed, 47 insertions(+), 4 deletions(-) create mode 100644 src/main/java/org/montclairrobotics/alloy/drive/MecanumMapper.java diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index 99340b4ad18d3c7e764794d300ffd35017036793..457aad0d98108420a977756b7145c93c8910b076 100644 GIT binary patch delta 49939 zcmZ6wQ*b3*v@V)X$L`p+z0$F5+qRvoj%~YR+ji2iZ97@9lk?xZ>(;G(s>Z{79947F z$L_M9-Hkuv0kFJ{w{v`8U|^~Vg33^VO?S>ez~XTeTHN6(*34IbLV|&v!zKx8;Up>i zzz6DRplP6g#b%fq;zODU21Nz|P#Ghdm(}Z6iIz8?9~+Xn!SeZp z?s+O!(5v)=ZK_#cTKS6lisH9=&KMI!4XmVJ&R~1L+<3n7dpf+a=oNr;gcG0+-wzD@ zAv^9VGa?4r-Bz^AT0@;apjIzS2SZY52nB33ZeI?#5WaJVJ~lNqi>5vu=!%Afw5X>( z7?B?W#YXEw+rxRt7`IcTZV-5C^!s=kgl-3z)lboJ1qUKbqx`ne4CU!ZktWB&DU#|G zoUe&Cx?Quj%HX+wYmiE`9GSj2F1W_t?`BNiR4W{apInt^(Q|zW99wuM=+-@!e**^E zbz-FHo4XEaDM&iF~3Nc5?zhO1$)pFGQ9OLpj)yhiJeAm zqcBugO434wnm_!C;GuB^E@BWAI0)2`&GlIL!m)bdM0>8okH@lc^Rc%KeDL_C@!HAe zy{3{>FWk?_|L?xRW>sBGJfWh|STiJAzxl3m^A_|-rCnx2A)?I^+^FW9+FU803;$bb zwnm!9sB#}Bwt_2c1?S0b5G`okvtXc)0LMcuoqDWJb(OmEMUY-%_g`6=qY_Zf3Hh1E z>^vjcpdeXmG_m8dJ4#oTw@+kT2P7M=Q>J`N!f$-Kjc%aRBhpm)f}N*04E~T*qPG_) zfswaw8SjvTdG58KiP`Q~vhU)Xzc1q}X8Bnp9#kZ*BGMX;I{uvyS$m7PUTwxYE(u>3ZMgN8jR9c!RMcdw6=aZ1<)%7A zUZK)C1K#WQ@09Pw5O|xkJzLW|SKPvM*x3^MCt*nKOemlvL~JH&xq-S=aPCKyv5x3n zqnQJ5$_c(9ok?~hVg~z=d)#vCD<{LZL(4|ZkcI@>in)M|ReHO6sUFK&QG|;ksI$$<#}SAd`;-JZ zDUY+r_|aT<-fi-~bifu7X$HZK_+_Y5@xzvBtg|Fu!5#BkEO0ck_+^ua)Do&f3r|bL zOO5r*J|}ImTt@-<*@`zfY|+5n#cFI)23GT*MN~=A$T3w$qnBvG&htd^&iQk=1013a z7x6Zynj$CZO-K}sOLc6FVoSL0F(C(gr}p#L;~@oGYq(F*V!-`h;(?Zo?6NmL4nxJg zC_eO){vyahlJa+nJOT3B@6<0p2Aog^ALayN{B;M6=miJu2DJa8C468A^n2eK1EPN+ zql{83Ly!yi;>|a~Ck#Vo56Pe(u~(OZSOYNm6%H`wxm8LB1bkAa^~t0JR$bsIC$Qt^ z7z$V3k;hIG&w$VH%*SR^%<>7RSt=Hv7UQ(SGiOw%Q-~7J)kZ+X+l+)#w0t(@IM-7N ze8RH?dDukj(azp}prXuA2y`$o z7?}T{QwYpb>C3O+zt?<{0~80anbw^t5Pk)!J5XR(Sl2UfHFOm|V)_5w;i;8U>!2SjHzjt1q?hwQS2LqFZ00UzOOG+5QNScO)Npge62P&Wmq4PB| z*y^=tYS@V#iU@8NxJMbxEvCogq9$2ODxwZ9%*wBGOvtn4Xun0t&O-bBDu@v1BQon! zf#aM--wMmg@R|AjyxE>%(A)bB;YbumAZxfB5T%9ZLNm$J77>DusiMicp@Wp_v>^oE z6N7>0fjyEJ;#8K$M*i`E2^49dw+Y-cridQCc)E^Nba;^${Z&g^$-BN!%YNd|T#jcH z<%}nN?Y6SsL1Ijx-kuuS?}sxgoI0tAkIWk$f)pAg&3VmA|3U^|n<~4q4Af6By2d9CYNXky zpj{SO@Ok4>W9HW_Vv)i<@ib1iwcMg-m+N)V5ngLMDfsh;@z!BKeF7|reqGbessmXz zA&ird1^w%W6{mq}M4rN2oO3Gv>=zl~O3;+OOq5cZ^^0b*aTRH2_Rz4a`L_@>Dfu^1VTFrMazWwzyjI&5N|gw*0D??7&m0o zJOXozGuQ>49lhzPz&5=95Jmdy0~p9LWtqI;-{V*Vi@-Q2;VzOxkH;H z*vUjhwgkIjo~gjxE1T3MvgAo@5p4R1s=*sgwfYVg-Zh;M1lQ?1Yv)D!^_=|!h^=j& z&Q9sVOE)yg1}atR^T+=_BD8Zkjv^#5Fb4uKFp~f8h){sAhUhC^U;b9jY}zrwn$t&j z#z73OxY7NXoSdj>f-w1Fr0^q8#4$x7OR>B>@YHhqTnyD&!A({N%U*@;6O@!OIh=VxYwbt(9P&s-mWYmE^i4`qMj)h9iL*;xTc&z-(p&C7u6&mcc&$a%7|8+R3}9r;%g zch&<{I(WGA4yfnrEjEx~)yYe)_1_4Ueqa#~=P@XGsk;WS%yPU&CRKWnZJ{8~tuIll zze&Q(b=^pXA35u@&Tr#EezmA6G5L&I&cYbh#(U^_7Mz93F7JJvep0m19no}Cw76%N zg0yp$D?_2@Qv^i%Jp;d;B1!R)6IfFMIh4sX_K_hc5-8ZpBRq!nNU1DuV7{Mx03>Ku zplD{iuFJu1=nlp`q5Apd8Cas<8UGJ`PEWCcNOTKOIg)7v;K;DH)f-;U<$`S17vc z!X1BR1$)XSa;ID(1pqKTpNf1(fii1SaA~)RF7j7LEupgOx9%~&Uzv*!6wJgW)P_`Z zP78R;Cx`wNn%0(HH>K`e6peg1y)~eiY}t#m7|jw9W1PX8ySLHx=_R|H;pk9`kK?Ep zDF3kr9KfeyE&a~ErDEfcxn4!nt&w(oZ`ik1uy&t|Hy6=Hu;M71igy>`22wk$6S_fl z2ODnT>o{cEDBzMC{i{Bd%ko$|8v^M9?JG`eUZtr=LqelWI&^WGsW{G2`Q_KFEH;+; z%8hb<003&?Rno7UT*oi%a@!=ML>^WXY80-yY?NbP`d6rSdLG zcO99XpLMOHPl>Q%%~in_Kx|3Kfh&q&p(`zS_2kRh)746>)0C;eVcGLN+4-lO{sId7 zs>^ui=H?@1+~Y|pLhtFvGP$-(E`sX7VmS;2nDTZKDvp9b?TmnbgZuky#rwLmawm$- z%W`S**LR^fhxzGQx1j_n#?e>8hOLz@^x4B3YWH=JSV@?KffgjyKwKgm_?x~#_MNsH zg%$ki1hT+5wkd@FoIH<|!3qypzVJUutVU2Qwp|*`w7jf=%AFTR%>9m1?EvG(%>p zgha11t-WkC?R~%oI`<_8&D)HTP+XbJOXQKG>w0EL?clH+)=_*qi`EsT?}bI(QiY?( zM&~vz%q7NLNo(4xSP2+P$;RTcT8_ozHy$#eV)Z2+I1eSFjU%dC?P@s_={Fq~Szl{7 z^Z)fmt{5>NbWzaq{GkECG45j}6B@$exwl#q(39KaH`mV&{K?SqeLDA5CLUw?+g5a| zF&3*?C7JUI;l3h#np9-bqY%*|hkJHdK7%L%-D@BR@YVNB@WKwZs9@boyUBwjJ z#sZzzy(Z1mhOkI|aw?!kmb9FWJsnL!YqTCj&u=$YHt#Gu!XWj}DlmF|L%wC~i4jpH zHT%~#YQ7c-NHRM!<|0E$o)T9)-;Ec^gX_HOvN#2se4+v;6xx<5J1)|6yF1ry=b^bT z)e&7&=OzWIiz>Qw`TBH^Huj_vu_*a&ztQ?xE*17y_Tpm0@|GMK5?8_oOiE%j!;Wyak9_&X$LuOON+(2@ zEtB!&J6^WA52?z(mN&|G)D}%)p@wNqY$K2r#z7}AKDbn{>1gae;<#}28y&G;gVWB& zP^X(^tDc3xZasZF|J#oCOxsz08cl}Q)N|(An4!^~1Y$$?UpwzIN;TcqjcWH@igqM) zIqKa!Q1qGsKDO{6*N0KVv6^w}X;pQ+btbLNOKaGslJ}`Z6Dv`NVBwFZ?9>O1ACRG} zf$^vLW5&HGOfdnlmCf2BF*3wE z;l|nroyOv#b6D;^YEn|=$XceFLvc&BoJ@TR_`9*n6JDkA$4Nc{-GY|LmU8|`xvm00 zae?)_hFYn)X>npnWa|in+UN4`mtFJ!-!NvRxM{ zObZl@2M=NgaDqNR?bl}>-(df|=2q*PHF%I8P$Q^IHLo;|Qo8;Eyp|Z7eaX&zJ7mq1 zNM@~%J>Y8`$(W?b**R2*&logTm_J5g0dwY63L{z1O4>2*Vs(eo`sGdewR+-9{8CEq zM(sWXf@zr*`Du8;udC}$hPwEQODBEQt3Lc~noLODmia_hcC`9qsc6$%=0!wts%*wJ zdbPClr9>W~?DV1V?EhO*p5+CDA*^gCsOWo2-g!DF>WeThMi;C@`Z`X%jDsP5hrPRl`5 zSIcd6dxP9(9*%1Iy+bljEUm*T?P>s{^;7|WRH(@mL-m3td!@kBvu;L%WkfwX?g% z-N&zp(%8J7v8TG_oJLj`IE<(zN;KLqW9auXLT}#@ig*hevD*BYzk4%l#=5+EoVa*s zwf7?E=2UtQpqiWi0IwL#YOv%lp~|^(%ZAmL(Dc(z4Pm6O1^!|XY7(0~H*3~v;^(<1 z>@H=9dXk)SOHat8=U%TV%wTKfkILf4Qqu=4dYjJ4%$)u8L9AT>n${lRy=A$aDX>)i z;c45JitM!f>ck=D!LfXvoqL|A>8$&y_puQ}cqt_CG{5`K9Q=vBHwl5n+=s*(k2FW( z_W~O_Poc~gME2r^uef=Udc@yYl~_ja-6eSnod3J! zb@LH8FCVLXvGNrxu3W?#i0Jm^s!xM2r7a&cc_FS43vsoVh)I7z;g_8#>+^?fX5($! z?!*0=g~)5an-~y>?K#jVfrx%iOl}Qsu?ySN zIdp89%b^$)24QPnrZDUxlQ^Q@d?|zMF;11pD=+jSoh^$v_UnVajl%r9NZ!L$fVvNsE{L#w6Fyrh?geKS(;ClntrWP8ksCC;aR;@kkvxQSI zM3})ypV>8Ug*#H}O*BLis++|wZs`7=30&9q9jX|6286`v;*XfK`mUHvD;!0Wq#r$r zw9RN#H>T1AM#_lHF(Vn0$ZQdWMsL(UTN3b9tJk09CMg?%M_OURzqt7>;Ps?b0=O-STM1 zW|??oc*Q1o5gPv@DVYm{bxM;aHFHsVo8nFdYSk$2SM^LWfRDMdD4!GWh*hR~{E5=I zHP)Z5jgNqvOxjCIt^@e?rat|kuzL||$qA^d=I7W`IY&c424t@HM}G^_6YiE$Vp^mR z?f1j@h?8SSWiixyn$)Gl%wcv$Calp7-D)s8MhgqJ{h2cXSZ305U2jTq;)AQL> zr9cRKkm-9kp}l`bdq4vS2X(cmpv6%WOr@3v$`W!ATXF&SH62BQ|Oel!;Ful_AtXKh?bq<=@ zV;!@z<&Uw7Kh!Xn6>Tkgj=pDl9Cl*S$l9?-c_`s#a3Pmfg08C!N_8d!&W9P=Ui#i_ z$6X95e65!2jU^W4E^m?@{N_$ zD}hNRCXAACu_IG|h?$dN59&6v_wis9ICdIb#8zmQc@?<*?N^)Z%$$fjNzNPZHB9F; z#t)k#kE)r6SUOBQhbaQONeV@}hs740iu4c>m?J4tsN3gwD9szOXjvPjIiSDd1i-7u z^~;JX+xHAs$cJ+FjAPQpTB%e- z*N?lClYOu$!B#u;jB=SNg0h2H?7m8aY3#mQf)=l)!>!>|1D5OBjAWgQtjyIn@t<4j5XGDGtvfIbW&!P=+8D}&F*?)c1a;1Sb!Vq zwuF#`YXM<%vYi~Yt7VS?&}5AUuz07VZa>4Eh6IUXVX*N;*g&j3q@dO1YaX@6%ftr+ zUkm_(FJdjsLw9Wr@$uW$eqw+|N}#{*Rv!SA8Q@THq~jUW*Y0qyJEc_Jtxq0MIA}k` zSWK{@fW>F^#;V7nHos6ziM^1f2V|-y&g_xhu=)uQ5!vB%#8d%~6M#tt|K+gO=K<3D zxik2T$Q$N@s}BG{`4h*d!&=C$cW0{ye8=At%OOWbH6-hEGUScH%GS2(a@&42-9Y6Y z(mauMS?yxh*u2ySv@#d(Q9=1fUeKR@{so9`v||K-zZ1f>AAbg|muGAd0HH@HnanZy zJbtT6RZWM&tJ5ZZpn-W#J0+;3YyJ zU9ARXq0eo2dPRi8;9U(Hx@)WDjRvc2F}HA^f@Xb}nr(WrSwF=BBs`p>-&~z*PU=c= zwnR!&kA3Kjl%ECSJ6Vc(fB-YS%t?hRYZ)!0TGNr_$L@@Q!3MM=-=fiZjzXr&?kwx*{!|S;B|@MKqo7x&KB*`KJ{LuRak;0h0%r|5}UJ zzk*4`WUOm@Lk=n>fzyv}0`7QmCnn{Z1m(WG7_|oxf1Ivr%U=jCrH0!S#U^5SR^Ol2 zZ&D(AVoILpN?4Ufzpj675^W!jBy>u`A3mbP@&yQcW1JQRJtG!97@VN-+>>7)#UMtH z@Ew2Ocq+IuhY=LW@F}7GNw}lycQ24oAQ^-L`EoUcxpSE9L934-qS)`lmAzi(SPt26m}$6} zh4ns|?%xcF)Zu*CXzwhHNVohG?}h1bb)@lJOls zo7EUjL~lo5PI7BWYibY+)CXSa8w28j%_X6o1V8htlPvq&Nl-ch?jgeW%eeK!eElwx zWp_|er&HNS1QMJW_}X=Zx)Wf45s(`udWD9 z$|vFkZpd#4qVU0!yGI8sCd zL6k}QU5fOUS8!hh%Mc?U8ks*GUQYhL*b?~m{{m+Yf`n9xmhz-D(d~!WM@5AbPEWqo ztuhdu4WxmUf`l6}Jtgf;W?{IC4%Q0&GBYs)IsuxK4CI&?OQS#RMHS~wA)7~BjA zvpVd!DfkY2QdQpim|e5dcH|xG@Xm5{{kQ(HxYD=F4+9APBOo>T&l^z8lx+-dZY%zT zfuUs#RRe;ZjC}&9YcYM8gL>RkTdT?Sn(nD1d`S)mpG?(-VOFn$8a67;3f&pS4E;J# z_xm#Ai1qnl$*^5#Z#&axNTtR{lOgG0TKVTRN(_}XCWD4Sy{&w9Y_tO=5@6DqS$u#F z%B#n4C4?5I^&F#ZmvtyJMk>;u)_ZQ0*-62Qyl6yP9aiCbfe2N<(lh8c)MJU@+zZ2; zLtc5LN4m-_7_P|9Roqj#^_tir1pszSJYh7yuoZh#*=HA^IL5A3p^ zEYdpW&kqFUSVNe&i>zLVsXtcLkN9@&k2{J?DC0_%APqV0uuYhVeIC++Dmo|{SS9=- z3trKVFq&9H{6dW&3RzT2Uqt9Zov#9&fpDmdDuc{)ilu#k;|~gtPI~0#_U|?<7U|_WWkL;oc=4e9uqOIV33(&tG z-W%a%P=Lp#x0u;dRiTK0ncz91aC-g^u(G)t44SZ_qu7fBRpt4 zTO+-YUidM1K!jsY{_R~Fj5q&%^mgs;PdNV5VH{X*MKK0KWe^F*1jqhyaQk(3_Y z=`q=-?c8|X`eAtNLc{r=4#$z-#;JWk2&7ERsD9x0D&ER`NcY#OJsbeQ;oYBF+=980 zksjQh2seRCjivX7GuvM^x%NK{PQ(3m9U{)_6H@u<2qR)_QPa2VM^IA<8=)R8=TTtL z6Fgj>THQjpc^Z7J=c(VJI=J5(XNSFJNeddL5;TX_NfniMn5lQI0AV!MwCE8yTVwSi z;#~#;=p03f=9+Ox=eOaTr2&LC?1?Cv7_0|m3}iqjKQ8O0?C^_&1Mx1i((bLB%cs)> z?3lagTRP_6FTwh;7FRxgVSf(BQE=O+!};eSv8 za+PGln+;BUxy&ynS~a;qC0=rkIz@l`KuhNLGh7nTtCmYS!i&ql@kdvAl1)GZe#oy z8~9l~IFsL0)p9k_=WnF!4#_k$7!xHTlXXCCDDO^BN@@!!!nzyP$$16ym;{Pti?h8# zp9d$NER2s--}yx77|#K7UI1CkU+y>_82Jdr&b9>Rq}#f=RN~nDIM~UFiVX}r1#P7C zqV;@Ja_&u=;Fy1HDPoOl3UsBr9&r9lbtPW|uPTRW)oi5P1`TC?EiCdRQ%n_y<}^UX zL5?={K^XgGM>P9IM+iWJoL<=g`^OJp(I8yTxNo);nvrRQ_SIhwim^JYWU1mkg_p*_ zUdtD{FY#;>@Z!0XrH`h4(`WO@u1k!i%vwS{`@ z**?^`);^|%0(Au2g^Tf)*O>;R%tdH>Iyb$pEuqKsZDS;om4st@iZt^=kyD{nZEU$R z+*z)yKo|}8CzH7fhf>7GYG{p-`j7^U>S1CytrEl8G4()c1TKrluX}bD1A3t1kg(j# zFsYbsQN*w@Y`0UcaWPrxeK7#1k<>)|N%5|BX=qp(e#VHlHsX&aZC$Zm+^{Siv+e9Z zmQVmn?0Lix*Cz&-?Z{87JP6M`2&B=edcky!9TGkxh;wzy^UQnarjyxUWVTku8Jdj4 z)w4s=G}AlASS~7?<;T1e8WBKlsHzQwRq6nCY2pRyGGSIuSsIru+-}Nqu^`I80wu$r zUPT*n#OBXgg2tOL5=au!dxGTdNMBQ#nlUzO^?K{@Hq~3QiPSrMIAKL095OOl=tA-g z`>5*aZK}U)*y}M{X^eAZU$f2vTv~ofb@L~wpVgT!jyXhnNk7GnOrZg%U6lrDSrib4 zVn;O5`7-D%#ry_kYi?QD?9R<<21mR!A55>q?jIU*+3zEj_~tN)q+)ScE`%%0UdLe% z98Jk_N@M7vyxrJ;p)saGcw=&hQ^2v32POhd)>6O6p+idxH{uYuqFXL=WrP|-MY+^?w^x{<^B9z;eb z=;M@^9rvv6ousTQe=e-_M_VDOL+v2t1a?!2YDlwn{yk1!rPdwMdk{Rp>7lq9X?b2; z8&`-P9jXrEcY#E;vW48Q&z+WY(C+Up_4RW?m#Qa}RHE<>l=Oh|thW%zoXa!R(e`Kt zTa%Jj{!8pldiq?kF-_C^7z0SNM%=Z3%`&WInB8x~-71Pv!i;TZ;`UyIde*WdVrIHY zYZgimTS2-Omu83P_h`Esw-yhEv`8SXMneaQ>Y1G*MwJRMgAIHf(HG9v-K zXcH+uY3QkmVGrQ-x*VbgS^x)s37cbDr|0({_!ynTe?BjOcSJk6+!c55VXSN#1} zd?N(3sG)tr$XepdTd7Gn4*3F8WGsbebm=fk#pUx`A7#a-cfR7d0Up(TmG@BIp2!~b zCUkR!AUYsLn{?o_LVjkli?+;XapLmHGlWW+6+_n0ruuL#iZ*A6muN=bKp;Bio7cX> z<6E~}k|sF-t2wnccW7UIsTQiV&h(!Fe~5NXPZZU!^uBo-db~RysybhAx{|uYZ1rMA zfSm`^v9q2Opthjc&DG#1CUH20s@gMnr_r*}kL&s+;w9{gn1A5pkor?Q7FP5{2I`!IpI$;q*z5U#x?pG>8qFkp z?s?^2AW3)p-yT>j2~r5_23Kb6fK2(t3$9G!hSj+TJ{5LaQVV_n-^bL6Hut8{UFNU@ z0UwY%D#EECBKKJ)L5tEofqGkjbl;cT5T|qs(_vHJ zqgLXH z*xG0I&agA?a*woH-jHURDj6d`I6U{Aur**ljV-=)cHfZ&O~FztO~}-*Oa(aZQw+%czdAEPXvy-)-?98+BV>frw>M*IOfM{scNY8MwPlOx5$NWXEiy))~bU8D~Nr-5Ebt{{>r` zi976h;PvWFp3!B@%p(g)!zG@(zgYk=+ne?%Jj<^J#k-=t7{j%McDi`462v`oM|>eY zc!P@J+^IqQR6nJ`JW$~DZ}Hm&zY@#y`f|?Nkk^g`M}+b+2ev!eAp53z(7nxwsphB} z%gLz@7@#O4#OTY zP{B4D)ZCo~M=dg}iJfvPZmwiM?O>EJ_Od0+U|jbht=WbO<9;IZ8*^Ny0s(lx5Wyj; zwj)C;!&0-!LSy&OZ^Zv?IUNP}9!;RZz+h35NEm5>uRwe=0{`txmW8R{k^rc*7L?-I zsZ>*++2s;w1}VA(IqgKs{Cw)9tuyn?u}N;8ji1Q8Aa!&mm{KY+F`89dm5M(FW#Mq+ zwO<7O{NU&J)0g&~S$4LcMmzUDyf^QDJv$yx&A?s|=^r^y8yq|lP6@N5q^TlX*){wq zBeoJCx+Y6my1L;g%3yLfmvgel?XR^?=VD?!1x~Rw{5X;zG?wfk8jR=hl(_$<{H0Cx zRTSZQFUk2xW$J~UpA7OkZDEG$=sP%B9wYd3a$n#GaIxn!wP`sZEyn58lruxX#)n;?@2EZV)8~MQU z*_O+ilbn5nVwuXS)wuhZQPY=_l3^o{&bLr6p<7vDil=XFT9zkGSEM;oAD7u)P$}~} zV7lqxSoyccjJEiBaOKH;XcjK~+qSmS`RK(Kg2H)Li!A}8JbV-6H2v0eaVU-9Nf{93 zk#cHa9TB_|&+DueKG$AL*}l{&Yui5H9Zd$7u`5`-aa@b(RWVA*BNi^$Cx_m_&uhIY zrhoq-c#m+N$`pTno|V3^!)Dyei-lf+=I`SM=ai0jzM-S{6)KfhXF?d#0&3x6=4lnO z{bbg(h6vI4I1GHOy86)@@+D6O%N_8jZm7h~W8CrQE#?MuLkRy#u-$L()X0M(2_XUN zhouFP`)uEJE_=-)l-m}l<#vbS`Q#KBz0q5Ubu7X+)gEV1EO$x{JaR)8rFJME9~;Nt z6F&^dI9gBH{sRa-J|UrgG;j^In*O-qfCv+DabZnP+hf};x(?S?k9t8wusa~PimTq> zlX7>L=2^{;+|@c2S2l4+4ej6fTguUU+ZGn|rGlsk*xN-(YM`Rfn|&W#_XA8sojSEa z&b2P04UPxHu+W^ERL?=G>#A4-Z>DQf90OX{J?)4ym`t-KbUlWh*P`hq%b#oa|;a#Tm<2M z745lwXbl>GG~fWl#2E`0=+(AiSDpl7@A_;zLdUM2NIY{4f01y!`+@a7mXC;D1%O)s zA~5aCA<3i3yPQ7%>Mb6=N{jV4MKYQ0N9C??ENj>a)*D}tTb~mh)&1vU_GM;N5LpUq zO}>x6KCG>SW*cs5w%8e=^uNr7M7FM=4qh2S`H*`dzx6VOnAd$;yA9df8qpxy7R&NU zKH7?0GJ^pA_&OF3q9qnQJJ9>ItJb)l4tV>FG+v_#{oet1)03>|{01K^KxVvhurLjWA z_m#)=S)bwu6=JxJrN&ha9lmzzE|ReX3Ma0+Y}`CkDVR09vVW+KP?Zs zay_=4momv>K*q9+pb^;iU?l%n`_R6r@RpWwXiUT2>dpI%N1vW1|C!O{n^)X>CZX_N zzEznko!__;Xy{J>%9R;ma)(SYl?EHkd{bWDC`VSp3^8(?xM|W%Ug)FW(wzBecFAvj zP!IKXC%6oTMEqbcWM>hz>AvM{5(07#WTcA64X>Z!AsC@c4)Th;M5kn z)#SPle1VEKTw0@Hgykxxd^@NsT@+`Q)i!4&jT~6^4Z;9a{uoC~tdqUpRrtDmLFE*m zO&XsM!3TS&HH1maC!pL0OPy?RJqlfsd{lMFtjgk7&lle1U=(EN4zAwhS zn_Nj=pflkOMtVQvZ|}Um2}Pd*H~E^9+i#msuj< zrmn`eCEO;Z{6TK6WX>769289PZOdanyK3%sQ=d_ccABVY*p^y=XHg*8&=j86ML?~m zDH2WQ7BgmCb^uDZv1BypMr+j~EJp1sZw5jO*pWjomy{*(Z-V~!Zz*+tNqK%z^;`-S zeF}|jVu>%IDUVsIWy3tpuusy64N)e0ED8Z;H?y&`nol#%V{{$LpC+C7ap@KFsxJc#q!H^P*wGu`NMDa)y zfk0!JL70V6IQ#-#2(ra_YNE@S`9W+A`#*0;^Kgr)eEWKy!u>fn#>Ihya3kL#+a_?_ zJCt>u)VQhB+Rv;M*GS6XGy-CMAGAgX8KD`)kl<#EYHYRwhZ8{T=a=qSSRm6N-u8@A zv~t#m?hx?*k`5Sp2-*zf|HW>$bYNh_|5I4USF2W%ipa&>_ zB%lO}CjAK>mi(np$u#!QcDjoMw%M9N-KM!(he3O#!m?OR5tTU7W-C&sStm=_0+DQ0vE&9i_#X_GgjwC#*Lmo`RY4{eh@wRG$Q z4I}q@-xsho%7&hMRsyTLTf(PH%_laGPN%zHQl5Qrtjy@5f{`|HLT_a*qrwu6bcY{u z(&3pqaBnsO4wyPjDgx$5(H*r*uIka7P;~-n;?mk)(7hO^j%oFekFE8uM|5Ha=r)_c ze2gwtt<=ivzqBJ^R5Y99YN{TnBr?dgx;}_`qwIC=jz6H7F z&BKxu-_!xTEmfvPjXQvDmlXeWYKidPl)d#K1DuV$y?GuxgS|EtUq@CZ*UE79o$Y`1 z=D^g|rN`}W#%)?#=!W0_NPaP1?uYZvVB{9SjczVd!r7UaVEauvS+&q??v;S8NH5T! zb)s+AfB;*rHIp$QuZCS6(wkTNw_v9D8Ti91VU{UKIAE4kHDbtvrJG>X@B?;|h1XPM zg`1lVfT`9_x3k23t)scQ5|^{KMjP0fNK<-^Z zpLaQ@O?X%Sn)b>gIm4U*U~L}n1s&$66Q3+WRz~8moSF*QO-nnNan_*%_}Z$LI9o)F zSUKS|zGnxrA)~TzsLh7&Wxc@Pj5`+vKT3XKzQ)@p*XpQ5(X^kb;BGWWdfnq42$jtJ z`1PL(`a7^A0r~1$>LN38ioUE4)?HvIFLTaperj)4M7)X4?3c=hrgm()Dj6ASkzuSV0?M}}s#eM} zlasvUE5+JL@vlnQ;UI5X#SPh(ONI_pcrzbX&=KO+)}bPBZvy?RXCRGi=zSoerpa(f zRXv_X(#(7&kdWPit=|kj9CItPeCw>ye9E|DBE2&);<`;lLH&QwZLW98c8%60Q`SC( z<+ivYi##8Wr0L}awpc?zO4}t?{(?H7C~sLeU(K7hY5LrNR{=B62_Y&D5N_@^eYRuP zbJ=hTY@5ot=9E%~kJZuE+O!<8hkvs+*3XbtIg|31F7`O%OYuGvO4NO|?`%u9h;@sQvZSLK^S$C{Ml* z6ioAQx7OFdk&gKK)ZoYqvQGhyJxAtVt9T*r3^$#H%aT9E8b#FsULLs=y_j}t=cinw z#*sn%DV_Nk_JB&7-Wi0xZO2Lg8gezR?1HnfKefOjgr#{l+G0o7)jH?aM%4vLZ9XJf zVoNuHe_=PhfGOtT+}{<;6$JJU5AzYAvrh>C711Pr?kJ?B)07F`uo(7F3dIOXi$ECS(2P1}-9Wcjij?h)Drcr6es{f7cmgF_xQ3F+d=d zNLpN^R@INy)UA~LT4vE9r6gZ)M8^!%NCZmt`WIlm_U;FNnPcrZa^xP-zQ{k|^5@u;rb#R3cp%A^E zAswJ_WY8}ncqEmQw_mE}FCNdu=<*t3;vE`o9aH{6|E&!}kb2zyL%4XHEhX=yGGRw7 z1pFH-aRDk-i?)|~p~Tm%xEKVKq5TduP=CdMb@vh>6A^|KTiWydJM3z_Sl}3I%5om_ zpi#KJ?ASC<@ybuWzw|>d3O2jTc@<+N$Zk*bOC8OcK>Hs`X_QH9AN?No zh4tQzG?zN2Fh=Q}%}2*Tuf{9lSJ1e_9TCg25r!{q@32GV2bDiGq{RpjRiYUAMK5Is z4dNr?JCS`Vo?G_lnPUD^4a8zq_o$9YJv&kgz4<`GvI%WG+FSmh@Rl}CbcaFvo#P+| z;&rZ)h{(G9l_&0{;q)=OOO7OaUp#yiVc>)dC4b@Lj*Fw2~2meT8RBs9UGf4cGM(7_jtc3;F4Hn_i-7pgHvKgj_laa0p(&JV# z%3M+^1PR`GIyKl~6&~*B&FrBM+ge`;iEV)H-ND!y-kQyLG=fYqYtG(S`w2B??1#It z(BtfD`9xMCnM{gR#{>-3tKvs}rr}VZ*20?gG5kF~d+_Q=e&*Cae|t*t!&tWC9mZHV z9fSlvGn!I=#(iI)ElSFvyR&dB(sAm6I>+chK-+)v3_-R{uZ(p!hx4%J0WV}}x8z%w zmr?|<_$#6IkFMBRj{m~n)PP$v@ip7_(O>kLSTrFb#+%GQTd#(fpYYo7wjTR)wg2jd zssE`~hYXM;hy0K!bArTSM4wcI=8}+;E1_%nrWHGz{eZdy3Jf$vd^N#jreT6ZZIi~% z_&TS3jyxb!)C3o;Q1~lZY`@d|cD$^>sz2{v#mQL{~PQNBeb?rTOU?Kf>ER@=ya_9SxF{X;-? z+d~qSS`_#M`V`HKwS@%^h~MZgc|$-~aon63V;Zt`)@K(%T=cjWqGBep})Dx|sf>8&Jy&Owj^1r!p{1ugPa zv+lIyq|pC|t9R_qtc$jGQ>i2s+qP}nM#Z*m-mz^~a>uq=v2CMb+jw*KZs)^(T3hQ6 ztTo&0WA@p{H9U`bU(uOz;%aEy{hjuMW1n!jsnGk0$Q(tZ#Iz69v(ki*gip*OYT?zWwkRSEt@v1uiPxrGsYWrrpqjiyYA%U$tN4&9{K4C>sJr#-{rs2)Uuwi45SX zf{@%m&{bZ>dBWw7uOz~5>MK8w#?5K!AKrCuAUuEp6fw*%zLzSer#=DRN_&?*Pgb5; z!V|K2i^zuh^pO%$A&0~ z6%)N7ES~WHn(DnHeV$T&o^*O1JpdGQaLty?iNucupuwCVZi&8TCf~E&f2-fV952-St?m}hmH<`^zpHH2E+E}34^pE@S-zcL?VdUWZLC}0tihcVEMAs;0&#!2o ze+o+~8FSchaZC%o7!BN+jb{GnjagGqY0in1EI5lW(Ahfii>k^sXPYuw$g@pARnXg? z1F>oBss%TKg%mcWXuK>$=`n7Yz2hj&(5X&`H>$zhN1>3i~&m-K~|9Zdi5{Q)){s>JxTBBCoG zVs=2ja9M98Rs6rNdWxr^&0ZkGdW!3De|cXG(z(9tKm}x5j~tx#cUKo4-1JBTi=ey8XQV?;Blt_Gj?a=hv-u+|GK6DF zs2c4&h(@}_YbcmKc)ACy$@gtm71s2uF3I(E9pz;>PBdGR`n%Vgc@BEH$UEYK9w;nu z3EA;MP)ws6C`kttEx|sv?xhV^#URW6g#^*QP!ZOh`BC--903B2<_pHIEvj1RGIRnr zT!a%MrV>Zd{LK+o$!c^J;MXtl*l*Znb2g{vSXtD=4-t(29U=by6Go@!pVSr3dylIs z=-s!cW0MxAX+K9mGyoZ_I?BRcnIU99yIu?eqwJ<32w=V-1cjwo$6yr(x_jK36DE=g z*plAfv8?E9oC3=Atdb@+?0VN2GM9)`$D8&KTf^b9EY5U_Ys`R(~7UKCX*qhI(JGM`Fr-}q9unEdtx zkjFH-t1@Xc1W|f8`;`ek)m3ay9v*vP9xJ&-hV+EQ-1FT;lHQAZl-%%4_XgA#%RL^b|(r|tpmldqk0OvVWV<} z8!_*=>ROqRO0&&&Q#_l{!n3K$vQvNOB@H&qx}0~!CB^38L9x|@x{>0x=b7Q++jui8 z*PD#7sYfQlBv%Fwg7ayEM@8kB1uM*R(wvW3OjS;-`!sRcOR`YZ_N|^z6~a!*zCn)V z(c+WeX^MqVw-LegF2B0tDHP`-e*OBtH-FbX+>iF(VN=#`{t?0dnvJ!R@BnN3IRn(; zFN8EzJLB)r$_lwNHHI!nXA~0?sf^@xVy!{F`}9~+bwgt%YK;D%0#Mw14@SVBV9eu> zGFB{`%>4Y3)6|zc{mGSp0N{s39+m`bi&1OfI@52(n1axDR`~+8!KK;)G2-e))SL9W9yA`$KiPIFUCE5 zERs;8VK*05caLq<(_di-VSP$G&DAg^qloObIYjCwxOY!FY;8pqy30(oT~q;Mg3;nS zPms>=uw~WbP3{aYGZgfajuq3jEEUV#d-Cep(IG_1;qDi81rdBA=qc&on@l%v$l0F*)&hU62CpD}fx3_~CKyQM-e^dbiPHF3_D7ycTIknm$|*w;X!|~s zzWOY>Z=o|313kn#0%D@jVdlY6ii-IUuh9-()Y-*Js>l=GN&wkI?Z0ffGj~uKP((~b zqT5USxyH#6by7syEYTCm2|!$F^XSH5jXNyzMLeLrTc4zqxa9>Z%w00HQhA};6J?Xs zN^;@@l~YqJ977mw^*r@^T=vb#!Om%9iQ-`!wWB*_A(G-Ix!t?|W-7;e)_*;4czZi6 zq~;$WAO=4{Ksf(*S>}$wB`L}f0~#t$)c%!st;*!{4?NV1y)G$3Mk+!!&+Lh8laI#B z>bUot6g=0U!U_|-{(LQvo|YA6QiJqOXE}PzxytH)fBpDJ;qPlRQ4o$n=Apr|C1b4j z;_0ioiuEwK zzKiW|z8VltXGSbU-|?6JJ|KX4SUZ2ToI9~N3*Nyuv6a%WDgBL)FrBFkK!GIm-UUFcfQ8K*WpK z9X;o*-uxUxFI0t7rc=~$NyS51)*+(^gi3SH5wFn2x<9jq8tOMDGJV*0w(XI#aM0=i zOWv#nHy1{`^k{NkU&QmRU;6wYZr2lQN0m60@vXO++oFK~pm^}4SN71qg9h5)Bo*@i z|G%ODQq(Msan#ZHjAgJj@rPrLD4L8h2AQg8SJ9zZ1vel%*_5nTd$k?smhiMuJdr&M zW5pxjOsV2ieW?^Flj}uRbu9`Ne|}8a8}YcC(XLj@t|NF|b(g$da=CjxO$vP74GDl` z4{np-I(;|G@qwZ&lO)@X#HSgGgpjR+Yoe+Gc=3e5xK``Ls6%!~bYcYuZ++;wy_^1_{tNO?vPD?l->&NdlM;`s=B^bgW3E!15^wCW2 zA?{ZnoLLrqZI84MzL7)fK^uZG^x+A-+UW@VGQ!-3`S<4ZEQZEF#mTL!F@Kk2Hd;3c zSgbcjrv=wqtB3U_u1S*?m+Fm(a{expRcNB_RGewj%ve-t?qHlxGNPdK=a(O{yr^rm z+ZK4?G}@HFZBf80_K#B=3XjG^14+`3%m^|vHA-{16B{0Ewlrw59*g=yEj-L7gij4w z>}N!eh31)aV4ySq1<62zqJ+>cu9e6E#?z_nE3qE~yE8e!^hX#@nyIV-EIXB1CYu7f zwa!!s)UM-8QDXh_x=T3^OkPbwa#?~B|K5P$Rea{0Z~y9$?M=>@?2B8LCv;Yq#N1u3 zZIym)Av;8@uIbT0V`o}ImJ)WBr$uAwf?`e0RZ=vsg@A6>cBN1Q91djEC-MUUtIygE zPxS9L@t#dKM+_%LuF}y!ip^z^qTStQxPsqv&O?P6EYh)o{0e0zl_|FKtJ0>ApK>2N zr>P{1t1hlO0m1|wj~Y2^IxLZXKEh-efsl8x-EJfW7$3rxEio~Da>iEkOqGc^kNyYZ zGKMb6tj5Rcff)UM+bH7>%2CdM6A@v;UERjJru?nN;v3>|!9fI6Q49BMDQA>9fQSDn z1~DPmVegCZsve6;(qKk(Ov6=|>eCN71o%J)4 z-fV3o+tzIm?a;Uxzx4{XA1${)uL4$ba%k?T6{^7UHB5qEggR=r?~@pSf!(iYZyDQ+ zaXjizhL7N21-4(%w$(G9U(GJUb3ved+9HH)(a@yMnp1SP;%gFRw2}64XYr0k&;-qK z+0|4E-S7tEJauYLx;iz9(c833TA%)Pdniw-MQLP*I~e_= z+a>ie=L!qk#-P3?fgcNCUze`oE5<}ldk_cPjZ~=M8E0IT`kznqA_j|0UA=2R^#<{F zY&%Os#c~Xr`Swz${@znh|J!)~O>Ypm*SX+79Czz#maWJ9#Ks9grmVAlT`X>RKE|===uOptS9j^I=;vc+Jsw_XeUDR% zbZp%&_)Wd8L3uWyN+g_i7qusG>NctpYtsYdC~qf7hs`kl4B8%H5cd$@n|L^^ z)l0xU#F9?2zIa78eu?v6gPgl)P zX!Y6ppb;muDjiF-MzJ`DV|a(syspUDyI$SRf;X4%N7u5{kFqhycs%0Lz`Znb>LQbe z57IGuK1HaJBmgD)6fCqh!f?4s2LB|}x`k=*x>oHPmYx|yj@LCw>j*OyrS|zX+t`8} zb4&s=kPvXuxT_>hWOZwL8>F;P{nwLFD0C9dMb*)#_%cGmZ-u1CmoUIQy|sb9CD^=R z$oB66uyrmuOBC*j@Sl@);;#`2K+4hnzU2LY?nV-k!P5ldte2aE6PKWPm+HMM>~DuF zH?v=L2gg)qf#ApXleR=xN+T z&qvk+aN72*=!KOygHh8j%mc(^)f7&-+rqcXn!CbeJ#%KS_P~HJFMV;wwj7(ws-3R& zOIsv)rR4^Rj3&!`6U-0IG?@t=ZIQEq`lw>%f6&#)qr)EzCd}L#LVIMvC^ZF^JXmt=74U61v%n6_Y9kZv z`lB>e)oebuw7rR}U*X@>LJG+}sbU_h5V69mw#_8Ay`+&PWHEY)_UE2m^b@vX zow4LA@*33jnXmr{=_BV!M9(+R&Lc_xHy2=2;xJxgXFRffht}XXLph{Q31f` zq4%K8KrMt9;xxIs=?1e=BS3yn$UO7JX#6!Iq2Gx_m2pZ44y^F&#QFQpDvd-aY$cy1 zU^jxz3^WZ`8c;Uk=k~RAvolL2=0@re{rUGNm%7P}(*=$%$3@VpK%W`B<+>mE_ z+b;Ow+0UBo_(P!-AoSOJR14VTIR;>S@bI(MY&mK=h^9}{l%i|MTMf-li`JvC-3JRT zrsYACUtNPk2M6#9fnw=K z-BX+;PbR@KUg0%IbSl`alP0SmVrmH*LpA_GlVqcshCOn*y1L7ExrrxHSP(cLa}Hl) zPL1+sdwb*~)p2zrxPZ)_v2U_~u*^X0N6Hx}92AMEmHd|3=ka`--{Au&6pcN_1F@8@ z!trxBtm+M@JY?f}HA~sSoDM)n4B9e4q=^#w*h4tWlv`ww+OBkDWWbi~m2Rd@`$1>R zC7R7QuA#t72IEfLOsoamtDxC-mG8`Q^L$ie4ceEl1MZ@2N^9tMWp8qya>AfQJ)yQ3 zd~9H6WR`}yBa9^)&a;NW&gyqmU9I{YOX)fyQsE{ea@tXQ5aU^SP#y5BHOTR-wqx+H zdH_{wQRv^E_7^X6BmAY&wkqxN(N1w<)^@T^L%d6g``rh#y54zFLYyBx5jTLOqq>Vj ziP&c}Iwh$ldZR(=+`-~Y>U7(j+Lc&2gh6+vWcMRhmGwq4IQ&gdJC`q*Im*yI&sO#@dJHUZyt}jf>uE2SB3Sy>AwbBo;I=m zU0=(ZL6Y^~xwDhWV71mvdapWuTU%Xd~goyO`Xn+=Em269Y|^Q;etzS|Md;u)|DhM?Xrd?7A*sy|2Q578HRv03a5mK z64)g}ezwJNm3i9Dz^45BM&c9n)Vx~&^z*_QLuPsVC(;kjdX2FX%zc_7J@aOO!gpg^ zDzk1u{3>Ye{NqCXX zPgFl#5tjDZz53PhQk46r1b@VWS4@_XQa@423F1)0d9SSKEyE=O2kf35)AvXg`iP`= zVXj!WeDPL4Fx`Qie77(>F1fh4*_!L9BeEqyVJy$k0s;ZOd9PGB$UX1u{t8mR#)ZUu z2H}g&x2k{u z{XcE6<$PrbwcpN!z^`vAGY`NVc)#{fS|%6F2NcZ`VYd((nixt_RTfPI9Cct0l)U@;=QA*x#T_QuG%KB)rGe!x_v7O7VR~D?=SLpsICtUSxgA5$!$bo? zu^>CS1t^@hX}yXU;ef+b>tBGS$0dj*mdyvY z%XQd#C55OCxr$h}7OJPNqh6vQVfS*sk?#uqVT$SJMTIl6Tt4M#3W^yYjoL1R&ROUuyQ{k;_$OSgC=*&v7axcNt#xZHxj2GGo3p541$mq4 zwV3y)=C@HxH(q(#@GOAcTJLL7lDV|$%eke#9X7r0CDBqgD>b*)r_IKJ_1H`Kq40@S zjg^aw`fW5N5AlPW?sNEdLt(+`zg6dBzbE2y(S9*8+S7~J7W*ET<4Xxu3|^TMraZ`H z%xD_?ki*K?Zr|wXqus@xH7(s5)u-mO#j395Ec*%w6NB{LbYVdI?&}ZxCd|Sq=KGWv z2ou8@2HK8^1+U`-joDl+QB~>J;MzP|HZ?aMKOj7 z2V)AOV~GP=2FTI9%Hh%l1i#$)Y3ac*_5z%5Y%wwR(9SOl?3`aw?_p5+Cgk%D zS}W>mxIp@CiMC zFjs*|jS;Gnjr?SjREAg;oXo-}1pmQ|VrBN551M6Xn+*; zCjiP3*4H1pm;HYl%n&xR#L+*9Rxu$F)e?=2BefA0>xn`e4{38QerlFv%Nvx;M5h*$ z=t|9px|9S>4Ky0ew?gI26nkH73XtSBPv313uhp>ZRS*X>!I8J7C;)Ne9ukmO$v5=iB{z29P2Z75(Cm~OeDEm8=2Xt@ z@%}dt4*~sm5CjG0hcd)(*7m&5Es>rtXRx^k|8Rc;kx%eZ9P^8D=c@-~?#@dRuMc(b zk;f-1LTwl|J|LeA3%5r9GvG` zl^h@^gpGl9pBSh)LDd>v6Ly^+9Qv_2+8b~g3+%o8>`nj%{7D!P1ms&AIA{pB9<{nD zTTff8-aHoCVy)irA)~uxu69HpF4F+VB9nGHBpbDl zyR7o)*PlPzSWIRUl^V1SU1u$=fOd=>0M0$hYT4X6JaXzAGODzR4OkG@Ty}`dm}3rO z9pCBl9&zh%8Z9XdgGn!CbTOP;Ql{`~%J!}?t4Uxx_a?I`otfKq#X*pYKi2A^plUBx z{w7HZ{{6!^azoc*zIU5lbi^vNZNE=dCk_M4Y=VWHD$2nPTHn6O&pI>tV>An#Mip8$ zA|DlPWIUY$g-%xn1|aD?GBy(uT~>thrx6lMQ`$r~i*`*&+}+$6e4T5HRUg8aN z8$hR}>omd6MH$@#>gM<>iL9QUSFjj22EVJW^*z45ZG{<2Un|UVtuQzBY;lEtvffo@ zfGSV(pNVZw9ISGm10fmfrgUDgX#xK;2NjIIDy1O&x{!0C4M0!u(m6<|sgB>PzzOH$ zUUf4v=W-s?v}C$#T}=ASSc}NH%lV?6u8^c#kw^wmD;V;pIG>Z4$Rm-+R0r6ZKfq4c zu{?4V(PUDSh^l$MuvZ@$xiUaZ%KCM+Mnuy&NKK^Gdu6k}aZ#+?p~4hypJ>r@YPQzm zfvJ3B>l23U4j4TQ5ME*@e=sVOvT${cO#Vw^TqtYO-~JvdxmIYq)JXD*sya{WqLR= z1^e}kA^S{*a_ZAg=2<&WYckg-vyo3+;)83Ik<^i6}@!SJqH1I|n5irlQ);S8pNm1Jwx`O+Z8UL3xSPQXrVYxi`v1A+6- z4Jg=Vk?}gPHPnr|k`N04YKVLxqR$8bwODubHY7ThXR4vIEPJLK^o8Ewr~S|_c=+CU zEPA#Z?2CQV%zNMs?Uoziorlp`9vm_;63_APkzgqrs?yC!-h2 z9TuXlp;4(L-V|RKZbm4M>BtJ4B&k?rBcbvrBF{YTbqSV!nhycVnHV^%4fn@DxlWYP zz_#uRcA)ixa&??L#QhW9qBm5(B9=b^^g|yXWbO8HicX;7WgOybnO0Az3O zW^YR2M@|^UIIo=JR-;AJO|5bt*>rKPJK)Fo_QB!caSW`&**b^owh6vUT(kZWT5uKo zl{(X!QK>2Oh0$Vw^e2$wUGYlB5Wl3X%RgGFvcnlLtc!U^fX$Bsg{Sz@jODRXLtI->jD zkIsa9BU|BkJ+TH^x1I>MAKZ9Em&Rgp_=x6+M37+|(?;WLly%pKTsC~Xae$7{L8o=x zW_2?)hO(J3ZsojWO=}&rjfwKRk>AfE!znMQNUMp9cPmV?_^llrTij7O_v^0s(gf4C z#Cc7m72T9A38$edO{v0l;iMr_YJ8J&`x;9`#P?bkW*jw~l+pFD1(KfqD$~2WD{ z$!3ah4&s|r)T(l@!{n$J+>5~cSW53Qi{^89R

                                                        )Vj{+QFSOpJjKw2GoG2CMX~`lm zJ91jY&_K&mScC)y`6O`jT4V$jWNC4T0*UI#Wr&*&1BNCBX4JD-7d zc7R|fj(H0&UNN=t-tcIP%loR$`EYAf008)eP!wMk1m)p&gA=Va7976&>y6~0iN}TK zi3c9)vG|~)X&i3mTmrk6uw93xhEr`$fZ%Pb-RRLFBUujE)$a5j3&A<3$Rii%_!(-{ zk0C#b)H&ZIqqa=9xc-x>l`QUEFU~v1|9s?W%9hAh$#A80;-Tp)x5fu0->O2j3@OVl z1}U`P=3jK~opPGD{0UwNSY-;{4>y18xzWG&WZBvOaAGgYGuY@rrTlq6=Q!I53ZfMT&>Ko=mzhP$br;sVnW97v7&-&#=Y$7XjNd$eU_tb;WMX51twD#kwfiG# z>Sk7YJhdGv9a4~*=|?952mzCX{NN!rDdTF)Y^+E!H8FmHsU_GKbqrf-1y#`iF5><& zK$EI>XCR`gkLGR>_x!QRQIEYksUPmsDR|GRk1I5e0YftIC>{>TRns7X8Iv){dBiDK z_RE&#DMR%*yAP$h;^#w(l;8V-uWaWK+qk!qoo$T!Wr6*bzW04bN4iCwPQGX5GiC^) zGi~{AExsJo)S&V0o1G^KS;zuL|1usRLrDVBY8QeF2V`WLq?Dw~VnU;e16QzlWJ4Jd z&Gsh1zM&bHTHSA2`uQ$Z?XTxwH$rJGzVh^l$d+Twnp{WczK>f+Ja2BdXWI&ZAJ^>N zN{rD@rapNFkas?<1qMId(P;PZDFpT_-k|56C3}ZQ?hT;E`O*iW3Df``*Abuu{1?K_ zzk)peMod4~k{joo0qBiIhA?1zlPxp0aDxPpb&ccE&pUf((wOLs+d5k;IT0Esi5-Qp zw3j2TGmV|vhmt#O=S^EP>T-nhcPw7=6K0~!jQr*waOIxV@H$L5|5&!dJZ}9lJ7`-4 zUtgmr-X+C?fEL$1b|?buXEYBoVn&#`HTu#iEmR5(KRT#LEiq}XI(*=`3``R>1-hNCTg(Ac5D18yjW8*mr_qiXslG%{p(Ny z9>bU+08FXmE;!E^97t4?7FU=>ZA+9BGO&c6t9EQHMjId66B-3D>8J}rH{BKMfS)%D zZAAJDQLzz^CjDa#1Rm~l(k`Oxi#J%5qe;`4$HMB3cx86WVE4sFhk+U12y&F?neyi6 znN0>3c@mdycQ@kjh$8b*e7@oRM9!qi;t9PZE2yFkeFvbacO**Zz%WQunq1Tu;5^CV zH*1)K^Y+`8d7uGEU_VMO%01xzQIj*$|C2$pC#3jCgBB-*o#bPV(jLvb4Fs_-qcqSC zEi?MnK^?iGV%S^U*rXd=mph9kZ+$zAe@jSmdm887u+?88%p1R^Z+Ce@nXNm zm#Nlbhv&U%o>QUG47Bju#&)I8QrqIxST%xd>2S?_dSNc>!LeMttW9z0F#WS&5?3H! zvfkaWE6D@sW)%WphxQ6EV={PRGa#qrWmusEoaFxXD-1y>V1)o@iDtTPM+0pQ9``4` z=_WjkSmPZvPxQo7w-T2jy(oFHqP>RghWl~>|2z*BO-imJtVOLMY(=F|uFkXmcwRsx z#g>3N#`I+{jFjJp9I99}v!*$;6aLAVRH4~pj_)_I3mhMI>px{sN+iafR!y<0!T zZW*&sV%$RQp4z2*ML8jnalLY$a^2fNR7&_9@Q+^YiI3kk?lFEwSZk*OQ3~AU+nv$= zxO4GHRKoxV>2b(s#)}ddHUQtHFbC5v3*c@(snC?$ZB9S>1pmJY8{eua&!k65N`vuW zTMSnWIMAbPm_Lt@r(vIbzJ+?CV#g0EgJLUu*vP2#2kA(^ed$+h(c{vwXOs$4G8uki z!u>YNP)nj zPbZ-ny}gSp=5)#zlSA$PL4UId^2IbY#N=0Il^-34L-uD3#wFkCi4+Tk7C0rKCszB$ z_C=3E6}P&FOt=5Qke>3B3B|?5b!pyH{!0EEtKeDpM8ln0xweqPqp?^rBv&bYW}Uj1 z7wtO9SUHyMT428aaM{c=tg`Rd_vkX;9fCJ8hR)~?&r(9oUO6bYuKNb|e?Mfy_TDSj zcP7OA+Z3cq0tVnEb&n$?RobBfc-e~x#grf^NjuR_iPIfQAy3e>eNIN9T(zUV&`!QtKgWstX2Y(s0n*B@uMRxAWdk_KD zNiBNJOONttX;OR$KLu$=8e&Agob8}a!AohFFsmG4fH~l}vnu0p8Ipkx=$^4jbP|v% z`Wm{=R`|}k4=s=;TOCbRyT`9Rx4U5zD5KiytA>+F1A#xUa%OM_KFV)u-K3RL&w>R; z7f$t)_r=f19DF;Bkmy@@?7NZMzvv)2)*}$K_F1YY%v5YafdPw_&5&}9HqGV@se|hd zHVc3KlpL+8@wB=A8Y0yYB#_`@T#f$6KUFboINKJ1YJn43w(Ijk9a z;ft?X#}ASa zx?eEfvFOuUr%kvsHVVhXvhQ-7yBm7eKjjaf0Dhm~f5)H6qis1U{`p}3$hH|~6tj?R7AI|yGvC0qNUxO{yqQvBTvP-+ ztS{qQpL1TF?e7GZsx`NkADq8vd+M$2&tr2e2nSGSRXhzL@0pPT3ee_KFF8qwv|t#B zDv#y{O&1TP0~Qgl*7)~D}gMn6GvNTy^T2@0d%9bJuF4#ba&~USKo~_EO9u7Cq0XybE=FhOpj;w=D8z)z-UQZh{-K)na$6D!$ z+6=)G0vyyD%$KPesJ8S)GP@SN;j$wtOGAw5wMk)ztxM;65^V6w+bE73ffe3+ILazM ze$4xBLjt=cr-u(7G^1-qmLd7QBVN|>aTu;71)BMUR{S-91Lk=xV4j)g`0q~Ot#TET zQfw+R=$nTtUSSTrx(BCnRC^t)7}gn6KcoFK$_(n2`I+raY%x~R9}d>s$o%;LCw)h* zlQW$Vb%hih_tsPf9IH)>&PXp}Jd&HQfP)#YDOxSdi$Z#>@(yup#XRbjI2=;n)jrFn zT45UKX5%nGbQZLoVN0N{(eW@m_|@{gio8 zY2VH20gYDXr*&5fR-REnT7AfOgy2R!xy+%{8NCEG>GPk?|FBvirf| zuQMZl4OZB8VoJ)+UGF+8z2$4(uhy2EvpjI6Ug}zY9q?8H#DUu-?`IMe z+>8UjAud|>-4x0@S}t`u)*vPat+-T*erAGBNEuSY-g!4vjcVTfYa+aiHK`HqLwUb}u4 z+@FvZNm+GD#^l@^q9S#Qeq{wSyrW}-;#%?m;AgfC$DohqrXY)gk~`Ubi=nD5QMXDsQ!IwuUGFR>b7BOsPgh{q{<4JG`D!OtKl z|8W!BX194L&Dh*>MQ_BqbVt`WI+YU#nCVEzMYQ9)j&^S#HsBQs6o1a*h~3+kAyXNdJro;GsrZ z#~mmfE;qzbk_RIo)K}l_Mfws!cJ<=(?CPPN#6L zNf1trlV+N3Nq;L*^wS)W@AK9q*~)L+k&OBR{lB{Uei2zy^gYt=;QOWg)>YCZhlyW+ zkZ2+3K1M{bFN>z8?^%%T;nqQVKuXBSK#K4SMeRAT#M50J4-f>h;#QYk*t;-dE>HB7L^EDUzf`6MpY=`P*UL(Rubr8uV0BW&o&ArX^L#L$UZ zngTWU%aH|k2O}9*EhpJk=D6H~3;E7aq)(M`8Q6~Kh(6Sl3JLG8bGr3CFbsA8{=nrC z{d25Sf6~|ggd#F#hN|Sh6Qc)7({9oLd2LQp?Y!SYog`|(%`-5>gyHDPQK-;DQrFw{ zm9D_^#0%o?!0BBWgM1+}rcag|B_9am>;~;T4FedWn`tg*vqK-})r{4qr;S<%zv4hjp*!YGV!pzRJ!Vu zb%8px<%Nq^r^fq~xRES*xEA<;gv>EX%u_hu-b6W?7DLO>DW;*B{h3%QWUb(bdX^6A zo&*$d&1njBT9x@bk(6wD_i38i(O)$-hhlrw*T>^n&HP-d=vvhSJSXcs+{A+Q`IVC+ zIFBVe9(}cL^r}1f)??ME)9ZyA%0^NwqUCMFgmjo$#rd(;`950IE?%O5>OjbU!iYqy zj=XS2xG1RLyE*(6t^ z@ykqEvu8;~ruSn02Y3GtS6iQgGDFPYuax#@OT}67o_BFC+*(CRSl0Z`>+lzdSKB$u z#3{YCpxG4)kNmo4_)dc3b0L;0IN>33#eQ-m0~HG*J(y8Rf;0yJcr8_??0|8r{1WcM z({;auH~A~lpXuwtp1h%;tJ0i{&wy+CXXR+pPs(+n%}4q|GGI&8Uu9bPN`t3AwSMbv z8m-9a{x%SDHt3VIVUSrZn-SchkDH@A=xd{JLYw4cB0>~My?A{mgw+J+9K^UyL;H=1*GU1nSW zpON0_yW>U4W(N>qmkHKcWm=;?~ z7Y(pyByFuM+h0S+^5R7jI!-q|wjP@-Z9G=_HquA%j0Q1ght!U)LSD>y>-Hi97EM0K z4C+*DZ*KAvTy%^z`1|mNjm-o3XWWVx1$8-mlIdWF%3J7Y9z`S`1_iUGlgk;SVC$_~ z|A=wG;&EUe8lPD2HC=B-z^ik3tRzMq*kp|>zjGkR7+n51(~t+Gtu_plw`#R#Z| z&Nk!lop(b!`oR)#v%LZ=(k%!+t=nxKPwoyDPlNFEZ<*a&E=2VFnW67>icjE*Bm^H& zrF3V0=Oz?|HA)m(vYN{_|C*%r6EaHs4cEo`NG!yYTM$*%Z-6tBV4HUm%PS8WPzb1v z_A8ko5I(X{)6?2Bj!GfMS&4!av1a!M;)4z{tng6g$JSe zQ9I*e`@@+?QR+x)PO{ryhRBPla#e9*PrY!$w;ZUpf<8A9QE1gTBA%439-sfhmRZZ`E~{a;_N|a3>ignoREOjODrKD8cc?zsRO?UUG3yU ziaw4DpaFfXgT-3rtp4Q?^shKt`&o1dWQp^ZxliMW(qY5!xTS{$yACU~&S$f{kS4WV zb#Y#6QL<*qnr(4o45!#nq6xb_h2%cb5c?4=6enrxdKoF!vjQ$HYt0~D?M$1ypUP0f zerc@TRh>?K6nScyt*ITT6{^t^otQU{s5wgjSfKl8H)K0EYS_3P&D&s>+tjKmj|r8p z6;nv8tByS`6tX2)6U&}zV1!+m%&*dN+fA@tkc*whgxGAuiDI|CZQ{xRl={^aSCnf? zVc3o{(zMBsCv!Z&Zx8g=XrU45h6%j7x&BfhZbNYoN)7or?ot!*gp1HDrD`$ANu8ww zh(?UouwHLjl$aVmpk%h`N$I@h@2gDm?xtYbW1_)#hON`vGLDaWC@xZ(3J=D;{3{D{ zftKAH9%z_-*g781om#wi;0?`w%{7bxExlqA?sZbO!{2Q(;vwE{ZkP2iY?d~`>%5X0 z=!}U{*=;C^i*K-6&T8FmsqdYCQpL*&Sa!m)J&-JyZY|C7pN+T~8ekQ%5YU7<2x~WU z_NfpQ(-d96r1!+Pyomn^=e~{TSEixk)37%KL&ULvYrHszfXr=UeEHmxL!aT^j-SCv zA8uGx61i|zl&C5e*C46GZu+n9P?Ue(S;w(LxDP3>Ue%%RZRQ4|7nLE%$ zy1L?^?8pCtx+3WNBD1^Y)I%z|q!yOLf(a4zEXg3?SGwrErmwP_TT>`NR(J>1=S|oM z_@dByyT<2Jh~#6B<8SsS?C^gAjIzsm2M<%egt8P^$*_kaICdXAFo4ZS6m-LsB}>-h z-B%3*La(r1lcsxppYZ}JS&2UaG?#t$B!bLO3(1Y$h)wJvPCJS_G4-bC+dpF>J}Y34gz}sJILz=HO8Px zqS_P17Kb8;S>Ys7{1Q@sP>ai4<#>KQd<5Z!4Ip7c2Z(0d;Wyhm}wQZf>&zsNu_1N9wwWWGf&7X_7rc0 z1}AJkQ4QDQidqkjnt3iG-0xRs^`jg8@8v-wb%mDPx9(jfc z;btTkGQ<2LpBI47%yyEO#JOiSRZC#(wOfeVVK#ZgEDaj+Ar5h}oItW)DX}Z*dV-o? z4bnYA2)a@pl>Gctk(~!IEExu`C3ySMW8<;c+=a)Osg3@#?)*d13~(U@DcLn}GeUuP zXwKzd&1&H%yP-2()7cMBfeox$A)cemgKcXxLWF2O^9VEO0W_x<<2++J(e z>NT_bboKP32*x91ngnCIh-uG5xO^Y?Y=*&e1-_bP5x{RV}q%huMyu= z9S$ryzPnR8*)89>nmo5pGFTlXeLb9h@V|O+>zV0zURnXZ5(OyAhtEPc#iYKHg=7milJG74$fCpW;_+}MDFa~xA1lxaS;sfn5W>Z@ zLurCN=|gY@iTgP`QL*N(jGEk^Zg(^bG&NH2k!j zM%78atMP6P;N-e+;=#BjE$x}ZDqv}1wPAywxda5M+vzpJtW%VxSSe|L7OZF*N%HoI z=M$_Vyos>4>QJ9pu4-R<0VjNV6GGd!p?(<=Up%a5WJinsLM|Mgs4Z(N<;IENfZk#$ zCPD$dj<~@eovT2s0ix?RmpBOEuWT*@2(6LK*@aJ!Km80T;HQg*UYQcuKED7}CR#mQ zZ2^b&vdOk;zPG+j2_dC>H`<>lruC-9hK}J8g!bpMoSzKwHClgoKWjQXrZs!uX$@X%GqB1@v}AuAkc@% zWnk&+syad?fmce~9&{?Y$+>YJ|K5&0-3U;uDZ8BeGJy_~I5v8@jkADnLtVfJv^QJ| zw>5!rEUjwFlF~{ipJL1}p4qg(BIGrQV(Fa)GUl7RZxrj#!rV@}Ztnfvji#fM?%kEu zCb3W4S#?|jN<-O z+)6DW*}LzT3OC=3RAA4XV=jXFZcZpjWM(@^%>IOqW7XZPa2m1(p5whBuYMzKp+42W z;r}|X?7&0oq}GTt;EF9JR8Ch}P>j_TyZ(uL&f`)fe`vH}XOEcML2MWUfU~-3N4tI< z;X*r58dK5C{wbr#TR)m1J|h*gBMf-PjWA-?8NJW$PENiLUC6FTPQU8`*@EZlm1n<^ ztYLUGoATPMl7ctG{X4fOeNZAUlzac z9A@zQQ2aoOf>p^iQB869RDWG;L77darNuH8-d2k#_T}bL@bW8RCQ%BfVmnC2g^@$W z>P5D_EA;zAyY=Cgn(-B6cA@|<4)3hjnG1Kpw!{8)81-ye2x&Qm;M7Zy@3$%+ff$;Q zvo609$=Lp5zZ!#OosmuFe9_2qo^cL#)VtpoI%})R&relTgY;Ya7DJ5Xmd>r-s4o01 zG69^$>o523Q^KDA1IfZYzw;D)?oE)n@Jr1gTq|n+5?+ETbslBnn^D~70(+)?={|LMCf{%W|8w;!UrGN0ngmOg@Yp~XfRElTjF{v zzD^7l`wmET{6QJj|A}yDHyR#UvB(UwWH(htdUsg{dVniXCOOmwo{0ZS_Po>$h4KSH zRJt>m-U+*D4}UqzLj}kZSEQ5O+x4*#gNl(}-ly+!qwUqL zGc7li)+SF@o`{E1bx-66edAPt6WaXRfH!E>-!P0>l0!RLWp#pn`WZg*j@CbrHL*?5 z5OlrbC~-Sl%FWRt)Di}*8{Yh?uq4PO(rh;r9U&xaR?s`4 zFm~4cLa^?tY5e-=)D`l>xMuQojUnZjKP|oQ_!Z{j601EPhfa#I#7Dbls#SlEaEs&M zVI3+a?LGRq&VM@bQPgN-P2N_PKq;yrD5(2=-wbTLQTc)1{WH$}1vH^W#u;A&buGn& zC-7ZU?(z~w{DmaY+dyHL8gCVkH^;p%(^Yx-2yGnM0N;;^qcvkm6T>mOx2%P+$~8O;7&;sD%#6LnS-fDN+#V(UVu9W^Dh zI@umYjOlJ9kr4ux3lWd-4oP}AxLb$){t1S1pR6SS-y1)^_3*9yiwWtvep<3>Vr&r(*{0;q2Gk4O zIIsUlY^W-Ra`5EpD-iO9bc)vyDWv;f5mw5Eu7g0~O{~M+!lM{w=pddygh=wuX7l7bIoOG$%j^vo z|Ks|Lyq+F^sPv(vIA~}7q){3fdRjMKDMX&7wV0$Rr{w)~^Vw{s8Rw6H7W^=y$6GmO z1GO6OO%8&XGO_fA&n_!mK!dQhObVi*umiUZM*DTm`ZLZf{Y9HpR;ZpaiUg`C=M~IU zkGz7U3%CS5(+G_m{zHypWG&q(6t(U>BJP~*8osPe!~JBTZEtx_rtO&-2kcy`Q$LmEm+8>;p>K(cXj@k5UT>VbR; z)c4CB@7q5-fA=59V2E2qOW|kTf!lJvB0e$>_)5VqPZG($lsi>D#5QtWS{wOrPxq{c z@k?1XjeX$2Ngw}Cql}7YY9w_%X^w)MqmlqNEI~7E1J*U0oi&~f3WpKDH9`*d(pWG~ zBJ9^&YJ|xX<*RwR5YP*XfZDqy*yId<0D&;4Zu1pp{?*!HtrSshJl9jtwFjrVluj^A zp2gDa9I)hfyAbb(nWF^)U8?Yu*0 zQq6vt(OmLX21iL|Ai|&(FBLx9PZ$QUpv<#IKh8W2_WPX2e^GF#L(2(Qg57rz79Yp|mFvn)5GIga z0yC;QujT745LOskD*e+<>eBQow=B~6fh5QNUFCtgWpsR2_eV;rYGGr*it3;aWYa#E z+$_5pr%7kD_G|<~-!sD6C6dk?=-O+^iI)j8jrNN6#fsfcR{52wsi|2e5~1O)WUP*# zMweGkHjUdQ?#?x~tjtLTGbNIw^XRaLzEBm(*`Bu{7zJd65Ca4avLWybne#O6z&_V| z95O#=yj`U?omrizMn-k+Aj%1o2w&@{IRf1osEeFMc#LBhAp&NK{U7J~wXyVPc^K4{!n$ibA9u*Q;LO!@*~KzOwkg`eA4?r7 zNjDrAxHQIkOVLdih}(z6w+d^0q*Lw@#fsvw=?&r6+~+BHrM@UyQ=WKnV-}{zF<|`q zJ;x>y!CTEi>0D$Gz51^OwREa)lO14ht^{|+JfOf-dQf^In7rCfX+as=|8jXwg&$Ch z*d2hpg&55K0X+(yd5%%1*DP!>-kh_s*hXdp0~jU}!s7pqB67F!_i(vU>~S-SA~zkg z!OVo;w9BQ?@tyzc&tFIZ63J9%tP}-#Jx{C*pA>^2H2NWB$#EqZWu#pMVrj@Vd3`ko z)i7+xmkGSN<$)V_JOoKF=JBGm0&uVc)s@yn0@X*|yWMjSOt;9IIqmirr!`|2qjZl~ z^6_LHJ_lKG2JV?s?O&ebCf;k=Za7Y)UV6cjrB=pmC==EA8xwrqV%O;Bc6$ye^Q!L1 z-BmO?oW&pXHdZOr0?%XmrI|Vlxz^6994F2jc$mdq5H1)qAqa@c7fx#Ty=YY!@}dz?wD z-gm30{gEKu71kG41ixq~m=ZhW&tbI&KB)bp2JM$577fK zHp#|3qYJ;GeM}{9WA}+V;0tLvN3KvhX$xpoJ9n%`I+k|n@UWNX4Rv+Ss3w&me~Tl# zhw{4T7;OizOX;+^<2?lBRDBb+7Gw{HOV3{wB(_cBBZPtlCP%g9(my2CjI zBL31m$fU67H`94LAWz~-iYynd^6`@t?>$shOCP4tRoZh3m?=V+hG~&eRGDI@RbAvg zy_+ZGofrWT_88{KC2o#X~0hqKSOC*Xt+|#Jj*j`Hbn{%mox%^!b z_KK{7ESQv}Bs4!%nz=KJa)7@fBV{e}5z!A&3(fKb;a5J-krfaT%GrUplhL^Ii+DQw z_4RlcFMwiE47(1ae?&513PMBdM%&t41Pk$J7iu54@BqvyL&u~P9$dqDT$tr((Ux-m z5jc+_+4h6?bVDu$BXzo_TJ|TJ3A^>WruLiqQ%w`+)JL-nvxyPS&wI4og?XdpY31b^ zsIX!W26-w57X-zk+R|L%!@1*n&qIUnn&E#aJpq;}oG1!E zp74IwD{|dT&um4PdsZ-uSMQ#T?!?eCqyf&4Lu`a>J(*pHhv@}-_(+$(#%FbWT_`vm zs~xv1zMXXWHq2lGI|LyRQgr(8fmXzDPUk`P-n0K#cz^rVmJ~D7c81nnj>E3SY-Gc$ZIc4?Qu5(hPIkL^BSBq7J=h+{I?I0 zOGE>wJJ;i*tURmYeAn^svbjVpir>R} zWTAwNq!tdiDt2<$L$?Kqfu=7fr+t4+Ob#RJARY8AO*%@U`9jEX~WhPeU9YOOGSu1E;#&NZQ352$no2V)0`%GU^b- z&yaRJ`lCjQMhnzz_~30cnGQ5&>TPG5=taAxUn`|=GQ$(GjueO0-koM*iMSMnjfeni zulWz#(pg;TzXF+#?!&b@$xf|WXA+`wg&jfEz3($jKUj%*K*}%xIiw zasb>c6R6R06N8GcGyBFrjE~P})Rztn8$m8{xv?0188F(~bU%MgJ{`3w^g%nVIhJ_- zNqb}h=yKU-3M)VbF?E(P%n+fB)M9QaqS}>ePA$&g*nebIoMBN=(kgIQWwB1fVJhXK zvkT6TmR*OnM$mC;skXeCG{p`tsOwkHN9?g*+ zI8dZiwNhHJDv2ycWz5{kw*bMN{0gcko#jSN#Qe;%M!*C&+w!r$k9mlOvWz5f zh;wYfYOmQ-zoZA&{I*(>l$!cdB050gi=%ud9IJc$7aMW{nuH{U;+XOmNe0i9+e*l_ zY-SR%H38zd9rjJzb^y=EfsbFL$O!Gn!y*h&LDFWbt)Ug%7V4+=QYRD^SeUw^hU1Wu zhrZZ^KZ*5&6gdivsDI-98N;#^b!tckyRs+D|4kraK?xb;KyxIV0(#vKRkNyQbniow z(WSAHs5Rt2OW$!PE9mIEk6ord*7lBNr5Sd9D2$u~>$kIYuhr1vR^QBmE3>j5x*yyu zdVGC;WAu`1y55;ehBM=#c!6D5eRAwDG0dw?VR^AGzhE#yzr{dc(^&a7)Bv_=??Mk* zoNJ>gw>j<}$oRW$)rFQr{|90J8csLUK5s=BoO^G=8Xv0NOm%qo1vkU?T>Z7g$uDHd zB{!y?y@>a9@GY7@UP{;QhPq8NP)4{Bd?+{l*3L7op(bVwj4CGcxe6mPrw?qx_dce_ zIc8bF>0C}@SGo>ISEf)tGxr|elSiThJpHA4?{B3(0N2!ouw%892Au>iQicV5!Zj%v zJuDG5P@*wfkLyYrlCygZjYnURG7Ea_c?>YX5x(!hPYZ~4BQJE@-Vf(Q>aw*yOg$!c z8_r+lwK}}KMgszq1F0BoJSXecK&BGVnoB5*JayvFgJ<0sSVHIx`^AAOX87|xKPmv+JNm+pu_LFAz<0U5@0G|Wxa5BbAGF0`lJ;UMNra>d zD42@PcZ6L%+~dH0uk!Ye9wvw%(V^-TW%qwHRDbishxdd!1 z^5J0c;1ex%5yVhqD#(vo1g#BhGtbsBA1-gYOa7)Y@|_!m`wj7%cE61&YwNve=GSAX zo*y|^*&A}EnK=U8NED;r|9J*< zx%6GFG zrm)1ekyzdn6b$PgBFEKXj$&tpQWs=DYPsf3TC;auDz{!SW3E_dA=+EBUf^t`M z33Q`Gd<}JStJaK1UdwY*cE0|y<-gG~jUR$txLkLPnm!*qY?kwM^OyuJ>F3P^LFcKJse&Uxcjh?bdM0#RXZWM_74Q_H3V#!#0lhXrewf z7@yz-I0Azy!kOx)F5d!fVu_)+MO^r0sIXUAs3Dra1dPcl$3@cHVkMz!5oES&jQNKD z`bjvYE8m#-0W)*8Ba{mrt7czO-WM+`n`W~^eI?4YyOv=?maZtIp_uMU2`R6UtJHJ~ zJ5ANQA1X`_kA4#xK`R3vl74B+{EgWQ4?Hzj?x#9}s`djzTy+2PPSf~= zwQ)wRe4j?zZ2PN%gJ`cbvAM0{tnQCfuE6Ugwfv)YUh@*wb=J)h=K=OdNkv0ln|UrT zQfT17wi@W;8Ss-xOHSJTfWnOHdC!5MDAGva=~IrxKnKf2w0*rQyKVfULdgo<`D*g6 zH^Xph%c!$b@qG2PjLSLHx&X?eT?QMqjqgXrwXD=WC0osJOTcu)ALlZ_{_$n#EE#S! z+ftY?CCE~nYJMCZhfNNz`!Nc>eP1bJp%b9Fi<%VP9)Ek{Y(atA2s&(G`T|?Lp2}=i z?(19%*1znu=2QKd~DCKd< zgYW%dHcsRS#Dd_&zCg#1K5&BhY-t6Bm2uWntnjFJ(lDNt*^4^h%^N!4Er;C;>=%H6 zL6mEh>K}YV=!HeG^5&?z^R;}3==dkp5oY5#0($m>`i-1qhK!sz$f9zG+VWjf1uf}z zSDN@S;vyV`YYl}^JYl9y-+wrQEY4gLKbRuBe&Daug)(|?UinSucHHS3sW7jOLiv{T zki>7vpgfNcjUV{*$#d7pn%vRX#gnsv-o52)(T|btH(zQ>JX2Dr=Yw|xY;v$E{V*nC zEJp6hn$g^T_KnP_yL>hna^#!k3u6eJW{Y{`|3M$hc|*@hYC$9c_lqp*D;9|4sAqy8 zyOf!QO(#2V3b`h{N#xJY(o8pN5f>Az2SxWE&O`_Z2WLwb&_)3z(ArpkDDh1;GlR$5 zyV-oLLCDy47wUT|TXWr^nlJ=`9CvDcBHE<3cakK@Ohg7oGp|@{KSmsSoG}(;pm8{K zP@5T2;F>~fKj!Eq=IT^~$y%^b01BBc#K?&M>vq=MxgvR$QLk0`<`1^Yls@x>9s2x-7VN`QxTB+C2ET7Zy=hO2#1{j=~moOiX z)Aw*HW95c(o;Bz$KOPD;wQ7Q>164>P)9cN5jRoz8VfHmWsKn-^)yQ$9zOqDLo*)hf zMOw*&+=9j?f}9$KF?lF%l*wHqGZZLk>)IB6P2`$whuSxh4i?M0Se+AZ2h zvChlBlbdR`nw-pBF*6;1=Oz%$#$mdn5cCogIkm~Ur5D8ZWu@wi(N=3yeT~V`GMC%; zAT4~=8L}Z})um!c{}Nl{)}}@mb$Y&L;;$eT6}`0*AsK?A`EsHlgW@q8#3rer z$V+@C{lvER-ZuhN$@MRG?|x`Wm|iSh)EnEZR@ozjR}yb%hLV?7pT9^X^YP=ON_lXH zxMx(ybwH0lu`T-!dpVg;a^euPeP6j%7Hnm*1m1YgD z1`aqmm4yw>8Zi*lhq;DFv{{?RuG8jfQ?C2GdOpBEI0i*07U2jFG{-`mSeZaKJ3cg-Hgg z8qV=`SfDyiYh+s@hr1~2Bx18EMP9SK&+^Oqt}u70jbuX+I=T-lQ>p5Vycwm3ycs}* zvRNg$(|7T)JdkM`VOXFwmYON-Yn1gjpH?MhLF{wXq`t3g#R}_f!LH?DE&9Nzgq2tu zx3X3Nt~GmUZFhXk#BwqNXEqF~=WFChgaOvFhWUgLS0wuIO}4IUbs__?)#|EE*WG@m z!?5$@R?TpSXJ+rZ(rd<^)!azFWNP0I1cojyU2KGr8a4`@SQ=v z8wpv5pT+I_F2XkHTL^B6spy|KVTT&XS|&VnwA*@%qhj&cr`-%DIlXFv7Q%IKQ3Pp{ zZLXB3a>6#LJZNHF>o^*=Y~3KioPP4VYw`Hv-82to>8g0qFh1Dq9F#!%D3s1%Agfu6 zK1%?Z&w-(MH_L;Sb6z0NAzavI-cT;2jW~(&?okFw9?4h)KhZmsUj_QMqrtc64;l8v zbMg2RH+!Fkj7JCPhlblsbHI$%ufm$p)>P>ARYLd{2y0!z9-k^Z&8FGrmS$B%wN+xkIaVrR7 z#85?fgkcg7anM_;6FlP9tQ?eu3DU<~-*Tj&s`Qnb$TG%B_6rR$%}JBvM=8(M#2JSi z4T>=hF%b*aQavP*MTYqb&k(5&MjFl!M0z}UG#f9k0CSMxLX@s0^Ed<2=_sE(e(_(jNYBA~>R&5fe(|54w?b(dvJy>GPhzs`rm!qH|-=MRJGsX|70fWK8r; z#z|>S4klXidE2`*=FOEz5JbRSM01`svhN<=XeklTF*O8s`si&&E)^zuuVA`|ARcpK zakr;mrwQsA^w`9>a;qsecRNf1h6VV)V+DZ+wakvi;B|4(*^<+8M^>rcH`9^=t46IUBV8HQw$|L7HKhJo@H&`S3;fK=MrQm(guWU{;2^wp@jbJTTH?Z1Esp>A}-iQjq z=&^lQ5qNJ!AlF6RUq)cf#^Gz$$g?W{!+?^9@-S8wRQk3iI%>tWUy#0*=`B>IVsi{0Bzn{BLvhF>4_&xZXgjN)CQ z%nOfSHW^8&W^k^_|IAfdXAGZ2syz8HP*qHi? zz#ti1QH@@`x;i|NjW4%323-_RHSR3r%VFE-o=}RsCCEBz$hA`9`wf3FHqrHysw*gO za8Zbs{3oaCm8ic+=?_{(pFl>+%Aa(NP~F0lqXiwqbUMP8QgQ;Fhod!1jIvV&os|uw zRM_ge+RM?-68hWGh)YUUKjB`w$~R;CfdL}c%o=?PpW7?v^gvq4W%`=0?~mr`-&Eak zR?afW-K2_hF?E(a?Q+ir-u8qUOPP~uY8t!I7Q*M{Fiw{fr))PpY%R=L6l+%QEV+gg1V|e}Zb>hrG)t(E3ENV2ovI$3ZfTD;SG(v$7gx1l%X@ zlpBAjL&+LpAOi|bxTkK6503W3nOxIPEV!3CmpgnI~+iB6xrxtB>)#_ z0EA*xma`?NkbP3xS6vA`vV!1lfatD~rfmKn;{-o9P3iu0*%7o7R@U_D(kGAZU32rbMIxP__h@=Yt>S)VLkXNMiHA#UBk zloG2nKBJkEXQ1xFY*4k$I12RFy;PFAWKEzMlQ^}cdJ6VrT(^CL0OE3MmIkz;MW00b zGnQVZE_%~5c`RbS0K&n~Rh*P>b2>kj1>KM~x@@_2Dt1G*m?k%+ zyDqfjBl@R|7##gMPgBo=7C19rXM;Am*H^uCu_jue99-C>dx74 zF5Hf$Ut>6-$6mQ3>qq)cvy@h6L;QrCwdB?_zc@=GtlGLAgYA-ef;-ptrN0uy?@aP` zev4E`HXI*SJxLz%L||QzBcN)mBehA-6FssFIc)+FIP6MN%ZrXPLYFg2hU}zlylG(UV`xCGl@;)(6S&FT3|l#*>Ljb(Q}D|1^e9VN zrJ(cSyPz6(8j*^apJ9jdQ0>Uu$BWrUV?|+c<^nVM1f?;ya}}>m0Ir=#2gIafJM<&c zB7-v#m(2_vfp>D9!^+bjyc-_R93Aw8vKxlm<4>uZ(LCDxUgbAGJV83gO%0NVS=D2; zYMC!gY*X92SG<-JCrV?FKHh5PD=7G0fF?!vt`d`)6yqKf-9XPy$fs{GC|t{rcF`yB zxR~N-`)1@vD)L{iUF9#G_{Xw_5CP^>rc{g^9wDJ4VAgg&d>8EXvoov)wOqg9?Gb-- zkxT-1A|k=)aihRm$HU47VO!bSEY_`xtj}F#=c0x%1J*yn5Z&+`REjnwp5uB39@`ut z1}d?6XZ=OC_i`Q7<~-n8dJdUhl?EFp=iFjff6>$-h}_Kf@VHOzt!a>^Mpr}H;}Bp1c|f&QFdJq8}B zCg+o*&v}bj){#w+(1-#)^*MNfmZXAhN+zF89^bnQ!nj=PRRl=gwo);VXp?8Z%##0t zS3$Co!ca1)&>peW$IElXYmBeYn-QKC?(0_0+G9590cCfrK6tv`y6>@1$6EsVo*7nw z!QUy?jKxdhSqZ$&YJ0=ObWHM9kyYx; zv_*+nEy>KvR%->e)@wXa2npCp#?IQ^eY*lXkHdNS+1csGewLJS%dKou$CH~6(|&mm z+sDitPa|C-Zv?&XUYLX2)9G(99*u#^WRcPIRq#R6h3}c0qdq~q#aXnGV702pgIXDx z8R&DhZp5G!SShRqX};f(GgmyS3mNuLm~F7-`<5uyzxQ;&p4r*X}Er{6KN~RodEFv8RVfIMoTvVRH$k zVBly@87ryC=*(yN4kaM~B2J(GF@Shx!G4-;kH;k5H+EJ=G0pzvcpeJ1_qy1+1a3Yx zcbpIkX>GC>)ULs*x_>mElq;uT;XF*|wRcUMNOYU3!s^^yM6XUNY`V(nRjj-3ln>ni zej8ttP6;H8nP@JF*E!w8yr}?MRrY2~Vng3`D^xPoiBn|g50hxjlGL*Dnh>S>Gut3P zOw+^1WYLLx&Rmy9%N-+sr@N6Cb)DCrZES2$!LZTNId+_;2oasiK>XTyFo_^3>f4b# zueGq%=<$Pu<$FL^I-Te0^0x&|F1f{K&-(oQYW~F(U%Jf!l6#5=4<%(_kLmC-Uao15 z3@y%%<_$5-fT7naZsDlLDz{w8Hs;mO;@_Xl_W?eo~SAF?*>|!W8LAr>4*R*o*i=E=1(J ziO=ub-y;1>*-pCrwO=eCz48}UMq|Kr)G?+6bN6;!*UzB~gsA(7K!mOLr>%zCX3;h$ zBX5~-fM0~$@lb@Qy8%IP+_`Z&somu8%h&IGl?U`Z^#(j{giv-y(69$DkJ((BgoHU? z&_z^lOq=^HmNi~J4k+Dlz`$+Y@M3?br!-w+A(hg44a01w?^Qcyt_$JH?gtV2$7yui zH>cwv`i`ZC8GTCw0P%zfOIfQ;kdHZE5VbV)7g*yP3H@Vt9KUMG!`(~k&ZKtodwcac zdaa&5Vt+rSzZ-NeC6*&NCh+^*Gm2ySQXTfawQ?6WckUXsW;sc30MJq7&YY6W?x$*< z6*EklX3D3g`Bmem@|bdr%yf>mGs8n&1r%RfImte1;@7x3OW=fBSsUWQudk~rCFQz} zBwi8O8{zv+-FG?*s`vi2}IY-AXLpc(^t>G?Wy z+T=$eNaBLHUP9g1bUlOLD`!svJZ1?4w<1BqHZ)q*FWo?gqQ&W%n;hg{qHkEMp#hfSq(?i=%;{BOYR#|6wvt zcolcVTY{DRKvt(X{X(BaPp$rT)hp!s#Y%l{a0xj3YJ_>JEHEaNP1BjAoxQsTSaX7@2iK-rUixZkHyzP5pm&Tvl= zKe!yTm%fVLa!^V^z&G_H_RuYtu@e%n@9>&cFGXLz1C_S>#aAX| zR$0E6;F(aO7vMQ9n`9ZYAiT6;@Bsk$_^^qf#N<#5fEJkJp{hu=Q@ENxUb%c zGWFd9H91u+D-v}}v263DYTo0wHn+by{BCkqT&MhExr*Ls<`pNwA5Zec5Eqv?rpQl; zdN(ndl6^AN_~;21BDrH_wcV8?D{3V!Uz$l=1Q8=ImC7^#-rPPia=8Pv~ z%PXw&K5Aem-~bCg%5Z&?Z!KyXq5WD>9=7&4(cRR$f2x}L1HRg3cpFjHe5NIwewFkW zO?NF*{G!_!WaicgKAviyO6^SCq4ebax-_XfhsTZgbm;q)qlwLoGcvsJhc5S{Dy7mg zKx9_Z>MTmpPggE6%Y4sKKKI5(*4L?D=nYjgzCzNI zpAd;#b4w4yqQ)riI5Ar@`k3UYob20$PN)x zncSqsuJd~sHoAex+mZ}Sj_6%N1jGB%TgW103d{t;?0Ks`J9m9Te8q9mH#GQa!)2jC zwJ5uV)huz51cZIiEP;U83cYDe#{QZjr0Mk#v@}3cQH1z8S%BUeSIC>%Gj0+2izXhR zNM%2@EWgZ=TaG`$Y=o{2cq3=e%A@`vwM!#`c>|@aKM!Hd{TtvEgefDA=8fZ;Q)l1^ zXlA0bIr*qKKs$_$oa1W1tzgdzV!U~re@1+$r=@_H0&3Y^9x-i9IMgxaS}wb9_W(c* zU_q&HutwCEd=Yt?qhGoMcOSP7L`&r=;y*0RG}A9#{+s8-E_@!xXa86=Q+9qF=IP86WFw5y-bJ?eBSDkdvB;p0d2v;$;oCy} zUBLcFtPy?CA}{%x7lP__WX$h>)sN`A4~zMN^Er{g)G_@3Kfs#SEen~6-?-oH`VJa# zhF1ur*Q@tVxv{19`5pEW2LzaT1`huF4Hpp>_y7#>2P8TG03Gx*AP6?z%n5jdQv@IoH{m;3)>03A@dX0Zwde&Wu+vH(nA@IM>jJ5b^<4oK-8A*f;q z9bl#M=2r;*bsqeo_y+~vvx5B#IE?@gN*u%oEKj$8AOb(f^5B#j&Od;1aDM~c;0Qp^ zgXjRPGX<_?^Iz7Lnb7{zM1bRm-Jho5_ZI|o2ng~&4s>Jr z3#d3k3cxYYWugSjFW53bK)nA0gwOLAD0hSy@TV5)|DwF*{sPrWBmZ?lf2vddFOXXC zFW`T*D)B*vqv(J?B@h1>%&z=@U<$zBa!z1>VEtbVM2yy7ATM=d5c(L{asF0C`S*XB zq5l_9M~4t(0|x#nI`O|Ila2lYR*i{3o?C$~#*`rCtUQs0Ama4Fed;RSy6&&#?b-);k=XrKT&dEYkyj5b_50513*R- zG=M+&9RIK;?+gYp{AKAM7Q_E0Km3EMasll+(EfF;e=u16g8=W{di`~}Yj-#>sTCgJ zZ-OZB-~8tVY`nnnlw zQ)KjStGh{mgLC7+cV-41@J9{DAC`|&{sz~~Py_zXg#SyX^?#A~>3;)r<6uEG$ryiG z{yXa$>|%fR89y@rI3OVd78E**3-~9u_22Ej%K77fZ?n{ZKhg^Sw>1#k`G12Y=Ewkl z;Z{&|2RX=m9vATM`PM(y z7J9)T=D!^J-y_mLpoam_&Aj}7M*tTt(6Wg|JJI^E&+qUhzaWe75oY=Ol*~z&dPC1U+v4}C;#{P@oWWV*ssJU>a90oGAXB> z;4Csi!ZfZuM2VZ8xHpl6K%8cw->=czjXngxm6!Z#r`qidp~cG~tx-U0oo zo$O2>@!a0A?(dV&>=mqRQA18oiVd+p+8rZCBfWxx!c&Z!B}n}nJGK@MCD}3#_C(PJ zN{$ z>0)Bel87p;R?+!UKG9R6ixIHIVGpvP_Gnd?&9sd}WxcS)nN-v_lKI=%?wVNSDGly> z?$1wgm35z<(PMH1f$$ero1wnBCf6D8q2OJ~Xunio_W7K$oROb&nYh=}0omAXa9vWQ1lZi7Rhyu;lE!y)}iZ| zOw)`sJi#iE>?G*#h6#M%WCf-A4K|Vs=xGKLjOkW}py3#L3BG-6!Ax;6>i-Vdqq6u) zy0qE4^n~#Q_IKQCW7zMDMdg*}8FN}F^-H~I|CnKV9e*>Z3JFod@Q<3Qh%>}X>eMmq zhJh0rt-y9=6kdew1WgaVi}t6#$o7l*EBxGSFY9S9+edGsp-&5O!tjs2KEb^3HKfG{ zX`1t=VzA_MO!zXHW_XI1KN|zh5k386OrQuWcGuGlS#fp&SH)sB>vIc7QZ^w?ymnFOT==6%m9tn43R<7BSh$#1^AYikP7;jR>bJa#dyDFi)aA*my# z+mW23y)x0XmZHil?K%ACTp8~IR82C9Z&}U^wFSo#n>_`1U(Frtrgm5^?bd=kd2W%d znpnbckSA@g%#Zsr2~j}d$NE7t;w<5eLu~!L)hkOt{%bxmc)m{yQK??AXOQPVam)cT zK6m4orJrIO@n$V_bzmc?rMX0GRMJuO!qmKxPai|-n1mBbyAu(>kI9!Z`Wr12Y2hGs zk%p*g+*{a#2JQa51{_to75;tXcQFHs&D`6^LTUq%Yk3j^ln4NA{Dtat%Zr@hEA&fB z|C$>C#`^+drkFoWQ8)b0`!{e`l;np);Ybtx-!Ph}{SM$05rf5jCz9IHdHGbVha}@> zcrK!7zX@f~@rNO5^^WAQdL`kPCn1}X~w5Di| znf-j4P-4x40UbVfS-X~Tu@`w@C-cWQnaD){*JLC`pUq-}H1I+)v z?lHpI3Qd@il~`0I4rX!(5R&xre!_gqqLLmx^^YQPsc<{s3MR@SWeIdgeO4&)C`jkn z9?$__QA!n-qD~BNOHP_lBzxiKxqgxPf>xIM4uJs%1_OiipG%5>SqGb27XSD9n+!m4 z0=o2`%)#)>VR`+;&ZJBNBKBhTure}LJ=yTcJB33SF6RPAf<%-4_0RjTBw_={ovpQVni%J@8;~X-_6|@l#~Dp_H6spHNT^2?JvAJo&$+mP+$aE4$AF2t zvPgEuVr|JON%P|^56}d5sgdN2|Ofc@X9 z|EK72Cq6f1a4@hR|9Lq_vWOy9vOhEh;DjcEA^1II*uus|qhU$b!7j9l;RO?MB*a)= zKEg)T!SszI6t-sdD#0Y-E?VAy9(&z-5BWw4_Zmz?6!vdGhTn0X+qIyV<xyM4|Fy6_pI!VuR4_~%P~d_b zRNX`#KHu66Qg(U~`GMNTgfFnNKhFK`!cw*#nBG8084vY0&oNs09kH&|)Y&k!P`UM| zS647kX{S14eW^D)ilNc1q7=<_=tX$Y!PHbUBpt#8W1$yK53`0F_`SuShD7GY?R(@6 z_|PZIWIC)Xwx1?~!fjq1rcm(&Kq`*wF$(U5!KxbK?L7B>xnf~a;vPw;M3qY%L)b8A zDc5u~<^x2Z66%K(b#p@S54^ksidKh)zdathY)}k79w+LbR|Z0+a8=pQza8l8CE=0Z zkoC5%3aW=m#pXAnlZF<*ht>KA1Q(?egXlt=NyDhwBmQM%<;5k!FxolP0adatXs8p| zPj(2axQtJBN4{D|F_D~ab_5yBQ4t*yz8rEb_kZT$2L_&4$&CI)k|@~u<9tL!xA2jJ z>+6%^i$SfrxTY3CO$16k?6+!YWEG+HzE_wl&z^>hY&g_a3NdI#tXGU-+y+_Eyi*IDgm$ksYIV?KGw2{IaDwt2Dm z4&{jBjoD|qqjl@E`jJ)g>aqF}7PNkw6}G*2qX(6Bvko=zLioKedOLZdk2za-_7?Ix z5Fwm2MLcm74b>YW%z9J)!oK?9gD4T8GirqMBKMIRR)6wh_g(LnTjURb_YEKf>~^ki zo?Bm_yB&9kZ#4+nU61k)6pfPEjTUZZR5O9ZslM@}ZS(u<6w3u(qg#R3N zAiktVx!phN!<_I|!qeUTqmBCasX`KZ=+>mw@p;I=J7Mt1C^!sGvMLhQ!kBD5Ol-Z= zsm>5onDN}_{um77DTHv&l>pJLoz_d@(M(IYIN0YNsB^Px*iVUtoe&(@aW9}e3ug<{{$kbw~>C1myQwK;I5 z8=1J-UG@a7J(*XyGqNQYSJ8Q#!cKmhVzw^zKSypOIIYw|3*D9=tNAT>**96Y<@nh3 zx!MIx{7y^GVK}D!u41gp7sSR|ocLYur)9H=-I@7lmt|wp65aY{dt|6judz?;3?yn( zvubiySxHe&ywDfBO#qtH74pmunRR{}g|bDR4O)6m6CWAgX(gzSRSJb38_v|qqOK~- z?J1Y-6IRD8*WA+s`H|)cm4ZpbO}fYjal@G3Q?(rd1nbvC#Q2lfS?*oPlxm9 zN;uY*oD^l56&vBxgXcP!mlY+Mbdog?Lp_P3$$+%+~+r zs%oPTR$zMi%3s*!XtHT+kk++9UZZ{evu9b-k` za+UCKY5z7k3$QMw&~2ZQr7j=uX)P{t)2w3HG?&L5b#LIIkWV$p+ueLmNoABj-Pt&0S3Ku$4eNtiI}r?)5f>711&AM zq%2qh^7swi1&JuT?fD_)gIa4by;u%5LM|!Hr)#GW?{J-_=2cyo4$9nMn@1GV6`y?7 zhMG~`*tb#`iz8W>jN9d|%=XBLQm3*NCihLyiRP*NSIwRKho1MRS~hF0XS}8+1V}iS zhmh1-fL-38It{iNP-+|WVT7lGdq$C(yG_wLMq6}lS-aSV%^qy`@DTKE3$15lS4JS5 z%3QhVl48mT(yuxWu@oj5)Gmu=DRi&wJ)$|YJ#z1nA$ae^u!J)&x(PeedfF?@clk!6 z4Xdc{MOx?qWhdCsoUF!CVtWm=ani$iN!a=hfa=jVX7=lKSOo&kVOCa(S#^ZXeTfQK zaX739!sNU`uU}=yc1qESq}zMQJh?94@BXvXW@*yxyKuQK zalN=x(5tIWGpnKW7;l&POfzJ=%rC7Q1wLQa)0w)xcXPh8_CSu@%zUp(F|zRv0Fo-^ zWG>PKay2}&(^X_E71w#t7vLi*}&J{(rwck0!q$KhqAEm zzpa&{tfLw32R~<|s?rrricEM1Uf|E}v^9Qq{?vuGE}AkvjA ze`1llC*N1HHSsAKi^YdepH_{<%;L|N_O;Pi&86xMNG}zEJyg|cE%UH&z_zK?KVUdb zI<`ug!%+leVjBzPhnmo;O7GxMWz1q$k*&0Om{y-ba1t_ycc45hTH1CXBS}`isT(aB zQvTl^cp?`bgTlX3d`JNeH7LEA2bm%?`J9}`yF<&7C9mgF)RE6F^dwX$ZM&sY7d8-zCEy%=pcPhG{CeoyLhu zh?AYwYGF9HBD`1jsqd5m%e>uOV&w6pXl|eBX0bzbSCh%BQ99K}YFwLx`|+=Fj6KBK zmOho~-njQBm2~YjjPB-RiY{8U&%1HVtx8Ts*H_Btvx^&>h_V%EK)As)A7<<5*aN?0 zBFx5a{^Y08LtzNep!q~r-{EZzE_YAIjE{WWc8q;e;KSay4;d1~yznav9-|i&E+Ku# z@_)6Hkt;ommry={MZtpb z4WHEhH*b!WFk}G$=SIL!X@+g`DsC*yU<7-1e%$9ze`A;MM8?!;uwzXi0`XF7V~0(c z8;!zT;XtGkqG4Y=OZ(-wVmE=h=XV=$=GBfzDP56=p;79qs@;lqYi&4$uAkVq;oztz zuA%p?q2A_UC{e(O)*fZ7H>wfRUcflEi4c3KDZ4)M2`UDN+DsW8#UN@|LI`Ek4LS&; zJMEdynsf-8Wgi7fqc3D?!E+AfXzTxymQprw)fkCQAubw)qhd!_^gy}Er27tUi{QH# z!EVZeGWRDYu)GnRNIj-A{zml{l1FzkoGG=odNC9g`gifSZ{}WHtFBA9F$@=T?6`Dm zL|Xs0=#B+)oUDX@XR@Uw@l<%}gTN6cw zG+Cd*wzNutM{7&T)nCt%1vyg`Su~QO{V_FDa#o->ocD9*?X+oAX)Xs@Dj87V%r&oI zY#XROG91;JxM6VvC{xU2cw0%sjLVIjL|dSUOJ<;Lk#kue^t9NzSmop(cd5I*1q#<%Dze5*e3pffEtuMcKq>hQohK;2 z%q}o*F`xX=E@B^^Czg2^p*N=a1&*iy%f&y}ZTmNFf7?%(y>BK1s#gFvXXPlpH+0}n zq@M4@Bm9vXv1rWu(6>yYhon$1UATLkDZmrWVV;%w$e(vHZ)98ATeO)cqQzT^`aP)| zL)_A$Ixy;|J7-g7=yE!h=<*vOb@<2w0x9JaZ(*Sy6AVEL>CB%3P4Oz7AqQ#a?Sflr z!;1Y!NMD;{eFh(0(Lfh=@J5?hEuJ0c;4) zztVv-hg{o~*D(0zg;f&trN>>vZ2J+u??tZ=_cBL+cbL@e`LLXm5>GEj4fk#5SP@V- zG$B;LFU5amm0&1s`5azZH;U=`^iB(_BzxX`sgNaytZj2mQ`*wULw%>A97?73`TAl& zLh=fMZsNfZ(*MLI7&CP)A@^601L7fh;_a(P`a4bfBt4|OE$YV+@ z_G3yk0;?7D&nOK++5*3oSg^{|&2E)L1R2qyh994_yIB|eCC_6F1{YJ=R)oY_^GZdD z4_iN3xBO>NLBz*|FR&gdaA?0L5PgNWmf4_+N-%D)D3+z>R z*Zj@)5yOa-eAOi3SRD;Ab(5@Bq}a}nK11n&7vcXsMJ_5bZzk8`C;_vb7N``WiHm{r z;k0{yCNusm6(OG#lf{BIhj$&3jvoUBzSXeY?D(9ZQ#Dpa>yPoY%xhY@B})vjnh3zN z`J@*a(@&Rwu00=P53s1G#(Ae7$!9nMXDZd=&8#A}4A?d4wKCc?xe?+MJXR`pI%ze- z!l5j0M|V`rNXs$g=k#bWge~OZv!M$@4|twCf&U*M35;MtHG~2KJA?-VWB(sO(v3?B zXzID4AL9lJ>CCU4b8;c^ppJ6RinFZ*Km4HUqLA!YCvj_X*$)w2nh)>sZmq7<{3)j- zBez!K;48Zp=DLu5M7EG=Nrj3s6QbYB-s4!_SCHOus$k`-^5);wl!)ApKJ&ug8-5(H zee91!+z>G?qx#U35k@DSI)S`HqaMv+4Pcc3X;zE;=r6_*90u-CrtB zVU(4Ae0mTE)S+v+C=7Za!sGSQ&Z-II3j5g9C<}Pn?0u|g??MJ`?O~o*rFt*`UR?aB zFCcz?hS}8T4PE1o{*=ST(jQXBS|wV@BX;0LBn_2kyo&vZCBR?TMHAN{&&!>NA7lnJ z=4B9jKK1g$S4EfOYLDYF57f1|Qgndfm}?osw&wehi9klP4W-`0$Ld9mQz~I*&yn8W zs)y#$y7V01sb0EKd#SiI*(OZ@zfIpx^9>@aW#D_zoI6JNrA6w7b4xWeD4Eg6vGVGD z9Z{)!gLOzh6=X2CvaE_J+DbPVeGJw9zF6)r#Alkczsb@A=8PHd}FA@`HPSz?sB+jT; z{gDYHZx*EgCBx>j;Yl!@4ss7mUDI#GvNYeiwY{_7ObZ%xe-wN`H58YiX6Bcb(+e71 zN;Kg>H{4|AJnwj)yTAuj$DzWU2Y&|=u&_jY2bZ+7hUyJwSJZif>iu<% z_d;YysuY$p-yNj&w;!d~X$QL9W`~pW1BF}XBAjdbufZchdNPwU%k|&frc>V_ox4&@ z>1NwXimXFQ@XU0Adv^UUOd(F8fL%(0)lB`b>bR~eaME-X7%=tlB%P2eb= zgrW|np`(n|l3gYsbGXfjuHk$6s2fWKxj2a2eIjjq-N|egN?N3#d8D%(@x>fwFi{7& z;knkD7B;8wyO^DGrV{!t26GbD-T)cr@-$_V*(3U^^n~jKo1YuQxDFgB#POUlh;LcC z$Y-R?%pteS=o6nxY#PT-6e^s(l*Z;7-KpYS^7b) zriEC4;Hr;w>&h!;zM9LTSt1&y3i651%U@_6#o%nrNmzaxAn^HW%&@Lq}ZtC-vsfad|ww9w>KUQxAqfO7s99-=6!P8_=R*aOm#81Aizq_=}%-75%@jC zQM_F>&Qu=&P>qT(HiyQg3*b>^7|4Wr`hteYk`}xQTvoS!NYzgl22Jy`C?ei*VJi*e zpLB+b*={``@%`Nhfd7m>$#gt>ax6nD^-Fgr?qYU@O_XCxVf;=^;<>4Z`3p>JHHe5)GE~!~umrf#!gJ(A2kJ5~zbVg}VqU1lR#I z5tlrqo{b&XhX!F@&@NO5e<0b)qWm6i5IB4tW|iWs4*JoY+VRSyQ0sbw$q%N8*8J0~ z9HgU($Z$8;IJ=`enRKq>6_SZq>~VqvJfT1i>$AH%Wsi~3hgU69`j^$pYB@Uss=xiR*pjlU9I&aDaoTHCYMJHGkk33`jp=zWNOI z4gHZ=@gK1Mm7c&SHt+(ald&91CXPU+8R3Z#FEdRN)^R?7hDAg5M7eO*SC>w!=dY#( zgUMVF0$usVyLf{V>4pG=GdvAAUQmj+$ECc6x^jNWQ&a>8`Wsp9h%{ia|1zb^iXCikDfC#3M^`&QfXyJ6nP%wYVt6%ww> zm9Q=i`ysi5JJpVE`F=lUz>EiesJg6(JeL{(EeX&4YzeV+C_1)Ntd=S2)9*jin ziaSl?tvrl3b|@rJvhx|}|3iXMsDdmS_LY-19eM1~M7Zq3TRfCFe*Du6Zo0~wfLQYu z)n6SL9=&nF%>RuJCsetkMhDuF!OS1A`go}+dCeit*SdjxeU z-5b@y^jBDOZPV|)8YR4Y#t-yY8*aOCfZV>_?@Id5Tzlh*{~U(X1%?n;zrY4o?O4%4 z-MR&>5q@6gCf13)Lv_9(UtXM_@-4PmHFN>>S|ljERm97KE`q#xL=CEq2iDm?B*HW0 z^?c{?=J#>MNYur*RykL;2v5%@Z!0}jp03WX@Fqplr-HFiQypU|&6c==ULO&~zlzyj$;XCCsl7>Wz~oDx?(YMV zblrnnS6-fiz6>(O{;*$g40XcV_DzfiO0h{st)q=U&s?`k%OU6pV={2Jh@$ZYY6+Aw z1zJocbwwdkQfzc{S@+W7&MRB`f(_W-oI~uqzjQDG?!-L zMlNy@YR)2DI1E*OZYkqTgw}DrvSBS^7rySx%T#JJ5hjIUZY^(5v5W9dSbYPa6)71% z&8KlrWwj;~5@px*ZObe$QubV+`zxWVlGx@gsW3U$7KT_KLVg$JIBt&J#vJ~XsUn;n z+9UszT#Sg-=%vCxXU?ILI5Og-F1kMq;WN(OU7Xk}3U){Y=hTlr=ZM+UL~Pr! zM3i!2@0tsRlNn^b;V{rRQIrJ20Cq7RADR9+gWJ@FQ|!F^qubV#5~H_&%hKfKAJj8PVJkGZ=b9!c{zWFP`g zSOeXnJ=fttH;lhkvOpkTyrM{d-o_r=?esRPVphDgLUjmSfdS*2gt}dkB!lXZsls9u zrTdzXZPHiXSo)Xzd=x+#vr(u{UJ+56)h>N@&M(T&*(lF|y|PqDom_^A$9fV6fli7M zdw%-BBZ$vuS|(c8NxDT)NKVU+8g-Y%UsE2dyt(FXFj2#C$?v}yp_`>mswo>us!)@( z7i`j%l&z*nJ99T@>%uCwZWm^sk`RrSb%mx*noLlbf>)nb7YT5h)>17+@&!%&8NB2y zEZMXdJ#`_+<40qc6m2}BI%w4`#JPw9%XXs)^S-4RPZ_m+4V4M80kJF*Ujyp_nLedYji)+h$3RZd-JJ?AdS= z;6aY=Jr(lJ0|AT2Y|O+93zwC1@&nSk*s6@9TGJ3xrp1{U@OBO=>x^8IhCY-}i>z99 z0;9nKY+a|fbacuUZX1 z^^rwKPd5W%wO0CIVH(@WekXyfstu8SWxg6t&j_fqBXRzt3fDTkn}-13CU>~{Ct<;Y z`xaw$IZ(|wwNh%jROw8LG+f6c9JUYrI_?_AEHoR{KAn@ao#d9=n4YLc!TtT1%KX?h zwnbqE;wq1EjLqj1%VgZgN2a$KYE<;=(_wm($ zhuh%6eGHP@zvIwlnl7^?elF82Zp#te@VD=XV%njxD^S0~Nx~ZP2X8nxro?cc2Yvif z-+}Kw?{HVhN0;<6qzB)_&L2ZUNTKZtN?gGAMDPz$mR0fF!MUCP5KX5CN z(QwP@O)M$x6=`x-a4DLsIyczEO>{tM%9|cSh^lFG5ZW zW!Xp@J*A_cHEhv!Ehb?Orx%t@o@y! z=Xi_K&KWzX2J&I*u#SqJ<~t6FeZ;KDqA{_Wm2mP2p62y8y+IVg&YwWruFl3^7Vnu6 zw?8(#Sq2$Kz3~RM`IanlFZ|-Q-wAcxuN?isF+r9FaeV8UL;Pe4i#Aqj1^m$lg6HL| zo^mmdJpxf2`8KJo7_e{CS0G@+1-fUIU7wdzr z7!lJRvQ@q^ReqdP{({PvR~|6xe`#Y4@?!PyVs|KQjZK*yis|@en6OzzI5T(;Yb0|5 zpD`Vrarp2X{?fYCrQGhBh(GdlZsdm!mfw{~Y%*x$Vyei<7eM>Y&MUriP$>b6%V0q| zc`yLi^^?L2-m7Dyt$l;OoJG0}GleB6AQaa_jVN6{l5?3v zfZOhBxbGs$4~A`QT(bOU?n2qn#J|JQ_)~FV#?n7t@BKH4!LUyJPJCft0*mM=IhA0N zPpOWzrc-EEO|V0a#yRw?R70A{NwqgkRZ=oFt&jyL`~p}TE1p9{T0V59&cz0_vr|gL zs8t)rZ;DXDIPnH<%$Pf5SD#X%+bLqc*o%+U!hbj`LwAH==}$Pwd0ehM*kAt!zW?uX zbE|P)7XL$%T*zQxWdDOCrzeqtT&;IM3@zM1r6;xt%bzH^&U)5!k}C{|@P*2-L2$4R zV(CBdMIp>Qn)vOZsMyah7}BdA!`eW$)taTYJ?hb3l}VHs4(GLNZ_)pL_PuGnR9tg6 zXK&i4!5sNKa{LK)+Kfe`d=+7XCTcE#9m*yP861SPWQU?}!T z2t`{Oszh-Stc5#sN@v-l1+qqqjKu!Leg#vsQVJmi=Ab5N|3q~(9&#$HWS;PQGM^%J z;(jTKU9%?tCUoLaYQ9?;f7vi4YG;w5e3`xG7k#w+bmQa~QE(;7n-&2f@0sgsxG*^FAzKfKJeQwQL}2gLXeAv2~-S#*5xPO0l2reK4)Op|kg{ zrZUQ@W4hgH2A{VqpAfJQk*pSHyyl~>H63ObS1RN__8qpLV}}D}3ZCPZCY@SP5BOB* zq&`(Hv6wAL{)@{sOT`VnV##pe8NR^5%ppVE`)bj+TCHlRGe`kY%P;UjjK06p%wGL4 znM%@C^)o^|tKSTreAS{=o{7{VkUAhO11zRpC+Ef|Q%(sv%Sw z;gn~k2*OeAi}kr^JM1E-9_;sfi`_>=Jxcxb&a)q^WbgmRW0d?M)Qlf+C?sokvXb&o z?s67X$!G0eD8mM-n7!nim5DrO_&|0T7>lrMCH6TS;d;15?~b%qd8`gi5#C){ImZ?B zFoMgEm`e;B&#$Th*Z8{fP}q*<^~U_pOipPOmO6u49ieZIziNo{_$-bn=bKooPjCW< ziyDX+LgsG^OnSr1 z?gH`k=QzI|b3aRsMm=$_29XH)UHamljnm^q{D1XkiJiVs5vgmh%NBoPPB3NU#YKCI zjQ%$SX}U!F>5h7t3r1jj_+xJ`+y>wVk~F2?h#?Bk-?A~$4uMh-W|nWwd_K`XQdG_# zOYRZ(Zmj^kz`A|xm(n<+-KH=t_Yb_jITy%gzN+>r6U9-^?yB9+xb3L??Vv?NLHo5b zW<_Z_s-?&2g-ttegF$@0z<6Qnm*P0#-I>Xq_WKYGx=5zThJLTg7pkwK{d#Y?(e=H% zpZ0;9stnZCx^|Tffn%m<=7Z*W0&rd%JV^aVf(yXS_bB=c+jYq`uAdS{h7^p1#y)co z@i^f06bU1b6|82U`L?;Up|-*LTIS8Nat5@&FCv2>*I{I#e)E^Ux^`}7E#rfa^N`N3 zKBKj+5pI+&SJ`x3p2OVnIA0v-W(W6{nFikU@6K0g?{?V^9IhT#_*SvK#WFLv&kS4x z4+Fr{#=0-tF#LdQbC73tfrHTq-x`QoYnl=3R|^x3SZz3iM%W@^F6$_0;%sB9u3;1} z;T`gBr&f%p(#rlBQK(c>5Fv`bI5vwwJ#U5`KO3DY9w1g^{O=6EDm54}SB&GX;3R%#?9_aFP+tj#`HbZ*xSd~85K zbA-9-oQ^nqjz+WapR#qL_b%alSX*sP8NY9lvg+i?DjU1VS^s zwU~{h_Pmea_^Px$3CH%e=5XsC=+eCEca(?6tGhpy@hVOKO4MxYOFT=|6#j^0@o)4+ zYBNA$>@xa^)e~ZEj=Vg_yCKwhMWzTa<62Gm=LA{P=?<^K-U@|#Evk2^sh?EuA<=2L zSiQLBwkt{0n*=~qTAy6jMe^0~ZU~}uAHE8p$PL%+=0;)13En+0g>on0M6^M4go~)U zTv3Xv!KXyc6k6@g1BUfJaT>Q*bkzgiAGe2PSll*Q;nqVcUQX>XEpN5FB(s1#A-h+5 zq7Oj?q>Gu`%B21_e`1sY(hBL{00KMSCvpYFOR{`d^LYv%b&~M1v7+MxB1t3zlho~! z;q6A^f4@<_LQPtUpcknOW!b#75qAr!c2GUOg)iRYXfW?J_`=3R)npE_z4?G4vnr;f zW#6*o@4Zm#a0LG{NAgkISJwpuBc)z6O;iafvcwLwL@q~ZGKowM+MF}wN4lO83r9u6po|h5xYH_&uJ6zu;{Fy)cJ1<@p7bG){(6PjBJR!} zg3f@u0W^kZI9}fWKOU6}-|>S29SrP=77UE!KOU9L#Z3WV9<~ZoKOap`O*KG@w%3rO zjS+cr(BLJJG?J2-u#)UicqPSbP)_H{p`B|IYwBJWd9-1ARg`L|qjAuIJeJpVYe7p( zR(1iG)dBTRr+)QLwAX;8qoZSz$nS%6C(GW$ntyJ+_W?eSPD+Au;_$D=7(ZzMaoe6*rd0q&vlJAqT$v?Gqt<8W)Fcw`sY^stJwiGybSEI1pw z`;Mq;Ohc4|P&no!+-Nb5{B-Gm^CZm4$F8W)?zjLyxwwQr`T^#h0DJt*UMi_j_6+Q9 zt>&%Kd|9ShXz2JJDpXIj zC2SPhr&xenMh$mws#{_g9>XzJMo+9It}V18lUd!{FG4rOiQNd}fbh84Yl&SCCV*{1JwQrqV~_7z!Kh_|y;Jm&l*q^!xJB{!on(#nx-pe5Yet)cFsJC4 zFp?HY8|p>7fnMa8nZ0AEGfN$1h_yF!e|YE9(QQB~)SYmxC>)EypQ_Z(HgQ;Fr6H1TIiH*A zv>5m5TyXNryxEXfn%>K{#+VOZV-#zP^<}qV&)u!;$9jeh_sqzpm1~<4_m`+VcV|~& zEafKd1w+I=}kGlhA{@A7we@_Vt#>d1ouCw zV;oJPc{`3t)0G;|?Vq#xX08kwkqfNuCd@>VQdo8@Bun~@vt9O{wf-jisSP-J;>qY~ zdPXe3vkTzuZ_?tsBMOG8gyDiaRK_6%`A&m0B0wM^Z=*JkG65D3O5-dp$tsO$y4j3X zo0ZnvKbC`R{BKPTt)z)yVOTNqPBp$}1!^gm>%Qcxj+vWv6CbDx!F=eOm^ks8+?jEC zYEq)T^?ooA8XuS>hvLhlcsv(`gAD6C-O1^8 z$8rX<8hFWt2bQsx5)0R5OU_Ws6`Z z2`Gr^s1Y7*-AYFsVL#bF3J`W^th2bsfs2%;tb%bgYK>$jwNu`Ir33} zG2|(-J#;d$S&PCBlz@pr)r<-XwdufbKDU_m*TJS~->j9kj&NU4NmH_;j4VZOdGi`m zE+h2G9rXfmjd(mq=4}s3pl}l@Af?P*e?m;7Bzow4CLM>Q&}IjyU^Rw$(^;CMwa%bU z5VM-MDKp{A`b(H~l#}um3eIh&r~b;Qk`-`EZc}GkGG@&GMFkkCGhojXMo;TC7=Kes zK2GCo>C1Je8$UH5nG&_ZLTuKhsp<9_CDqJ(Hz=#XC2Ns}$@RGlX^PGx)s2o1*b+bTt=SL@eGVFKJ@6@tkf*bZ6yh zQ7)+a<{2uVeh1$CQr~QTl;$rmtNUiR5 zDwb}#*A8@P^rrPy+fedxhe8uY3I9z}6Oa-oY_!D)z?Vv)hRbR6|7*ns0 zdg!(XpJmq0lRTRxa3$35A=v){i}DVrhO8!danc4`Dh zJV*9FRRbRmTN5px8KNaV)cs_I!$R2*bi$L{DmKiU#dqJn>c+Q!X|zw!Hcxs|f3u53 znvx4cB1DSHQ6*rGYXdLNb2IhLUn;$3YvCG+%{y>} zacwtmE3tyXF^_)&5!!kL|rE>n@fMq>#4po83OSJ813mz?rw` zmjA$KFSsKQ9+A=z`V&w4(LSyev5)K`3_9Cw(XrF<{qMjc75aoQ75P4yPMFf^*A4Ec zd;&mV%f5dKgYhB|yZNdOISsRd_;;)0(x4F{3T6AQR8Au>>=`E2N<(O1hV~;M6(BKY zz{9t*iPDWW`EDZCnzJORKWReM<@?JPFQ~d#cO&qnxszEUQLG<3jUv?M$ktF@t z#8Ds9pjnHtj6Vwi=H%okq9xAN<%IzOJ-gmg3s2ATuUGPMBmY5***miQDG$xkk zv5|hrzBsO0oW{X5?)C+12vcA?gz84|8A(}M>;zF3o0Z}*lBc@oQ?(RVj=K<--0|&I zei;_Bc*s)`3HLFKeh%fx!V$|8I0BliO8zQp^IrQh6qL`fwdO&iL$9vDudDreap~$r z8juNzYu|U~)}rCrS7TyxHV%7>3%vC_>6_g*HuTNOP8cIPg+GOfk1%#!ubP*%PC1J^ z0i_6^IGf-_lt|p9r;H_$Y*u-PVhVd5YWxHqX&;j0uPBp` zELaMWnefeGV!FPMluGxHsi=poj3urK%5=>ct*6P0tAR*wIb4%3#4Nys-x?&$^ZzZ2 zW$iX!n8*J|3H5r5TV2ZsEXN;pst6>DaFBu$VYFt#CEsc+Sqgm*|GqaF# zFBzknyiU{*nu;`*!^$d}AUvNwo~d_dW?cm$B3UDJ87Jj|#<31~KH$D2f%iyK=FZ}1 zK(cA{&AoEmeGN9#d>CbV11xEgky|}mm+jx~A3W{dgP&#M$Y|7Xu_i>TZUR0u6(liR z9)zPX<&wva45yvj_fa(ZNe;pPZ5oE=eTS)J671kI!9`Rd51T~zeJ~np$p6XfJ2*L1 z1J2&LtRJ+Z_)NzoZ~=_4a&!J&<-&1+_h9Ijzb&G~bmkzHoVpaTw27pwGi1t)@FM5ajGA;d2Ov`LwWjTyZj|;+iHp%BEcRvnG|}R~5-CxYRT! zQ(H_9{i$RpEE;e)kNbewiK{N!65<#X5TLCm*)~r&YY+9%oqRP=)4`G48`%aH0AKy7 z?Zdsa(|vX}7<&S5a4$P2Wb zKD*t4S?7J>cZ1_Yke}{nX$@os_n-@;yWV1_kkmjrBCZMBtdJ-0h)r2^Yx;slM5gY9 zqgl@^CG37>{u6iGU%X`QOt>vUd?%)76v>?@s+|zC>|iY!W&=nx-mIG2@Z^VcJ}oI% z#qYETMA2Z4})%8V(EZ;T{rC4-> z)SI~f4_D_HTv@oR;n=p#i8--t+qSJe(M~3|ZQB!PVohw@wr=kEcTUyXRqOAn{ngjq zZ$JGuzaF>G@)L#nffAljH$8~9Rbt!-D9#J$%WlH?rPWq!6u%p8 zusM4wIlP;)xIUJ$D74H}F~2V$Aq$}>`w?cn;xsYkp5+3GV<7$#K1>@v!d!6U1_MC) zTMK}GbaXNy`6Yl^?*$1lDoMe2QWYeG%YlDPOMNtwxh**CjqkQgp<7;>A5}S@=_OOO zfHdo3^x_74$#$7H=rzx-De!0FN;gF}+^Q|MX{>);oFmXFFIQt-*hZY|nj$-0RM+DO zY?N3H;mx8&^xC4#9p2BCF8QB5%-I_0bv3|^^DiFUHCo;WD793n5;woBWL*HB(`Qz2 z2k!OB(@hFpzd1&g{2L35&2Cp#)YE#7=K=mA6lyeCfMD+kXC+Dak4QenfDv z+PscIoy)H&gYn5=HwD{m+zR^#%&MR>xYKQ}=h|-bUwG^9EqE`8HM~y>Jm2%1xJ3XC zW)0Im?~i+KXLh2G`FTa#r8wbK7_i9$a2S~P{5I%)!lTqIgp7=y-c{9~B8D?m5 z&?MvhKwnD0Y6GOVI9fmCvq7A}QZLO$3!Z&}V5)Z8t&nf=%9P##@3w#{Lod(DWy7LL9Z}wm5#{dD2vuj9A zuKTQXUCs`Jsl5R{eK7-WH>O2Ts=BJ)!oGsyE<|~HU!Yroa>tlld@&$`(=%#$_IOI< zcyjKvMc$R{Ih*eNKO`N-=lqC5l7c1=4ixy*c8seYsB-$`D?l2O?=Tw?jPW~GL#zf9*)IVe%{wCK`Ed?{6tg*wlf`bFh;MY~(tg_(W z)wH-9u8t@B-BR74vRj?5M})1K2=UVnDBRb)fpN&ij2%cEGwy{gBc3d;MDih<##REz zJQ_mdjmM&96R|=krvF~~DUXr!?tSNtzhHE7^J-quY5aryUKL}+fA$jH)olbw^#t0t znr415Xg~|KLK}VJw1fhxS+Tl)f0A~Eu0v#i_2SV$13<6=RO2ls@3Gql7At2n z)JC*9`;zW6dIrBM3f$Ab81W31Pv$ZB-(o&t>yE|wN+nWVzk(jO@*fSA=HId5{`80( ze@zL2iLsGkiS~WOgbym+kXxo^?wxN4fRu!Pu8daUqEbVhOy>bEBbI-07u2a}#8fkI z=_NrB1hEkSGk8NkIVP3z0kUgif#D6+79O}LU+^E2JX#euN!slR1)b8Bmk_D!SYOm` zgnzi4Od`MFz}q8jXHQ7BF~~M6H=K~on&8@W0;j(IefiAX5OYcMd`SXiGrjq%$fc=a z*a}%63Ga*cQ<(Jo5Q<4?+TVOoJUpHrNC*krYZVdt70yql2plH<-p4=%wO$qnA0vz_r%g~;`K>xejRP4>%q4CWef+WVv(g5BZXO%F9 zds2sg)UpgY$)%xZ!-;DG9a*S=X0WKluohHr)k&E(vex++(O(gOP`tsv#P8tmg;7T> zh-g}kaXH_<0NlBEKLDSfuZY_yiiuL&7GSAPbb)JSRLa5hV*25{BJ0UcB*O9kjKX6} zp*(SyVFy;(23XgR5b95*F92x<_P)Ki4f+GSwWR|Bo}1|L-2Gtn!PugRQPZ;8r@NP%N z7P=7VkkoR2X@diYO#I%|+C>E(qfhJl6q5!s}m6H&aJ#MN2v*{cjJVDmK%POCCNMdq$xCABfB03^$(Y|d=JHmL#%2I{l zk|KOqyRZka*{lOYU+<2umU@L?ty6TrZE7OwnVz2n_Xvy97Na~O zApt@vpRiP^0VKD{RWO`VHRLk4tR~A;GN|0sx1GOJp!wvLth1LzNR7G?(zIWA$#Uc0 zfmZ&&W!5$bSo7Ih#$S!DPALj4{7$I6pwH?cQ!m>|$T2;sJplTAx{z)K(l_|yb%N{x zOqt8VaZsH?M$`MLx8o?GR8LDS-B3+f19GX2;PHTEf*j;+k+tGYvYZx4oq1U=hR)Pk zgjpM&&{+Na_Y+n%lN>dFeEL6A0uViEh%$R&^}bgUpI%13_5^eJ8E3-%JL^RWSE z%TWB5(_P;fU6;puumK>QgO%J9M%6ILit_gp1k?VV_sUey_8cRzYPrl?#}T6d>A8CHJ-q5#%2SF(fv)R&u0BNE?9F`FT8Vzr9f*pRN% z`y1(*QM0(6(-U%n{+V>^L0kP*pI?`gRzXgB(X-GzgQ*Ru*W#_EA%iXyVR28z~bHczA z6)HEQUqy06Lw?CRI_D*5^J9|KC0Dw~SGe~H5xKX3c#1kh!lDmLSDu(RpGT%A75+_U zZedD~^%5K%m10U>=+H!DZ2nDV-^u$;iyhHqeUd-fDeLxc`xwbddHGQ;Dw* ze80+CwpR3I^TMfKgs&!jGk)G>Url7Tetk}#eStY4eMRl?MTsWW3@i0YL?zG;AmZj| zDkojYYis?GVFCO#8d1wOXM*wV7=pl6$8xVX8%6MaTXt>>R$GADjhvUA2Y%UV#Cs(-`iRaoTyHmCO~}*J7hCdK)gO4<>_3 zPG$}PkH5=*55AU@L+VarM^g^h)h2O@5BxMuVU5ic52hlE%}6;hQ2Ccbpr?V7L32>< z;kMcol@1s?%rIs;wG|hAhkrKT;4~++1Fj<`mc5nAdXVn@8C!37a9OEibM5%UGE~M{ zZap_szaOx)dtue*^mJFBVP}3u3$SQfniLsa6!&zyX6Qod{Oz=3=U#6KEM=}FjkGq{?@Hl#hw)_RgU;6Mz#a4&q(4N|9f%b_qJE~u9kqH+uadZNMeIR2 zNo_0Ke&?-qs=uMb>{(9vV8{sEZb3hZVX~XUZ$EfADR?d zbcqhidyS-t+N}+;lI**|O4s-|x13$8Rnu;L{?h1KphkO$t}!ZaSI3NAqF&Pm+ruvL z_pvf6t$*v<6VdbA<)lK)PjlU!^QRCZ$GYil@YGPGrZF4-Xl6?Uz{*P>jX6SpF$ZAw zX%bYN%$zMY=(G7_gDmZ@uCi2aw2{S<1I}3|Dss={_~^iB-=PiP=KR7?7v7mnOVz2x z0e5Wz`R>>l9ZrC*Cl3wniIRggX(@PQ54Bm>lU=sf6d}P&U^Jkj@dW}lK4-hNR>?&PPpe2}>Wq;;Bynj7(u{%_ zB%Gr0bL#gua@e3!{pw|E={&%=k&rqQ*%chivp0&b+qg7n7U?84N?O|B(PNt?8ptWALiinH#j;+Ydmrw1~J36d{%eMF*Le39s-cJfk0jz zRUk^&2-aC<@5cJaxg`18MG_G2opxnmPVJ~6j#cKIQpT`M2@#8Up%51oy~sQ>4{=2X z-t_kF&0}n&;Ybx5is}xGq4t9b7K?;BMJNX-~-vdstItW9L!|QJ?q0$p>X8&5S0POGZMGRQ{jna(^B6DkiZTf74nT8GjXK zK(2uWyK0-Yl( z%UWzVnE0{pikZHBKV!#5eDtz zw#?5a=E(nts|$^+U=#0^2fD(`iMloNugp6F+rk&n@&!Tlv&Mft+L=HS+Vs+_;d_LZ z-XFgEiRBZOwu&lBT;6Ni1dPZiZrCE{7!%kza|No` zny?#?-7snIcuH@7QRbjaP|e+#VFuTdWOPKfWV`VlRPz)c@16J>F#f{Py(1cdoNNLQC8F+f*UR~_S%Q<{sEV62N>O1G#vL|27Lin8ek1_dS< zB}}owDQOl}7|?ZhR2tOr;Z?_w!16TM5owBRYCe^DB+CCuvV2Q{Y=3dgtl@Fh*5CJ{ zxu}o%z+H|m?WT`B+VLgNNJD{4$Jpj@b?$F<= zzX)5In^CHsW>B73jb7TT3U%D86qQaZc{gQ!zXaP>V14M1N+RRK@7QWyv-cG91Hj6|R=+j1`5}ohSlgMQxnKpDg&plcZEXetJfi1Cm04bu zkU_Rz)8VOJ%U^aFnrX$dk3=8-$JUr3-8zY}ir%4mg2_cpQ)H`^k4s)01`Rh?Wm+V1 zr;~Bk2^=*&UQPMcgMiO6r(L>DCdXVqMGi1C_MxsRB^+Qqaow2n1mH?FqOUM)xQ%h^ zXl>2!At}2Li3i3ce2~XD*v3#M3MLDTX*=Jmn_cyhn#MJJDa;j!b zRo)_c9_RqCm)2rGez~D=YT-CG%XxgpU!!}af9RqST zj<$EesHIzb=R8yL1~oeycZJL1_DFtA7W3Mrr6Ug>b(1rZ1Y3AA$s1Fn;Lrbq=EV!PAVdabYo=tPt+2Y-a-Qk;`EdT3b~&<_y6Kg%KcHn1S1VtCvJz>2oiLnN zz4{}MqFGLD3t$Y>noc~XD(GXb^8?*d@W#9)d!k~8;sv-smfBpYcw!*}rZooh#*?T& zjj`kjMaH4+Lb?B&@dNoyGMyv23rcUwmc*%e=oTIF?;Y1PG3&3?NFU;1_^gG#>DoAC z@B>O65duib>1~0(SKd;B=Kh<Cim-;5ne|PiM7v; zEW?{1xMP&@sTqvX8Y57bn*>M-k#QfOKaF1?YqvF{4yE->ngra?F!vda?@>I{S4G{> zS0sJxJ0nuBS!oxXg6SkrD4UyNobPun_4;h-Ls^KoT$h+-nU(1k`aF|YoBcoyOCKc+ zeD4hZJE@;QG?0k@RtR3866^JN0bgrJi@^dxzX}S-E=aTTw%K5j)mhXLFs1xNYn)QZ z4`SB!Ic`*~$yjbeiF=XFv$}Nis@DGgWNT!*%l){}dwZLnHUv4mrU{cx8#UsLB#1(| zbQT<*Z7J}y#4IFhZOcT z^^XcSE`6vhN!R_>;1(G>0i8;M6+rq)cf)}Zx1_XNG7${~MHJuU0zBjzCfD#7?n<2f zTZLx^{R{(93BUP`G5CCu&je$L(M{pUeGhJwm3z*d?Ljj=5_=}td#`d1;oOzPCCnP7 zYMk|nHO7=kD3M?X2^-;(L~E2(z!IgT5ecPi5ydxvsfU@0v+vDN4v;)NTd7Mz$%;(0 z+;!GN-=#c_xpDA+1wf>`Ch4VRlT1!J^*hZ|Qe8{IZ;d$-{=^`0#x+xcWfk7T{C+Ev z!0SSW`C@+G)s=}WLSQX~Xs?En9wTurO1}bEK_N+$iK{|r$b)Dvgc=kRY5Q-8c(fL?L7&6W4^Gq8W7jtr{TEHYj8)`3sGKneoi8f589u zQCle2Px=SDQ$?6n%!9jAq(k`Sazk-UPnl0sfj=}6^A;2o$0H$PC~2YjEmeZ9SiUAKsbpuGg9d5QNI!uq{Z zj*#!J~>J1ki^pSAI>`KOdQ&|HWSZ8`=3v zR@;p+l)Ca>Ti2^8`iwVi2(Wx)Bkd$HMLtaPmmd0gEf3X2zXx|{p5)9CDX-YlpM-r zge?B}RU>*rge=0r=5F;|7S`SokuKn48Yoo^FglR_B$f!qt+<`pYh zi{3+O@NPACZTz0_=?UdJ9r2~2@`*rc9|arSvpR=atF%TmkHLz*tB_?^jq#*ooIuEq zXnO6ICdFx6@Zxk>z$AeN_41-rZoIPVu$rpn>WWzpVHbvK!vLt<0+$XzY5Hst9F22H z>wvg|VVFY7t!gC^g5Q!&r|*W#Nd64t`0TtzwIVq}sOIwce?i#zPNiLM=_ z_v9%7?&$$M4IU+%YI_Epqz57m@S5zPpuAig)H*7Sn-PVl%*}p35F;j z6xZS=lcs^z4`+j9qv~17b7bBZ3A)OvFuJ&g{jXp8touQ&5|n>!_U#)6NLw{JGJ@E< z_pojQHW_dmSSCJ6`Af{3@nim1uorGqb4p0}DQe4kt1%Uw zkg@9y0H)L4?tTCf-{CFZ6L94P{1bwf?UP)zQE40$X4nK+IHGY;=c)ibGDCU)m1{hWP@jsBUQOp+?Dneqdat|i}TLj>ub;i<*3 zOiAC>`?jv1P(JgwbDvW~M8PH0DE#iD9ONa50W%gC<4jmhQ3B<*D`h!P?k5%*N(NOo zcquuPx~JNTei`dEe8(#r+izm($^0BW;w(gG;$T>i+#1Qi78>b)gjT+!vh> zj_fr8?*@`61%|d7IvO8o8=9O$j*CW_f5aNfS z$z+Y!>QpNNVV*654%A>Xn$^=?1hH5R>n-cy+j?Z>wK0kXm1SLNbt`~o^bP@5cbELz z3t=Mwd3`tCkm=r6YqX|-($C@PBdW|9Kzw$524MLZvlfCU>J1j_iYVi;BY%wxGZ1%6 z4KomRYYpoTJ02kN;h*6r@*yW%&$A}nA!4vNU1et?-S9uA9tADvP*$YNGY6eL20NA5 zix)SCz(OHlDC~~7v}v)HgvJef?1FjIMB&1wuIW|t@2=*@P5#Ht zE{wEezQvWyvx`YYk-Ck|HLELo0Ge+mQ-QmXSI^+1K;Nck5^9gf@AKGQZN9LyJx}bE znYQT86(K>;R#Qk1B{$E6d54ZM{=e<9HNH#+vHod&0a*i}JYOKB1b-pdW3i7{RmogH z3p7n2hQ%n3oU*2bs<;9Yw46=mXNdV%*l(-NPxJ^UFEH}Nh{YMagH?lO0XwW2hcm*w zy0i?3Gu)|V>l$KWJ(&UBL{I?aDr!QzK^gq<8N$C^T!BC1E`Oq7=Dm>a#{TJ;GeIV+ ziyvw6w(9}qCR))LirIr-=KhiLXKYzNlj@_$4Me`EA%W_Qpcqq~6_CSKk(1|Yce@IC zj!UU|b*4yhRG<3!q#wf93vh+rP#`pSBhQeoOZT((SZGl}{MCy`(-B=nC4y>K(jM(+ zj9$=R)$CAGgBf2^BlA>l5~Spik(>|kna<8w5oW_DZn?7r*iZ7GJ2Rhi(FhL|xpvQS z6Yt+Ohn4b$1z+ya%JH&{#?J_MPZU*u^nMCS7KGNkZWm{G35wKD0F1dQNysl76x(63 z0%H#TP51luwB)syfz-dhlBi=YY8d|iiDBsEiDn~< zsSbJ03tz0l@4{#nPO(AXIQ-0;vzGwZ>-?$fAWx9 z#EsmiBt}_F0q9!7?W?!`As-aFtqG)yNWsiliBzD@{v9^QU9vYyMG!3n^lud~vCsS^ z-i~G6)Q(e1X}UK)+T`}VYIi-{+zt_r1-dvC#>{OfZy6_j!wV&8*JI=^yRPo`Rh)asK&ePdg4u?a@Sqy$SzE>he)^HLP4#Iz;5kzTsbDxXd08b>c?N2YbT>>Hc1O;Dq~9vKZ`}bQ+h`E)f!L#LqMo z;Cv?)@Pbk-bbLZ=A%yMRSy3TV1Ti1=eV<1dAnM_|H2v#!)}(KOxl@m;>BT#Nq>)Wj z-1C!4?FT{g{JpLAD;Dy$9srb?pvlhN+ht80~i~nx%@7|%*TwI4=MT!U)(G`lca)=h%FCkZF^3E+yBpu zYD$jz9d=89+|zI^Ras9~Gxvk=6UjYSS_++NHi=R@%k?qG|K)Mh@+w{M>+=E`)ZIZ$i28bR9nd%HJt_B6cI3N~%q8cIa<@Y;Mc4Iv0hpi|%3PEF42K>_ z>($I!J{*q;uWkRV2@fM9VnHZk*KgFsd5=Hl46d_DQUlIZl~m$C*a&kF(}cn~2Wc0U zskLCL?zu(MF27|AI(^$c9f+-{$zXCQS6Tgb>uZoNwsK6Dkms7!Vn)&zCT z4^c>EyI^Q?&ft0rw{qcRT{?;6j@l1}DtLHp9NT3Ia@1_TJXiI zRj%q$FxYP~19bkD2G-Ace0zZ6;x?wC-b6=v#$(@9M^TeRbAJ~7DhNjd6htg1Di3wT z$Pa<$M3jw`iKH6mNqD}uL|qBV!{TDu;kpyt9{2*`^>4<)O#*9{+Yiw~Kk(8YWjv*d zCtbQKPCeenSSLDdvi|W!^WADtuTGnB4?K^0B|l-F0U)qA&i#s*2FQyRI8;-~ztF`L z1(}Op>n~<(ecM)ZDddrS?A!JdZc(D#TD&wGy~d;6Tydb97t@N`7mNR~2m~82PO6P< z0axobp3X&mTu&KiK5A@RJIcOgkoxvvl+)x0gxnW*l^)z1nf#yjg5m!sxx< z5s<74@Z3-DFQfH{FRj46*Br=;b!C+CNCHMJg5<+p3_6qvKaF8NPD>(J~zoiue$FlEDty$pQ) zGrSxZ3_ovSi^}+&Y-V@L0*1q%x3Ql8F4B+55pNSmoYVkI$wA>k%x!hWZ*F)c@#$i$ zY^S#EKiaNA{b*REWic6owAc4@*55YJZ$EEdp|%kw(cqR@jn~9C#DjaekAh11gI@Ci zip1sLoS4stnlq|LED$18mfHeCJr~|1bCA3Q$_>N1_;CD}glI+E=#dF&_I1ei-_#%X zBI3iScR_$~-&EF^avc1TP`Jjl-}k57M#!|O1+v>i^wL&VN)ZDR1=AMh3j zLK6^#`q>X|IdgyJF6D#`&OahzC@VSL50Eq-%2~uJXJ0dlxoAxF*$^sOEjNyFy}SNg zOx<9#=hpFWG&veWH#R^{WDiV~M9CXj*|3rH$%*_40!V6;&xc49!A{BcZoK+lDs=R8hTqFSMd(JDg_cF33SWbmzXe}v z*Y}=8yVHYHv%+;C4C_m%=xqX43x~=RJ01eSOD}H^W(&fX&QBZVpk7~qMV8SrYf>Y_ zfpRABdPK|dH7*GSFtKMAtt+aW^sw+BB`R}fvT(o_ueLXy5f*WF*JKZcVTiA3Vw(I` zu{!ScrM`!9?y=#k%2r7_;Mq}RZGOe3Y@hLg)!VAk3K_qc%B&5!1i<%Cdh7;cy+qM9 zuBc@SSsA%!Fo>WtWL~UPncr{{;B(X&s;y_p3~L}cY5lb&+lLt*^u7HbGqt9RInV(} z5Rjk$VG(AW2ot%N5fZOmp#T`4REX*9xT|PZb1v9$MX>hsIzl?aG_5vFQnqyBA=a!V z!E#&j5S{jM#aMdz>NN)n~1;u(p3EON&`A3YyGAFV&% z-6Z;Z8PqeEZstxTVMs9SW2GyG+%QOCULTomf?EkH zK15{5WV=6aYi}sPx=Zv?&U6mq@-y|WHnZklSiD6eGxbq!jg^)v@!O%cn^Z|fuy->u z5b;`{uq9IuNw2A*w_eOzMh}_HvYDt%VLZGv`Ri7TKKs@c$qPUrR9b72BDG^WoA}JJ zM6a379+nkR^mi)Rr2KbI#PB0k`$;=KOiQ@YaxtWlmIEbjs(Yvz%Xn|x<|U*O7nZ#I zml4!rVk$YPAZdkr`(x>%yWGvqeloAumuf(tgZ3ZCE;I5JjT)RzZ9}6cGx49d8Q)k) zv)XLL3vIQY20WljhjZcf+JrfrMzScP*TFy={DfqO2N)Jqb~dgQ#g2g#BeN6MVRyyn~~02)X!3Qe$~uBThV!ofp}=Bfl?^KE25rtrg;#oBha4Cz@#h9 zo)N#hhfqL-RfB|f4lbw_=PFG}#TD;UI8Sg^?PEAsuLDRTfSVk&1U)%R4ne~S{7njq zbq{&cWAZI zpuASaSpS4jt%ZVSfkj1Orx^W}Y8t}6%;Jagjz{xc*KRa@+aA{smy2^1)t0GKsq*oeGe|?|<)32>_%0 zz{rnO{Pzg6b3eU&4HLf_k)y_;tAbr0X?e8nr=%@v&yZuH0Rd=> z+}{Ye7JAGn#cSs!Q1Ft;Pm?5B6@h!B;JN@Z^q$JQ0?uQ;S`PaT(^&NbgximJrzICp z&AU%Ci?Nn#Zqiw6pICQ$;^*L~mkh46^S;|NDq7$;!>voIA4&tXa~`*tC&(@wX$@y+ z+Kt1W<3F)I%v*Upwf>iqsg3BVaZ~v$ai*WXc>6=8eO52*dQLn6i;y#Vp%joX#6#77 zuOaCMgPa-7)OEpzd1BTEr8@MvHVH(nMQ?RWIq>xfk2#UtI*vSx@Bfoluo{}jmVCp6 z$KOAiM9>t9#OoPoKxmXOTt734_?K0)4!p-fN4Tx%v=Rn{cpv&-k1_^pFzE*;M!sKR zXsUW0P6Bs=#1@-pA6{T1C}A+7Vj;(N4lUdE)oFDj@@q2sm$sAC)`V;B}_dlOfI}4d8JBtYz z)HqW>S4R1qYN@MZP(t~!iAon}u#6?vOQxg5sG=j44DrQaUJY-aYKMJ;=?Ag}j*j@_ z_f78a*j-VaqjM~Jtd7vQ=c9?NbndP6^z3y0@1p+$iX_k+wmL4;`nRlAFnzq;NSN_D zIt$sZz*3Yn3Jc?IU^pzSfSgR+wbWmLDJm^c;;dN%ZV=aJ4yYXmU(#TpcHpO+SQ=f; zAa1B=+tE>!M!6uD@DNgByGSu$*YoG42dl-atDlj(u75k5b5R}0$vARuS6zPSYF;gs z5YrT|89^6Oe&erwd~nI?R$`!C!Cjb6N!Qw_0W`awKI^biz)n_?rmR%fBo+lw?vpPQu_sM8 zdP)qy?lIDM{WYb##hn$I_;5-*^yFrQMgMq_kFfmW+@ zAODj=d%c~l7Jc`&X`%n${{8Ky|Xc;@md}|J90rb_|726FvIX9_hHi#xkfztdQ?XHf67ju=;m@-OTCy0r;4k7aF9%IYb6vP0_7nc2byvVqmhZGZ z;PdqnTnJSbPfgB7%CsVtLVvIcNMXT|mZqw##xfmO-uA$Qy^z2_51dIjTbRfI3|GdO zYY?pYjdcOl^||l0O{6yJLoc?>adM+PbAPZ=Xs-Y0bDgbg(cNn4wDeme9XA@Sb}F6V z*FDW=Ik{R!1fF-Lb|3J2@2%CuomQZvwC-L@43I7G;c=s}N%iAL)|6J=xqk+%={&U` z{ftHsO)S=YXZT6TXmi+cwNlUmU~e9b+cuD=TH+l2cN765GROf8ELo3|NfcP9TL@ey z)$l{Lw`>1$NCOOE+SWX)${*Gur0_0a5i{XQ54uA!R}t-{?TrrRVJ3BPzx-g0BD91J zZn?bl!92@n&^2wFwA8>#7l+b*>4+C+V#kC>h^)UyywPd95(}HdKjEYVn69fi(?yD} zTcmL-BeTlon!Vv3DsB?G1@Cz#8y8%N{mIrOor>KNEj9Q;MntzC1jx5CFm4zbR0}NM z@f#dY)hry4D@g=)r&*6Y5-0JCs~}^nSel)XU!YpUMdM}@3e7|_Nu4KFzO#uTtBn-BnN_D7sR7ZGYdus5ZM@c zbKK?3%t8j1)_kc+f37)hONDgR6EY5&Ld#;4lvkbx+K_f2;Eon^6MW$oA69T|A3lK;q-TN`zOsaR(M!H8OkjN6{9@80x!pQ|k(25Inadj`@ z7Gq52sI#E9pweoqQ=u}aYHQI|gSY0r@z0@BL$uK)#9$F|qkF>1e-;0es-MNtbK8Y2 z6Ja)^y_zKp1sHA7Ri*7Y?-EU)->I!^n^{pD={-&Z+kvp7evxl&4OnukG{(+6NKu43 zC^5EL)RDJmXAffVPKbJR6Qf2{d(7kidm;coP-l%{zt8}$Xt%-6)oq01JnTTP(=@uY z==K@^+LcjJF2SMR#IR9z*ulWIIseBG9lFOxJ=9JA^LQ;CDM!o&`VveY{;i}u0KAnj z)=f&?YLJUQQ%^3Y5HJD)9KNDR?$j>LcDv)xM3>iLzeAV_cw`w7Z?smYkrzXX@i4Xs zU58UJmg}S0JZc+=<4cG#xzmTtd`{S-gQT=$5$mK-b3%T?WzC7d#EV6|E1x09RU~XG z+NP(1sC2~Hg@)FuubAwxSk}x{Z(1xBTyw#-E*5W)XbaDD1;m$+4$aexIxz{tA4uv9 z9zJUXMl^(L8MhsK7d?O@v9J0HKNr6`?OdD+3x=%6(J89St|=bpg}xLTI(2Anp7>bp zwvhlIx+9c&Qe`ygFso<687F5BbdL7~rrYW>S`1`2RC2?2+oy#>t14Cyj(Ds)(rHg{y2E8W|M z4N$LgTWJP}dZ4ZVy0b&a&b_m3KdgEtXIQ<|GtBge| ze0?6wb*OK+-PkyCoe)nu$Oz`eEGLRZ`girjsH>rR5p(P)i{dGp zWz+UCr9>pxm0v7;Ol%~V=*JIh&xD+T(owYH02Q?91NzP1nsGb{}(fJNe;`xX!@yooLy6 z`VH|DwGjo+I1}tN+h4u~q2+k!PqQ+_BHJ4y*;%7`Ol0R*ye9Z|Uq{H&;3K?}bSmS& z6<^W{9+gZIjz`5szeu%qPk>s)#!3NJlwu?hs$746h<~Xe1P%EWtK|-dIalBJRln1lU>;cYaEiIE($W3Q^f#1kgXlkX= zdFCY`m^lshg35u1G2^;6RLl;qDzifiAeQ|6a*&rIfJN~dswl#lURIgZZ66|+?bowL;> zIEsN(ks>$KvG;R%iyc#}_%(Y3irKy)s;sFVP?xfmbc)n5Nj27v)HyOQ$Hq0InGaQs zt%;FVB@MgZvY+<#BCd;(J%!jf3~~^Y2@C3x=#~eFRY-in7nK66`S6oR0@WOcDPl)# z>TO!I+)2SEUS)SUJ&wJ>{*ZnmJ&O2ZFZJhe;5nyP*zI6x?`s77&$y4H9(T{y_qb0T z>Nnc_pF?&zM*!H+I`KqT$N1{vya;jYMWfMDikh9}+<*^)(U27{Zvtfq!fYkQo$GTe znUY%#qWf{l8=kZPDXu4MFAKR8+(z*AEh9WjmOV|$%~A$7`Q49aK3)Dfp;`d$&ZxsQ9eCFhL&jb1Tf zN0gntYfQI~vf^I2e<(Zq3uP){YXT zSWB3^)(N`}(rc9)?jkdL51Z|o+Swb`+UAJZg6)7aP}kZ;w@C*qF2nRp{|x1kXg`O% zQfP|>3sA#KRPrW9(-f%&%S;;wl@`iyG`pV#GA4~CHl2^*-y`rwn?4)IOZv4`Vy@;6 z&<&AjEuf-~EPJCw>aCEAY8Jpsn~w5b&DqzW^zQ~Z%VUJKE|{%yr0$QpYp^EJr51g4o|Sxs zmF&tqJfsT@<@xO^E~mX6KO18T-)cKQK8%Ve<+d&=%=U#SEeH=zt2Cay@RR|s^raIa zhX*Mm%3__yl*3_rMHkFa}l4yU%?J=OW=mxCc5 zJgpHwoc<79V^e(fMIwAKk8H}NQbILk{cT9a@P)(wb#)d%adgezhv1SR!CBnh-66QU zySuw=aM#6MLvVLVaQEQuZV3({-#)qbyU)uzRa-T+`({tXv zCXA%%%9Aa3i0_i;2=thhj=p1~LY3-Q^Ns1gaUNp=V%=b@WT6!j2^l{*t49!X@n*ub zE%F%JcuuDA=Kd;ikg7>KwayJ!9~f8@B^cqq_}b|DvFeT_k6Kv1)d$|&m?h}t3iqL1 zLWwz~*J%Q^*y$YgWm{zv)gnYT5|4Y|%C5i}jojw}AS`?)8Oa?1vx8cV9;iD7>*Aq&p`l^8rZCA5#dWGb7N zcl=}&1^B+~7ds=q$o2hvUwY2U2MdR}&RQP~*Ppea7!v{+f&=d)gga5B0c4j#{piks zi5=*b{-H^PgSLe^st6;3m0_;H)!L0;&Pd*hz2FP7KW1K9oU=p@%ArV1XI-Ura%^!dr; z93lSGBmAMzBs-kZrbJsgtLJo1YfDFe=^{#B1f|?q?^urTia<8UPnq_erg{8#>YR@R z9KfR1%!$zy?~7r;qpo{cP<$X2Nc#sq zh(7@ZNF5O`7gP^thMY)}A2}J0LzQX7+@p!TFrImV<%l%%Fv#^}?MD(B*N+_lA(VW* z);#_`6*-mioTugRWzuxz??M5CH863qFqC)z3xENoRyPug-$Q> z%a=G24eHTy3i?YzF`iWv;+7uN3T}>3ODWvybIxYD$0)~TH&zw*=C-b$l9HP%=7X*# z>h+n!)Ki^8LgLFYAFX+nOZs*n6`Et%Kdt6TlwDf{;v*WH*8&EOZC|k$1*9G5+T?*@ z)M@T1n{{c(!Er~zb{-;bfp?3)lgSnU&N#I5ESqraE|&yf*o0Tm>?z|v#oA0AaPG8D zK!kDmzwc^M95IX;4(D;FW0A}04;3-=^w@8HTvCZ<^%%F%xb6FnI(yP=B|L-+WgdgC z)k^@C=Cu5sm2!u8!35~r&+M9s#WoJi>kdQ)b*=U=`v+}9$0}%DY=1a@{qAX}8k#Yd z>tpQp4YT9DsuyyG!Q}8X96dsl44Dlcxpl->gqaa$YelK(X|@zgxQIO@A+&WW4$%YR zU)0_gMxVje5y&TJm$i)IT*-UVFj8mS33o}{ctUI*ML*U#GUUQG{qVI1R1M4koglIO zKiEqTdrMr?Kp`IhiC6lCjlUqAKclTt5v3s@>$diwmXhZb!;fe(qXk`tAy8tbgJrEk z102R!mV+pDc`Te5KBf2zd{U09`O~7Pd2xn>epV6B_O1^i4OZTmHiVyi%xbz8s`fY8 z2>S}Ho#T@Gw`-a9K5MT>ur+$sXQ_@O-FArHzBL3t zp_XNU&9@vpru%0+M++MHfd#BmUv`*NLKWb0-tBjmrnc7_Rhdnuyh!5wn#@RFQutLx zEg^_Br6sE$8hc1$@xxf@6-?(91Uk$o3c=6uqT}-NQYpk~QE4%j2je^-KG$<1p>O_h zwGkZ%8|%v&bUX|Yppg7ZmN&4>B@wsor;uA`!bt9D%Tem*ttrkl(i z9fS4~EiT^|B3(XMW$6sqN4K|`kL-@z6daZW#bM0yDws+SF)JLm20CMo@j94@ z50uAoRI<^B(mL|r%Ga4AOw}~niewtQDQT6jo22s*9&SHQf4>15Xu3>SGvqmiAvgSS zNu|92&sFpKHMvIT%*X0(T=po0ob&cEJF;JVyMw85>9Bt_&nW+`=6}NOYEYAvo2ILi zAI;|;Q$d|}^9XFK9}>tq7i z3eDyQ#|6`Sx`}}%;}>L4EMH;fRdUS>>ZFUcKA2*RDaF|g=fd$Ss*s6hV>1&n*Ca71 zvzQ*RCEx3JPsEL^^YxZxDxO=#tpbwm{I1$sTuVXaUMmCVHHM= zf}gZXr8i;~+Zkfb^p;*sY9@O{2ErS@ypurhv-}gQ{0(nPA3xhpMXq_nb;^6vbrL+8 zdv{s`PF%vc78Su`Lwp)2LTO+rGU9Bw8yRUS+VDqfq8xT~JdF8ucG4uG~f3ZYS z>TJ~-cG-$tR&Sr>Fv7||Mc!{R;C!mH&T+?}TA{5+X4hAHFP^>_cADXE!3wuexv0a3 zctZ<>5!ot}B>TbY%*)U=%#3^P1ZfD&Z{Tdb!Yc>hNQPP9dgxa?F}9rg7?BODbx*W5 zcp5GEb*UDmnpd*rhsM*(Dr4J6cI8

                                                        %&b<>+ZX+US$uVaNyED&kW@U5W$r07?hs1fAANH(&huoUcMJ^rag8Y{ z2iL>8lZGU%VI3QKYrKBSh6TaMD!)ZSn5e%;apnEB${ml(DyKNJM47mTegq~egLTzYbvf2+^rP0UAW@6x9N@Qj0ww7 zRDyV_N;etat9QMpo-*zyg|ED?N*)8es_laaTR$;7?`vNVVXI_OdkvS5)wve-94Kj& zrRm-UEFrk2i!6wRZd*O6Gh-O&x1aMzF}{Cv$4kQ*1xXrH%agWI`1CTKrG=VWl4=UH z!-SZzSlj`79;E|=my^x>{{*6797;exJixa$a?%&KMkvxS8uJVkPGHl!n$v#@5Iu?+ zSpGH;P1Y;LAFEN9np#!*^4)S1!g4Kfoxbz3S-*d@lt2SY<;C`;Q_HQXcRo;G&32DgD}V!@Q7 zc-&=T!=9Hy<2bYa5&vQajRP}zMZmfRj-E5WuX{_IIo#z#s%^AFKx_v-ztblG6=SO}XpO+shjK;~u`G`&Od%_+*w2gltL1HR>bF_)7xUuLE&TB3#6Ud7cdYOE ze2zmH(ttqiefbkMJ!+4SnQ<@8H9KffI2(FWmX3m$JV^V$vY9cB4{(2C_pl&e=}dg+ z^D{S&+nVpCnD@jiuX^qfnF!dAD2Vq^OUFbd&@?_8Hjzpn;)OLv{pF%P@R1-|%LIqd z@M)lWci~)kNR|GyH4*_b55rz1Ip2MnU$mE=fY^Ex?B|g^iU^@N_MZ(mMtstKhnw0@z3*y|Gw4K+kZaXf zOoa!e*_*TPw-+46(PI5ZmLX42cu7YYAiB;ksuS`%*|HHJ`W$w>8ym=m?@N{a^oik% z453el!+3CHDe8Tr6{auEFVrXR+5p6Co8b2(oY=vOQiKTMHmMeI`Db~dyYV4e=VVlD zN-Vfj!UM_KfmaS>@ga$W1Z(F;5<7S8se%@4oHVj@>8Z`1oxLd#*Dw6_g2Qwhd!_#T zSB09kR7t)7u>Goo?e~AiiAD=pAemfbU`c3{5+(zwh80ac2CAq`L~*1vNJ5U8+y{TO z7+Kq6J(VBh33%ck#T7MJ7QX-j+_WOAL2DQW|! zU6&TMR(gZ6i2+kQ1O1VGQe3Dwl6lx(*iW^_5hIMK4rGh@%`{{(_x+K>sv-egU?+wz zqqoFqfLLn>snW^?@5GUCDDv|8uGHg(0tR)B_HBHeI5DY^k<>iDBCNV*NCEkp&pJw` z0vqacwHscw3%oCRr@#JLD7+}{Ud@!6aV=h*xVRk#SooDmz=!cD@OtslqL0^FB;PcQ_0;Oc8YB<1j(X^#~7(~Cff*obKQUn z(qs;%WP`7y?xeoqTLDBN)!Zq)-1W#A6`i;XudWsWvJ2K&eM|1(5#t3A_>mpE`X+Nm z#`JaSn8~4*1ds4_;~($}{*v1srlodRE)ms&YwG`FBh*!{I-sn6I#$hP=!0-0SkEp5Myp)ZzG%FOvO}ecFptW9tS?)yLLFfzgF2K)L z$;^yp(w#QOYmOBbsV|2zhDH-}o^gS9h6;HX7-Lqxb2I?-kV_O)SO7w9hmm4_oFdh#dYFa?5cx!^z(C}a&qv-w) zO`MRZxxE0djf^5J@bJUC&GV4mx&$$Ol8Fk1k`{zXEx%)5yRwHP)3flTT7%2nXvN<5 zA%M0ntw)z14%z5G1Ke2-SJ)HU2mc|QENBfiv zlKg>eHF+h67^7tgEiP6C(hvn2hRE*I3#*)hLS$-xz%vr}y+|Ba8;?HM_-rf;>q=-? zKcOpLd2P;GGO_NWmLx|+qib8_eAm{$K@!|fb&1G%b-(N(tVU;bXwa|2-ZNueZ^;>M zjgmq)^a3?MJk=Q;pr#S(WsLk$ACG?15GCakG=sA~=6ptP#rQL>59K+-nI ziL7LsTOC>O{31A5#Amie7?;3H>Lp(xs0_q$BDhE2dR_|Y2B1_gaeU0$%o=b0lCF$+ zY&9GX>c^&!mDXh&nZ(FD!_1>6EJ!LAP}pg4&f2GB^;7AKvUZht@2Txj7XtbNP7}w4 zg2sS=fCndsgDpfKmVJF2Y#|Qdun(cX7DBN|2#PO)0fHaC0wd(ctitf9*P#*ABdGA( z1*8$AB_-+@I-&JOi{z@iM`mG}a><5QhI&$%@wC_hpXs=|u^iS~XAEmQ1u_uPL@AuN z4>m4V@3Xu8FDCYWU$$IA>^bX-AnzjbGS7%qWHW<$_Xc{BgRI9tIdeqWBD*Z_<`ND7 z#9q)mfn)6*l<$yFpjH>w&7;%Cd@_u|qyO0K?Vp7uhlr^ex*jqV4%nJv%+b2P_wG zd&d+KqfW7CDpF>@TnHXyr7{}qVYD_)>Z_gw1C5q^ZIYy*6weNuf6WH8?q|gPPRnLU zc0y0j-84Vi@Ha4UiItIV5m4dESI$7OFO7LaPv2Ia}G9{Ybu+Dc_jbSm^ zC36|wsCQ#A;llZTbt1%G>+P}OSl=i>BWI9KWBdhILI-kgY#}>Jclt7;@OPOh&&Qou zTAAM!9Z7Q@Di2I)RYJGs51L2SVT;0dGPAX;zRN+bbIDGjyoG1lMzr;2mb^ zkz5735ricKkb=?dRYs5Ikxp4IqR`Trv6WZWz)X63vB{T|w72`Q)8>|a%bYvD2OVL6>*>y zk+REAk|I*ACB^>bn)W1gb&V4#CPp|t{9@wc=yc9h0wIW19+i1GA|cg@GIh+p6k+hI z6I70=)H83i`ru_u2umJAw8GCmj7U=~8?6`9$sKle??`@h6FUoMfy$Tviht_VbJWfR zd+%zf!Ge9@O9KR*N(^K)wKH~g&C&KYQk!r4DyH)Zd|VMv1LdzQr^X{xnA&W-sd>}UcZzxcszEiT_!24ymxYhEkNvTGoTbtV?!ZCtXdY00d1B^8Okej&8V1q zoH;(N9Oen7(yt7(C?BF9V9^x_lKGAxa}jysoHRRkkOiW0H76u`Py(3{xVzL-{&J@W z!DJ>|sg#?BW)~J2V9}1U%8$BN7GM{PN(Qf#fn?;%-6~6k%Tm1|%L+7$HO}b~iOUtV zD+y)Yc+?eC8%i>N>>C$l6DF8v(reE7xbH=Mu2l1>K^z9!+;&TV*xVXvdfq=IuxXE> zQa7xarBZ^Oj|R*0Urk%G%PcHm_U!g^DD@{3UEP<7Cm^j0C}YCyewc&oJ`8)?G^m3Z z-oeLwk?N1CLdv>s#l#+8TLNc{4uTfIld>Gi} zUs<+~a9`DJEGeKf9>|_=rCfz!J4;~`tMe*ss>$&=XCuqOs9iXT8mweF%{-Ih%Qyap z+fYBbPBT2Fvorw3)7cUdv)6oXFR9|x4i6!FHNB9f9p_vH{adEKH z;Z*n>{J^LprGr*2imSJMR%QKSp~RKdRXk$<-d%G1lVJ=Nr^RKpn?avNamNB$t%(@> zg8nK28(*J>y(G6jqO%*q&d~zMe%a zJD!RGof`z~W+Gox3Z$s(bhc>dER(xV3v*Iu^Qf9`&TU&vbTJC@ox~dZkR3TpNp5rX zZYX_3lllLc{&3HhH}~(dq2%te8}jlU8m_6!hq<0QjJF`Fy&PcRAIyVpF zQx|_>F4WfICBr*yG$|u>(MZwhVyPJWAZ}AaELQctpmp{~!{P~*ot{b9v)9+DC~}jN zt{L3udX~n10}Z{I?hqMa&G*`YFD7RVz(79T{){s7**!}d`F%fQpWq_PJa6Gzqe?ja zxfZh+ks%V@ZHur~xSkZ><9;G^O~K1ts|eiYdir3XK0Bb9_bj5Lq!CH$G2)eWI76zr z&L1U|daZ$L_gE=LAh;kx_c*n0b7OJ7#Dvv%O~m$`z+ErxY1$GPDG5_usT5WPbZ(Kd zSD5{(s5f)0@?#?I105lgcDq$#exscUD)nJ0@8S1CK3VliIt2(1$lAZk_C)#=X45zU2zybp2!`@L2DVnXd18#$?R@5mA= z-YgyV-1_`{SbvDMw!n5lhW%IG=(19E&C6D&`Dz)lr#%xf#>C%YfP?@s#+0!Ld~@5K zed#E54$Lq;MosEMMO>E>J#o9n`}yXTfkS5`-^@Lo+v-e23m~jbiBHoYP>UXqZO^9U zrt*3K4bii_9c{%uR?l|W-KC2pPb02XgpqBJ&83KhYeYTF532>&rNK`Dq>J39E{%`> z-C5dx_;4TTtWnQMg<{0B;aw+%g*I}n(KY#V@yv7R&kOq#=MECj;T#%1&=T<ve-K z!ak4mwy7gW*cyeWWyUNjFgoKmVg|<}>Bpk-rSC%9dGC3?0=%RySoUOHS}5=F9_sv- z6P^caOM6xlp4A7vWp_&wEBjsZrxR+VekAn$R3}uikvz7QEB11(GhyC?RJUbY7f}Sk zVg82j4UEx<$X~DzTUNb0-{oRizpNi{mSZx|!ZXwYL}6!br<;4+0kJ)Q>f+b&+9qQe zYB~fACxokW{HS3gOSCFnIy<9}v$)FKi!IjR1!Q{l#!y7vhocJ&AXQ*5;Iu;K&FtZa z@sq~e{FGNmdxqwtq^aY^L%7HG{6vPphEY)1C14S9&@W0bKp+sK1*b|s`J!gI+;)(l05TD zu***rZKy*>k#cjLX(Nat@1>m;ms)VL#Q%72%WaJyp#GNsj*{u?6Sykg$d>nM{3+0AME}tylI3g{GZ`wVLj= zWxhx((;dF~{4jt`Z4c9Egc1__`wn;_ixNCl&3(h=Xo*yaqOvK(d z4S{$x)fVkQ*w5A2VxskUEFQLr9I`jSECM2uMSI|lp*uQj2hISY{PB6qXJ zl$g7eo^x*apUzy+E8USMs08?!9@QiBDyriH=DL5^z3Q72mF5+u3zKGc_oud%=Wg0l zETzSi*YF9*FR6I#9u9Q#&6t+b5F}v7Hhv;2gTPu!rUA0yr3BNms?(@t>Anu~!eA*`9sPcRxGUiLB8m?i>A?*tc=UT;-Iw zmYu}KA(r{X1;7&Sj0Uk7e(zWWLoAUD(Tk`NE7gFA%0+J>Ira7it4 z7(n$~$lV+lGDtXotg@j`uX1qq%M-=h$b9U~akSmuj#^TQQ;V!R0F65eH1BELnQKQ!BT4OM$io_7^i2c zkZoyWJtEmos8k88M`YKL!Q5pVL^miV9}pOUR6TlG`IJX=S{xDH?g8QT5f}qe8b~%G z-QG;~-inlS+Gd%KY&mvwKK{}wQSYB#tlPa6je1Bh65B(5gePzXsf6t&UnYcpx(zV* zm==l&<+-_+qZrHMpIP`IBtKfcXeYxU?d^UGKT7?zv(^MPC92g0Ro#ZaOb`_rx$ub? zh!`B0+@=P@RkojrWvK6r`I#xC}QI`<+X;0{yBcqeO7AbXIn8#P0= zzeHAQTGL2M&sVE>M@-vwltSlJw-%DlAJNL+dtX{-*c}_-4VgAt@sQjZO1JOXs`2{y zbibxmM6frOhlgG<1%3|jLndE~@DKKslwry}Z<6EOEwo{*>hpb06% z>pzAX+Ni{t7wr>hoYk8WdnLgJRFiN zrEbF?cczD_3?4EwtjR?g^Y=BWr<)Fqo61TVA1cHwE#Vp+0P&}0*~+AN=p^l_0>Wih z39s#n`3uWloS?^6Xv1r>ue24l^k*b6^mszl8Ro712nKE1O`vU$+SyLJ=9{@rB8{bi zorMKJCyNG@TLvqF7 z4rX9*e)cX}72j=%7r;Tr$aROd{Do0IUEJUOnP2yg#47aAsRw`j{YfA9V$l&c3(1dg zli+%7>qE^EBU>)biKG>4aluf)YNPGF6-3TQKY^lvj*U5c%GJe>+&=G zr0uV-u^J+$#Ld(B`|32llchA`&|OubtAHXu?LGUA;!ok%OA~T^NQ8=|TP1SzwO+2; z-6E+DJkg#AswN+07tA6hv`D!ZOhZ}W&cRB2RK<0SU*p9KN zDVOn!_{(S8ESebuRp}gBq)CIpO}2g4eV)!BqI&qCpBMq3-t%h#N$?}WbXNC`Mi!mr?rpHFPer!e&z zdQFB!8J`W?$th*p$({JSejsUy3fyR`lJP(DD9forPs0%;-#gbQ zjh+D=nMVqSX_`ZKQa9M6)f-1AxBOR4=w-;?O`H||J`iNWg*I+ z0_dbiA#Io44A()<`#$w@J7$?Lo5ysLIbBfM%mlu$b!kp#1fLgwkz-+m#T#vc zY6)9bKhIpgsC@Azu>511ck}J2$=HFmz%IT@3u-9Z8%;OLImT75hoz@3ewQM-E^imo z<<7P9N5w8{T$-yt)({KX!R|y)6QG9d_bot3zCHGV%;4wYtI%72 zqpp`jdNO#ba|jKz(aH#12I6aCzDleP&wi>?ABtP2RG;HcHRlNPv?WzcuuPsAj?|TrEtn21DS^pM^=FF?EM`Zb6iVfKxSqs!?7Y%M?dD^{lU-BqQ+qDDW^Kq1bzi})b$`O1xXW)UBBx_9g1e{PT#6yqL_|LGxOsKbii@; z6Yn&P+r_*NP`B!&R0!aRtl6&D3ebn}6B|5r?o1R$>CWiS@{&FBljZMbAaopghzmKl zSYD7XaxwE>Xm$e@4d;|apCs{WHQml`HR=#1PP0~Ezn`zx$qWI-8cMF4OLIg8GkzaV zw#I~uPSv5d4*o^qf8{)1ZWW5)>a5IxsM=nT<3b-7gT|xY+!$rCbfHl)^H6D_y5BRH z0}=cop@bn*R;LF}##+-(mY^kSUVO*3sOf{HObz@|7k)F4vnMY0B+MaR`e=NCCcBnH zR={vp;%QPULM|Of-fQa0qCEPL;}qdqUesqaTT|9jO%~hMv0-38n=(WcB#%JiUlVf2 zdkHXYw!Y3%@py29N=aC!U61LznLJzeqLkt@VLD2ISf}(m8MTPLyCV)GcVnNe)vH!^ z<`xFtTwDMn8)Kl&O=T^`2X~sa=^pOv43*H6W!2{v24j1R%a96#K}2q>8rKQtnqT2B zDm>b3WRGlkor=rT5HqE!DmCMdH9~b}c@mfNuinwQxsA04zBbc;P0}%of>M{djl{QjT?cG~S*4BsUZH3FfBZ6I2t=$?<#?)|OPQuK3$*d9krg8e;W_XpabgQEK@LuY>kUJ+W4g%!3bTs? zF1BV44U89fq15Y-oc$6P<}YeJQ&+ACa9z&a*~evjY_Zsh9gAMNkzKIgRS%i!6EMfO zl7lc`f;6WnRf9dn1&g-Q9x%ftYJzCMGVBn*$KM?&r5N)n z6BR|82ORO?In|088@V!$gUsi0A|2n4ke~XSCkz`}K zCpzRRXZN*xHr1)&Wq!FBmF2p0(Q7T;y|j3oaQlyf?j+YBpqF%@GE ze2@R$R)Zpzd+yn(8Mo7$YC3ocW==;fk_BVBSuucl_-Udrbu3d^i^wlF*zQ*ag`gu| zb9wZUCv-nCyd6qrF>)vM(Gs>BHTAgK?$WNe0{ymE0kZ+EvXd+k%9W-K74VZ}0u})Z zLa<)w6-o8-(d!fOVmN2zKPx2UkAlD$lF`1;?4OyOxI+V3U5^Dv`?_F4oHTs%IA`BwcCR<+a6XoHV|dgmob83iBmLmh33ZHIR^s zGkJERzZWFcud5!$^9XVF*q{8Sanb3SGa16tdk9JG=fSo|@KUuYQU(&5@MHz<`LaYl zGe_&!*5Nbl1ayWV8&FCY@jGWjE=z42$B=}T&O}RIvAhnYQ|xfZp*ki#eDq58AnYB= zsUZ=8jN8H4l8Q$Y??o6z+`O19R@{-6$p-i(iTVX;geU;p$?mA!CPQ6gWV=Ii8eGvx zC<$0-`&&`}e6F_r5CcCeu(Au}zQ{beUxSZyKCnRev&{#t{;+yP*>bNSIjHvvifX*xF7db=o3*sXcv2T0L8qUT%V|{`X)w;Eo<3{Ywkpv9!u0eHwv>(66 z*(T3^hFJ1qJ|j0)+<>{0=HK5xk?)3q@`qkkT_jm=`e2vxYAH`}U}_fPGZe0g`)zmX{nJPcki z3qwNVti*UbxIP`~l>P$tO@e1NWiO+-=hv7J@34ISBpKGMG=4M=l>egKElhO$TBm42U&=avptSSZce{Hd&(qL45jUp!DTR$?7UO?X@X6&_V0(fn3# zGvPa{?6ZpgJIqZH81W$yW{7n$_D<*vhb?o7Wc`f{D}Q#D+6%`~1Rc3-+S1viJOmlYUCrwh-5{HEYtK_gNPK-BSQ1TvKv*}S--wEZS?U!jo)}j4d z^^O@M4Sf}Rb^&8upcH|;lHR z+IT@H@#FPMdsok}3e2#3e|AIA={0TVUsvErzW&swN@I2RXV5#$+|)O1@oRY6WL(%q z1l<0XM+tqCIkC3zIPT4Z}*^6n~;Nyqb<>nq9qLhDJ^8e|P zj~3yu10nS5yu zjduu8&oBUFHcW>w2H77d0{%h+ls>EqnGHG{W`X<;A{^m{JO%5(V}l$p}tO^5|{dXaR1SK+If~rU8@Po`Oioie2gFj^d0^l_**uRV)90CY^6dN$=$m@y% zzAA;m4YI!h`QiQ-Bmw!3q5=}G(I!#;(I5jrK#;rva}fT5ouh=%KNOhOK^vo3?@qD* zem9Oo2%;H71q4JeqZxps@%NFyk%DhFUd8#Jjd6)VQD6|d%x7H>ygSO^-FbU#QA8lL zaeUCs7&+jy(gySe5xl=R5D>I)T4NyvL;TQ(XIicx<#DWcL=528u|U9aLO@Oh&chGz zE^wkiK#;!K2!Rm{k%QL9Q2{wfZNlW>4!NTN->2R{1RP)p08-+D1<_5Q0{*YuB=}}V z^acb<{XHPN2>{@~>jVDFq09b-h$i2I1}CTiZ|cqcOM%w_^8X8x0p1kfc>_tQ{e`+T z2|x*xsDOV9UHtbsq}Kimj_TooPQl=tG6Qc~gx32D(oYG!Lo)~2Pbt20G6!`}kpTXY z>E#Fak1F`MS>9}tXAUBph-V1^cq6U! z1{!wzz_#04SWjzPsajm^!#riQUAYx zhdM_G_}2U%3GQ#8u)x2N&m0HfO@i_ph$`eSbTLN{_?xu_K1cUpBY*pM#?gNv?H_c2 zH>ojiS~83S<^NCw{9on)xD~E9fNCNbpaIdPqJr|~z?aJZkKhI?b^KHO^54Ze8RRrC z19%f1{O_;eHH*~0E&WfhFf0gZ0Tu8j6!Q%%oAJLeCE!g!+#85I`|lAF6rh1Nf1m>1 z#6`UUeRKbU6pM_2|Be~?muo8kL!=*5aZvA?Vl%uAJ~kMz~_ti4dmVpa$b`ApC?7n64pEE@1W%+^LKz=knl1K;6EP| V;QQTwEcU&i*kxMS;og6~`+ryB7i$0j diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index 6dfd77e..75b8c7c 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,5 @@ -#Sun May 06 20:16:45 EDT 2018 distributionBase=GRADLE_USER_HOME distributionPath=wrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip zipStoreBase=GRADLE_USER_HOME zipStorePath=wrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-4.4.1-all.zip diff --git a/gradlew b/gradlew index cccdd3d..af6708f 100755 --- a/gradlew +++ b/gradlew @@ -28,7 +28,7 @@ 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="" +DEFAULT_JVM_OPTS='"-Xmx64m"' # Use the maximum available, or set MAX_FD != -1 to use that value. MAX_FD="maximum" diff --git a/gradlew.bat b/gradlew.bat index f955316..6d57edc 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -14,7 +14,7 @@ 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= +set DEFAULT_JVM_OPTS="-Xmx64m" @rem Find java.exe if defined JAVA_HOME goto findJavaFromJavaHome diff --git a/src/main/java/org/montclairrobotics/alloy/drive/MecanumMapper.java b/src/main/java/org/montclairrobotics/alloy/drive/MecanumMapper.java new file mode 100644 index 0000000..b421ec0 --- /dev/null +++ b/src/main/java/org/montclairrobotics/alloy/drive/MecanumMapper.java @@ -0,0 +1,44 @@ +package org.montclairrobotics.alloy.drive; + +import org.montclairrobotics.alloy.motor.MotorModule; +import org.montclairrobotics.alloy.utils.Utils; + +/** + * Created by MHS Robotics on 1/24/2019. + * + * @author Jack Hymowitz + * @since + */ +public class MecanumMapper implements DTMapper{ + /** + * map the input to the modules + * + * @param input + * @param modules + */ + @Override + public void map(DTInput input, MotorModule... modules) { + double x = input.getTranslation().getX(); + double y = input.getTranslation().getY(); + double turn = input.getRotation().getDegrees(); + double maxPower = 1; + + double moduleSpeeds[] = new double[modules.length]; + + for(int i = 0; i < modules.length; i++) { + double xSign = Utils.sign(modules[i].getOffset().getX()); + double ySign = Utils.sign(modules[i].getOffset().getY()); + double directionSign = Utils.sign(modules[i].getOffset().cross(modules[i].getDirection())); + + double calculatedSpeed = (y * xSign * -1 + x * ySign + turn) * directionSign; + moduleSpeeds[i] = calculatedSpeed; + + if(calculatedSpeed > maxPower) { + maxPower= calculatedSpeed; + } + } + for(int i = 0; i < modules.length; i++) { + modules[i].setPower(moduleSpeeds[i] / maxPower); + } + } +} From 2205f07ee391f17a467be8ba079144c0ba3a22e2 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Thu, 24 Jan 2019 22:38:35 -0500 Subject: [PATCH 44/54] Revert "Updated gradle wrapper and implemented mecanum mapper" This reverts commit fc3e3bd82dcdfea30bff7e2226f139df828d1100. --- gradle/wrapper/gradle-wrapper.jar | Bin 55741 -> 54333 bytes gradle/wrapper/gradle-wrapper.properties | 3 +- gradlew | 2 +- gradlew.bat | 2 +- .../alloy/drive/MecanumMapper.java | 44 ------------------ 5 files changed, 4 insertions(+), 47 deletions(-) delete mode 100644 src/main/java/org/montclairrobotics/alloy/drive/MecanumMapper.java diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index 457aad0d98108420a977756b7145c93c8910b076..99340b4ad18d3c7e764794d300ffd35017036793 100644 GIT binary patch delta 48400 zcmZ6SQ*fqj(5*9>*tTt(6Wg|JJI^E&+qUhzaWe75oY=Ol*~z&dPC1U+v4}C;#{P@oWWV*ssJU>a90oGAXB> z;4Csi!ZfZuM2VZ8xHpl6K%8cw->=czjXngxm6!Z#r`qidp~cG~tx-U0oo zo$O2>@!a0A?(dV&>=mqRQA18oiVd+p+8rZCBfWxx!c&Z!B}n}nJGK@MCD}3#_C(PJ zN{$ z>0)Bel87p;R?+!UKG9R6ixIHIVGpvP_Gnd?&9sd}WxcS)nN-v_lKI=%?wVNSDGly> z?$1wgm35z<(PMH1f$$ero1wnBCf6D8q2OJ~Xunio_W7K$oROb&nYh=}0omAXa9vWQ1lZi7Rhyu;lE!y)}iZ| zOw)`sJi#iE>?G*#h6#M%WCf-A4K|Vs=xGKLjOkW}py3#L3BG-6!Ax;6>i-Vdqq6u) zy0qE4^n~#Q_IKQCW7zMDMdg*}8FN}F^-H~I|CnKV9e*>Z3JFod@Q<3Qh%>}X>eMmq zhJh0rt-y9=6kdew1WgaVi}t6#$o7l*EBxGSFY9S9+edGsp-&5O!tjs2KEb^3HKfG{ zX`1t=VzA_MO!zXHW_XI1KN|zh5k386OrQuWcGuGlS#fp&SH)sB>vIc7QZ^w?ymnFOT==6%m9tn43R<7BSh$#1^AYikP7;jR>bJa#dyDFi)aA*my# z+mW23y)x0XmZHil?K%ACTp8~IR82C9Z&}U^wFSo#n>_`1U(Frtrgm5^?bd=kd2W%d znpnbckSA@g%#Zsr2~j}d$NE7t;w<5eLu~!L)hkOt{%bxmc)m{yQK??AXOQPVam)cT zK6m4orJrIO@n$V_bzmc?rMX0GRMJuO!qmKxPai|-n1mBbyAu(>kI9!Z`Wr12Y2hGs zk%p*g+*{a#2JQa51{_to75;tXcQFHs&D`6^LTUq%Yk3j^ln4NA{Dtat%Zr@hEA&fB z|C$>C#`^+drkFoWQ8)b0`!{e`l;np);Ybtx-!Ph}{SM$05rf5jCz9IHdHGbVha}@> zcrK!7zX@f~@rNO5^^WAQdL`kPCn1}X~w5Di| znf-j4P-4x40UbVfS-X~Tu@`w@C-cWQnaD){*JLC`pUq-}H1I+)v z?lHpI3Qd@il~`0I4rX!(5R&xre!_gqqLLmx^^YQPsc<{s3MR@SWeIdgeO4&)C`jkn z9?$__QA!n-qD~BNOHP_lBzxiKxqgxPf>xIM4uJs%1_OiipG%5>SqGb27XSD9n+!m4 z0=o2`%)#)>VR`+;&ZJBNBKBhTure}LJ=yTcJB33SF6RPAf<%-4_0RjTBw_={ovpQVni%J@8;~X-_6|@l#~Dp_H6spHNT^2?JvAJo&$+mP+$aE4$AF2t zvPgEuVr|JON%P|^56}d5sgdN2|Ofc@X9 z|EK72Cq6f1a4@hR|9Lq_vWOy9vOhEh;DjcEA^1II*uus|qhU$b!7j9l;RO?MB*a)= zKEg)T!SszI6t-sdD#0Y-E?VAy9(&z-5BWw4_Zmz?6!vdGhTn0X+qIyV<xyM4|Fy6_pI!VuR4_~%P~d_b zRNX`#KHu66Qg(U~`GMNTgfFnNKhFK`!cw*#nBG8084vY0&oNs09kH&|)Y&k!P`UM| zS647kX{S14eW^D)ilNc1q7=<_=tX$Y!PHbUBpt#8W1$yK53`0F_`SuShD7GY?R(@6 z_|PZIWIC)Xwx1?~!fjq1rcm(&Kq`*wF$(U5!KxbK?L7B>xnf~a;vPw;M3qY%L)b8A zDc5u~<^x2Z66%K(b#p@S54^ksidKh)zdathY)}k79w+LbR|Z0+a8=pQza8l8CE=0Z zkoC5%3aW=m#pXAnlZF<*ht>KA1Q(?egXlt=NyDhwBmQM%<;5k!FxolP0adatXs8p| zPj(2axQtJBN4{D|F_D~ab_5yBQ4t*yz8rEb_kZT$2L_&4$&CI)k|@~u<9tL!xA2jJ z>+6%^i$SfrxTY3CO$16k?6+!YWEG+HzE_wl&z^>hY&g_a3NdI#tXGU-+y+_Eyi*IDgm$ksYIV?KGw2{IaDwt2Dm z4&{jBjoD|qqjl@E`jJ)g>aqF}7PNkw6}G*2qX(6Bvko=zLioKedOLZdk2za-_7?Ix z5Fwm2MLcm74b>YW%z9J)!oK?9gD4T8GirqMBKMIRR)6wh_g(LnTjURb_YEKf>~^ki zo?Bm_yB&9kZ#4+nU61k)6pfPEjTUZZR5O9ZslM@}ZS(u<6w3u(qg#R3N zAiktVx!phN!<_I|!qeUTqmBCasX`KZ=+>mw@p;I=J7Mt1C^!sGvMLhQ!kBD5Ol-Z= zsm>5onDN}_{um77DTHv&l>pJLoz_d@(M(IYIN0YNsB^Px*iVUtoe&(@aW9}e3ug<{{$kbw~>C1myQwK;I5 z8=1J-UG@a7J(*XyGqNQYSJ8Q#!cKmhVzw^zKSypOIIYw|3*D9=tNAT>**96Y<@nh3 zx!MIx{7y^GVK}D!u41gp7sSR|ocLYur)9H=-I@7lmt|wp65aY{dt|6judz?;3?yn( zvubiySxHe&ywDfBO#qtH74pmunRR{}g|bDR4O)6m6CWAgX(gzSRSJb38_v|qqOK~- z?J1Y-6IRD8*WA+s`H|)cm4ZpbO}fYjal@G3Q?(rd1nbvC#Q2lfS?*oPlxm9 zN;uY*oD^l56&vBxgXcP!mlY+Mbdog?Lp_P3$$+%+~+r zs%oPTR$zMi%3s*!XtHT+kk++9UZZ{evu9b-k` za+UCKY5z7k3$QMw&~2ZQr7j=uX)P{t)2w3HG?&L5b#LIIkWV$p+ueLmNoABj-Pt&0S3Ku$4eNtiI}r?)5f>711&AM zq%2qh^7swi1&JuT?fD_)gIa4by;u%5LM|!Hr)#GW?{J-_=2cyo4$9nMn@1GV6`y?7 zhMG~`*tb#`iz8W>jN9d|%=XBLQm3*NCihLyiRP*NSIwRKho1MRS~hF0XS}8+1V}iS zhmh1-fL-38It{iNP-+|WVT7lGdq$C(yG_wLMq6}lS-aSV%^qy`@DTKE3$15lS4JS5 z%3QhVl48mT(yuxWu@oj5)Gmu=DRi&wJ)$|YJ#z1nA$ae^u!J)&x(PeedfF?@clk!6 z4Xdc{MOx?qWhdCsoUF!CVtWm=ani$iN!a=hfa=jVX7=lKSOo&kVOCa(S#^ZXeTfQK zaX739!sNU`uU}=yc1qESq}zMQJh?94@BXvXW@*yxyKuQK zalN=x(5tIWGpnKW7;l&POfzJ=%rC7Q1wLQa)0w)xcXPh8_CSu@%zUp(F|zRv0Fo-^ zWG>PKay2}&(^X_E71w#t7vLi*}&J{(rwck0!q$KhqAEm zzpa&{tfLw32R~<|s?rrricEM1Uf|E}v^9Qq{?vuGE}AkvjA ze`1llC*N1HHSsAKi^YdepH_{<%;L|N_O;Pi&86xMNG}zEJyg|cE%UH&z_zK?KVUdb zI<`ug!%+leVjBzPhnmo;O7GxMWz1q$k*&0Om{y-ba1t_ycc45hTH1CXBS}`isT(aB zQvTl^cp?`bgTlX3d`JNeH7LEA2bm%?`J9}`yF<&7C9mgF)RE6F^dwX$ZM&sY7d8-zCEy%=pcPhG{CeoyLhu zh?AYwYGF9HBD`1jsqd5m%e>uOV&w6pXl|eBX0bzbSCh%BQ99K}YFwLx`|+=Fj6KBK zmOho~-njQBm2~YjjPB-RiY{8U&%1HVtx8Ts*H_Btvx^&>h_V%EK)As)A7<<5*aN?0 zBFx5a{^Y08LtzNep!q~r-{EZzE_YAIjE{WWc8q;e;KSay4;d1~yznav9-|i&E+Ku# z@_)6Hkt;ommry={MZtpb z4WHEhH*b!WFk}G$=SIL!X@+g`DsC*yU<7-1e%$9ze`A;MM8?!;uwzXi0`XF7V~0(c z8;!zT;XtGkqG4Y=OZ(-wVmE=h=XV=$=GBfzDP56=p;79qs@;lqYi&4$uAkVq;oztz zuA%p?q2A_UC{e(O)*fZ7H>wfRUcflEi4c3KDZ4)M2`UDN+DsW8#UN@|LI`Ek4LS&; zJMEdynsf-8Wgi7fqc3D?!E+AfXzTxymQprw)fkCQAubw)qhd!_^gy}Er27tUi{QH# z!EVZeGWRDYu)GnRNIj-A{zml{l1FzkoGG=odNC9g`gifSZ{}WHtFBA9F$@=T?6`Dm zL|Xs0=#B+)oUDX@XR@Uw@l<%}gTN6cw zG+Cd*wzNutM{7&T)nCt%1vyg`Su~QO{V_FDa#o->ocD9*?X+oAX)Xs@Dj87V%r&oI zY#XROG91;JxM6VvC{xU2cw0%sjLVIjL|dSUOJ<;Lk#kue^t9NzSmop(cd5I*1q#<%Dze5*e3pffEtuMcKq>hQohK;2 z%q}o*F`xX=E@B^^Czg2^p*N=a1&*iy%f&y}ZTmNFf7?%(y>BK1s#gFvXXPlpH+0}n zq@M4@Bm9vXv1rWu(6>yYhon$1UATLkDZmrWVV;%w$e(vHZ)98ATeO)cqQzT^`aP)| zL)_A$Ixy;|J7-g7=yE!h=<*vOb@<2w0x9JaZ(*Sy6AVEL>CB%3P4Oz7AqQ#a?Sflr z!;1Y!NMD;{eFh(0(Lfh=@J5?hEuJ0c;4) zztVv-hg{o~*D(0zg;f&trN>>vZ2J+u??tZ=_cBL+cbL@e`LLXm5>GEj4fk#5SP@V- zG$B;LFU5amm0&1s`5azZH;U=`^iB(_BzxX`sgNaytZj2mQ`*wULw%>A97?73`TAl& zLh=fMZsNfZ(*MLI7&CP)A@^601L7fh;_a(P`a4bfBt4|OE$YV+@ z_G3yk0;?7D&nOK++5*3oSg^{|&2E)L1R2qyh994_yIB|eCC_6F1{YJ=R)oY_^GZdD z4_iN3xBO>NLBz*|FR&gdaA?0L5PgNWmf4_+N-%D)D3+z>R z*Zj@)5yOa-eAOi3SRD;Ab(5@Bq}a}nK11n&7vcXsMJ_5bZzk8`C;_vb7N``WiHm{r z;k0{yCNusm6(OG#lf{BIhj$&3jvoUBzSXeY?D(9ZQ#Dpa>yPoY%xhY@B})vjnh3zN z`J@*a(@&Rwu00=P53s1G#(Ae7$!9nMXDZd=&8#A}4A?d4wKCc?xe?+MJXR`pI%ze- z!l5j0M|V`rNXs$g=k#bWge~OZv!M$@4|twCf&U*M35;MtHG~2KJA?-VWB(sO(v3?B zXzID4AL9lJ>CCU4b8;c^ppJ6RinFZ*Km4HUqLA!YCvj_X*$)w2nh)>sZmq7<{3)j- zBez!K;48Zp=DLu5M7EG=Nrj3s6QbYB-s4!_SCHOus$k`-^5);wl!)ApKJ&ug8-5(H zee91!+z>G?qx#U35k@DSI)S`HqaMv+4Pcc3X;zE;=r6_*90u-CrtB zVU(4Ae0mTE)S+v+C=7Za!sGSQ&Z-II3j5g9C<}Pn?0u|g??MJ`?O~o*rFt*`UR?aB zFCcz?hS}8T4PE1o{*=ST(jQXBS|wV@BX;0LBn_2kyo&vZCBR?TMHAN{&&!>NA7lnJ z=4B9jKK1g$S4EfOYLDYF57f1|Qgndfm}?osw&wehi9klP4W-`0$Ld9mQz~I*&yn8W zs)y#$y7V01sb0EKd#SiI*(OZ@zfIpx^9>@aW#D_zoI6JNrA6w7b4xWeD4Eg6vGVGD z9Z{)!gLOzh6=X2CvaE_J+DbPVeGJw9zF6)r#Alkczsb@A=8PHd}FA@`HPSz?sB+jT; z{gDYHZx*EgCBx>j;Yl!@4ss7mUDI#GvNYeiwY{_7ObZ%xe-wN`H58YiX6Bcb(+e71 zN;Kg>H{4|AJnwj)yTAuj$DzWU2Y&|=u&_jY2bZ+7hUyJwSJZif>iu<% z_d;YysuY$p-yNj&w;!d~X$QL9W`~pW1BF}XBAjdbufZchdNPwU%k|&frc>V_ox4&@ z>1NwXimXFQ@XU0Adv^UUOd(F8fL%(0)lB`b>bR~eaME-X7%=tlB%P2eb= zgrW|np`(n|l3gYsbGXfjuHk$6s2fWKxj2a2eIjjq-N|egN?N3#d8D%(@x>fwFi{7& z;knkD7B;8wyO^DGrV{!t26GbD-T)cr@-$_V*(3U^^n~jKo1YuQxDFgB#POUlh;LcC z$Y-R?%pteS=o6nxY#PT-6e^s(l*Z;7-KpYS^7b) zriEC4;Hr;w>&h!;zM9LTSt1&y3i651%U@_6#o%nrNmzaxAn^HW%&@Lq}ZtC-vsfad|ww9w>KUQxAqfO7s99-=6!P8_=R*aOm#81Aizq_=}%-75%@jC zQM_F>&Qu=&P>qT(HiyQg3*b>^7|4Wr`hteYk`}xQTvoS!NYzgl22Jy`C?ei*VJi*e zpLB+b*={``@%`Nhfd7m>$#gt>ax6nD^-Fgr?qYU@O_XCxVf;=^;<>4Z`3p>JHHe5)GE~!~umrf#!gJ(A2kJ5~zbVg}VqU1lR#I z5tlrqo{b&XhX!F@&@NO5e<0b)qWm6i5IB4tW|iWs4*JoY+VRSyQ0sbw$q%N8*8J0~ z9HgU($Z$8;IJ=`enRKq>6_SZq>~VqvJfT1i>$AH%Wsi~3hgU69`j^$pYB@Uss=xiR*pjlU9I&aDaoTHCYMJHGkk33`jp=zWNOI z4gHZ=@gK1Mm7c&SHt+(ald&91CXPU+8R3Z#FEdRN)^R?7hDAg5M7eO*SC>w!=dY#( zgUMVF0$usVyLf{V>4pG=GdvAAUQmj+$ECc6x^jNWQ&a>8`Wsp9h%{ia|1zb^iXCikDfC#3M^`&QfXyJ6nP%wYVt6%ww> zm9Q=i`ysi5JJpVE`F=lUz>EiesJg6(JeL{(EeX&4YzeV+C_1)Ntd=S2)9*jin ziaSl?tvrl3b|@rJvhx|}|3iXMsDdmS_LY-19eM1~M7Zq3TRfCFe*Du6Zo0~wfLQYu z)n6SL9=&nF%>RuJCsetkMhDuF!OS1A`go}+dCeit*SdjxeU z-5b@y^jBDOZPV|)8YR4Y#t-yY8*aOCfZV>_?@Id5Tzlh*{~U(X1%?n;zrY4o?O4%4 z-MR&>5q@6gCf13)Lv_9(UtXM_@-4PmHFN>>S|ljERm97KE`q#xL=CEq2iDm?B*HW0 z^?c{?=J#>MNYur*RykL;2v5%@Z!0}jp03WX@Fqplr-HFiQypU|&6c==ULO&~zlzyj$;XCCsl7>Wz~oDx?(YMV zblrnnS6-fiz6>(O{;*$g40XcV_DzfiO0h{st)q=U&s?`k%OU6pV={2Jh@$ZYY6+Aw z1zJocbwwdkQfzc{S@+W7&MRB`f(_W-oI~uqzjQDG?!-L zMlNy@YR)2DI1E*OZYkqTgw}DrvSBS^7rySx%T#JJ5hjIUZY^(5v5W9dSbYPa6)71% z&8KlrWwj;~5@px*ZObe$QubV+`zxWVlGx@gsW3U$7KT_KLVg$JIBt&J#vJ~XsUn;n z+9UszT#Sg-=%vCxXU?ILI5Og-F1kMq;WN(OU7Xk}3U){Y=hTlr=ZM+UL~Pr! zM3i!2@0tsRlNn^b;V{rRQIrJ20Cq7RADR9+gWJ@FQ|!F^qubV#5~H_&%hKfKAJj8PVJkGZ=b9!c{zWFP`g zSOeXnJ=fttH;lhkvOpkTyrM{d-o_r=?esRPVphDgLUjmSfdS*2gt}dkB!lXZsls9u zrTdzXZPHiXSo)Xzd=x+#vr(u{UJ+56)h>N@&M(T&*(lF|y|PqDom_^A$9fV6fli7M zdw%-BBZ$vuS|(c8NxDT)NKVU+8g-Y%UsE2dyt(FXFj2#C$?v}yp_`>mswo>us!)@( z7i`j%l&z*nJ99T@>%uCwZWm^sk`RrSb%mx*noLlbf>)nb7YT5h)>17+@&!%&8NB2y zEZMXdJ#`_+<40qc6m2}BI%w4`#JPw9%XXs)^S-4RPZ_m+4V4M80kJF*Ujyp_nLedYji)+h$3RZd-JJ?AdS= z;6aY=Jr(lJ0|AT2Y|O+93zwC1@&nSk*s6@9TGJ3xrp1{U@OBO=>x^8IhCY-}i>z99 z0;9nKY+a|fbacuUZX1 z^^rwKPd5W%wO0CIVH(@WekXyfstu8SWxg6t&j_fqBXRzt3fDTkn}-13CU>~{Ct<;Y z`xaw$IZ(|wwNh%jROw8LG+f6c9JUYrI_?_AEHoR{KAn@ao#d9=n4YLc!TtT1%KX?h zwnbqE;wq1EjLqj1%VgZgN2a$KYE<;=(_wm($ zhuh%6eGHP@zvIwlnl7^?elF82Zp#te@VD=XV%njxD^S0~Nx~ZP2X8nxro?cc2Yvif z-+}Kw?{HVhN0;<6qzB)_&L2ZUNTKZtN?gGAMDPz$mR0fF!MUCP5KX5CN z(QwP@O)M$x6=`x-a4DLsIyczEO>{tM%9|cSh^lFG5ZW zW!Xp@J*A_cHEhv!Ehb?Orx%t@o@y! z=Xi_K&KWzX2J&I*u#SqJ<~t6FeZ;KDqA{_Wm2mP2p62y8y+IVg&YwWruFl3^7Vnu6 zw?8(#Sq2$Kz3~RM`IanlFZ|-Q-wAcxuN?isF+r9FaeV8UL;Pe4i#Aqj1^m$lg6HL| zo^mmdJpxf2`8KJo7_e{CS0G@+1-fUIU7wdzr z7!lJRvQ@q^ReqdP{({PvR~|6xe`#Y4@?!PyVs|KQjZK*yis|@en6OzzI5T(;Yb0|5 zpD`Vrarp2X{?fYCrQGhBh(GdlZsdm!mfw{~Y%*x$Vyei<7eM>Y&MUriP$>b6%V0q| zc`yLi^^?L2-m7Dyt$l;OoJG0}GleB6AQaa_jVN6{l5?3v zfZOhBxbGs$4~A`QT(bOU?n2qn#J|JQ_)~FV#?n7t@BKH4!LUyJPJCft0*mM=IhA0N zPpOWzrc-EEO|V0a#yRw?R70A{NwqgkRZ=oFt&jyL`~p}TE1p9{T0V59&cz0_vr|gL zs8t)rZ;DXDIPnH<%$Pf5SD#X%+bLqc*o%+U!hbj`LwAH==}$Pwd0ehM*kAt!zW?uX zbE|P)7XL$%T*zQxWdDOCrzeqtT&;IM3@zM1r6;xt%bzH^&U)5!k}C{|@P*2-L2$4R zV(CBdMIp>Qn)vOZsMyah7}BdA!`eW$)taTYJ?hb3l}VHs4(GLNZ_)pL_PuGnR9tg6 zXK&i4!5sNKa{LK)+Kfe`d=+7XCTcE#9m*yP861SPWQU?}!T z2t`{Oszh-Stc5#sN@v-l1+qqqjKu!Leg#vsQVJmi=Ab5N|3q~(9&#$HWS;PQGM^%J z;(jTKU9%?tCUoLaYQ9?;f7vi4YG;w5e3`xG7k#w+bmQa~QE(;7n-&2f@0sgsxG*^FAzKfKJeQwQL}2gLXeAv2~-S#*5xPO0l2reK4)Op|kg{ zrZUQ@W4hgH2A{VqpAfJQk*pSHyyl~>H63ObS1RN__8qpLV}}D}3ZCPZCY@SP5BOB* zq&`(Hv6wAL{)@{sOT`VnV##pe8NR^5%ppVE`)bj+TCHlRGe`kY%P;UjjK06p%wGL4 znM%@C^)o^|tKSTreAS{=o{7{VkUAhO11zRpC+Ef|Q%(sv%Sw z;gn~k2*OeAi}kr^JM1E-9_;sfi`_>=Jxcxb&a)q^WbgmRW0d?M)Qlf+C?sokvXb&o z?s67X$!G0eD8mM-n7!nim5DrO_&|0T7>lrMCH6TS;d;15?~b%qd8`gi5#C){ImZ?B zFoMgEm`e;B&#$Th*Z8{fP}q*<^~U_pOipPOmO6u49ieZIziNo{_$-bn=bKooPjCW< ziyDX+LgsG^OnSr1 z?gH`k=QzI|b3aRsMm=$_29XH)UHamljnm^q{D1XkiJiVs5vgmh%NBoPPB3NU#YKCI zjQ%$SX}U!F>5h7t3r1jj_+xJ`+y>wVk~F2?h#?Bk-?A~$4uMh-W|nWwd_K`XQdG_# zOYRZ(Zmj^kz`A|xm(n<+-KH=t_Yb_jITy%gzN+>r6U9-^?yB9+xb3L??Vv?NLHo5b zW<_Z_s-?&2g-ttegF$@0z<6Qnm*P0#-I>Xq_WKYGx=5zThJLTg7pkwK{d#Y?(e=H% zpZ0;9stnZCx^|Tffn%m<=7Z*W0&rd%JV^aVf(yXS_bB=c+jYq`uAdS{h7^p1#y)co z@i^f06bU1b6|82U`L?;Up|-*LTIS8Nat5@&FCv2>*I{I#e)E^Ux^`}7E#rfa^N`N3 zKBKj+5pI+&SJ`x3p2OVnIA0v-W(W6{nFikU@6K0g?{?V^9IhT#_*SvK#WFLv&kS4x z4+Fr{#=0-tF#LdQbC73tfrHTq-x`QoYnl=3R|^x3SZz3iM%W@^F6$_0;%sB9u3;1} z;T`gBr&f%p(#rlBQK(c>5Fv`bI5vwwJ#U5`KO3DY9w1g^{O=6EDm54}SB&GX;3R%#?9_aFP+tj#`HbZ*xSd~85K zbA-9-oQ^nqjz+WapR#qL_b%alSX*sP8NY9lvg+i?DjU1VS^s zwU~{h_Pmea_^Px$3CH%e=5XsC=+eCEca(?6tGhpy@hVOKO4MxYOFT=|6#j^0@o)4+ zYBNA$>@xa^)e~ZEj=Vg_yCKwhMWzTa<62Gm=LA{P=?<^K-U@|#Evk2^sh?EuA<=2L zSiQLBwkt{0n*=~qTAy6jMe^0~ZU~}uAHE8p$PL%+=0;)13En+0g>on0M6^M4go~)U zTv3Xv!KXyc6k6@g1BUfJaT>Q*bkzgiAGe2PSll*Q;nqVcUQX>XEpN5FB(s1#A-h+5 zq7Oj?q>Gu`%B21_e`1sY(hBL{00KMSCvpYFOR{`d^LYv%b&~M1v7+MxB1t3zlho~! z;q6A^f4@<_LQPtUpcknOW!b#75qAr!c2GUOg)iRYXfW?J_`=3R)npE_z4?G4vnr;f zW#6*o@4Zm#a0LG{NAgkISJwpuBc)z6O;iafvcwLwL@q~ZGKowM+MF}wN4lO83r9u6po|h5xYH_&uJ6zu;{Fy)cJ1<@p7bG){(6PjBJR!} zg3f@u0W^kZI9}fWKOU6}-|>S29SrP=77UE!KOU9L#Z3WV9<~ZoKOap`O*KG@w%3rO zjS+cr(BLJJG?J2-u#)UicqPSbP)_H{p`B|IYwBJWd9-1ARg`L|qjAuIJeJpVYe7p( zR(1iG)dBTRr+)QLwAX;8qoZSz$nS%6C(GW$ntyJ+_W?eSPD+Au;_$D=7(ZzMaoe6*rd0q&vlJAqT$v?Gqt<8W)Fcw`sY^stJwiGybSEI1pw z`;Mq;Ohc4|P&no!+-Nb5{B-Gm^CZm4$F8W)?zjLyxwwQr`T^#h0DJt*UMi_j_6+Q9 zt>&%Kd|9ShXz2JJDpXIj zC2SPhr&xenMh$mws#{_g9>XzJMo+9It}V18lUd!{FG4rOiQNd}fbh84Yl&SCCV*{1JwQrqV~_7z!Kh_|y;Jm&l*q^!xJB{!on(#nx-pe5Yet)cFsJC4 zFp?HY8|p>7fnMa8nZ0AEGfN$1h_yF!e|YE9(QQB~)SYmxC>)EypQ_Z(HgQ;Fr6H1TIiH*A zv>5m5TyXNryxEXfn%>K{#+VOZV-#zP^<}qV&)u!;$9jeh_sqzpm1~<4_m`+VcV|~& zEafKd1w+I=}kGlhA{@A7we@_Vt#>d1ouCw zV;oJPc{`3t)0G;|?Vq#xX08kwkqfNuCd@>VQdo8@Bun~@vt9O{wf-jisSP-J;>qY~ zdPXe3vkTzuZ_?tsBMOG8gyDiaRK_6%`A&m0B0wM^Z=*JkG65D3O5-dp$tsO$y4j3X zo0ZnvKbC`R{BKPTt)z)yVOTNqPBp$}1!^gm>%Qcxj+vWv6CbDx!F=eOm^ks8+?jEC zYEq)T^?ooA8XuS>hvLhlcsv(`gAD6C-O1^8 z$8rX<8hFWt2bQsx5)0R5OU_Ws6`Z z2`Gr^s1Y7*-AYFsVL#bF3J`W^th2bsfs2%;tb%bgYK>$jwNu`Ir33} zG2|(-J#;d$S&PCBlz@pr)r<-XwdufbKDU_m*TJS~->j9kj&NU4NmH_;j4VZOdGi`m zE+h2G9rXfmjd(mq=4}s3pl}l@Af?P*e?m;7Bzow4CLM>Q&}IjyU^Rw$(^;CMwa%bU z5VM-MDKp{A`b(H~l#}um3eIh&r~b;Qk`-`EZc}GkGG@&GMFkkCGhojXMo;TC7=Kes zK2GCo>C1Je8$UH5nG&_ZLTuKhsp<9_CDqJ(Hz=#XC2Ns}$@RGlX^PGx)s2o1*b+bTt=SL@eGVFKJ@6@tkf*bZ6yh zQ7)+a<{2uVeh1$CQr~QTl;$rmtNUiR5 zDwb}#*A8@P^rrPy+fedxhe8uY3I9z}6Oa-oY_!D)z?Vv)hRbR6|7*ns0 zdg!(XpJmq0lRTRxa3$35A=v){i}DVrhO8!danc4`Dh zJV*9FRRbRmTN5px8KNaV)cs_I!$R2*bi$L{DmKiU#dqJn>c+Q!X|zw!Hcxs|f3u53 znvx4cB1DSHQ6*rGYXdLNb2IhLUn;$3YvCG+%{y>} zacwtmE3tyXF^_)&5!!kL|rE>n@fMq>#4po83OSJ813mz?rw` zmjA$KFSsKQ9+A=z`V&w4(LSyev5)K`3_9Cw(XrF<{qMjc75aoQ75P4yPMFf^*A4Ec zd;&mV%f5dKgYhB|yZNdOISsRd_;;)0(x4F{3T6AQR8Au>>=`E2N<(O1hV~;M6(BKY zz{9t*iPDWW`EDZCnzJORKWReM<@?JPFQ~d#cO&qnxszEUQLG<3jUv?M$ktF@t z#8Ds9pjnHtj6Vwi=H%okq9xAN<%IzOJ-gmg3s2ATuUGPMBmY5***miQDG$xkk zv5|hrzBsO0oW{X5?)C+12vcA?gz84|8A(}M>;zF3o0Z}*lBc@oQ?(RVj=K<--0|&I zei;_Bc*s)`3HLFKeh%fx!V$|8I0BliO8zQp^IrQh6qL`fwdO&iL$9vDudDreap~$r z8juNzYu|U~)}rCrS7TyxHV%7>3%vC_>6_g*HuTNOP8cIPg+GOfk1%#!ubP*%PC1J^ z0i_6^IGf-_lt|p9r;H_$Y*u-PVhVd5YWxHqX&;j0uPBp` zELaMWnefeGV!FPMluGxHsi=poj3urK%5=>ct*6P0tAR*wIb4%3#4Nys-x?&$^ZzZ2 zW$iX!n8*J|3H5r5TV2ZsEXN;pst6>DaFBu$VYFt#CEsc+Sqgm*|GqaF# zFBzknyiU{*nu;`*!^$d}AUvNwo~d_dW?cm$B3UDJ87Jj|#<31~KH$D2f%iyK=FZ}1 zK(cA{&AoEmeGN9#d>CbV11xEgky|}mm+jx~A3W{dgP&#M$Y|7Xu_i>TZUR0u6(liR z9)zPX<&wva45yvj_fa(ZNe;pPZ5oE=eTS)J671kI!9`Rd51T~zeJ~np$p6XfJ2*L1 z1J2&LtRJ+Z_)NzoZ~=_4a&!J&<-&1+_h9Ijzb&G~bmkzHoVpaTw27pwGi1t)@FM5ajGA;d2Ov`LwWjTyZj|;+iHp%BEcRvnG|}R~5-CxYRT! zQ(H_9{i$RpEE;e)kNbewiK{N!65<#X5TLCm*)~r&YY+9%oqRP=)4`G48`%aH0AKy7 z?Zdsa(|vX}7<&S5a4$P2Wb zKD*t4S?7J>cZ1_Yke}{nX$@os_n-@;yWV1_kkmjrBCZMBtdJ-0h)r2^Yx;slM5gY9 zqgl@^CG37>{u6iGU%X`QOt>vUd?%)76v>?@s+|zC>|iY!W&=nx-mIG2@Z^VcJ}oI% z#qYETMA2Z4})%8V(EZ;T{rC4-> z)SI~f4_D_HTv@oR;n=p#i8--t+qSJe(M~3|ZQB!PVohw@wr=kEcTUyXRqOAn{ngjq zZ$JGuzaF>G@)L#nffAljH$8~9Rbt!-D9#J$%WlH?rPWq!6u%p8 zusM4wIlP;)xIUJ$D74H}F~2V$Aq$}>`w?cn;xsYkp5+3GV<7$#K1>@v!d!6U1_MC) zTMK}GbaXNy`6Yl^?*$1lDoMe2QWYeG%YlDPOMNtwxh**CjqkQgp<7;>A5}S@=_OOO zfHdo3^x_74$#$7H=rzx-De!0FN;gF}+^Q|MX{>);oFmXFFIQt-*hZY|nj$-0RM+DO zY?N3H;mx8&^xC4#9p2BCF8QB5%-I_0bv3|^^DiFUHCo;WD793n5;woBWL*HB(`Qz2 z2k!OB(@hFpzd1&g{2L35&2Cp#)YE#7=K=mA6lyeCfMD+kXC+Dak4QenfDv z+PscIoy)H&gYn5=HwD{m+zR^#%&MR>xYKQ}=h|-bUwG^9EqE`8HM~y>Jm2%1xJ3XC zW)0Im?~i+KXLh2G`FTa#r8wbK7_i9$a2S~P{5I%)!lTqIgp7=y-c{9~B8D?m5 z&?MvhKwnD0Y6GOVI9fmCvq7A}QZLO$3!Z&}V5)Z8t&nf=%9P##@3w#{Lod(DWy7LL9Z}wm5#{dD2vuj9A zuKTQXUCs`Jsl5R{eK7-WH>O2Ts=BJ)!oGsyE<|~HU!Yroa>tlld@&$`(=%#$_IOI< zcyjKvMc$R{Ih*eNKO`N-=lqC5l7c1=4ixy*c8seYsB-$`D?l2O?=Tw?jPW~GL#zf9*)IVe%{wCK`Ed?{6tg*wlf`bFh;MY~(tg_(W z)wH-9u8t@B-BR74vRj?5M})1K2=UVnDBRb)fpN&ij2%cEGwy{gBc3d;MDih<##REz zJQ_mdjmM&96R|=krvF~~DUXr!?tSNtzhHE7^J-quY5aryUKL}+fA$jH)olbw^#t0t znr415Xg~|KLK}VJw1fhxS+Tl)f0A~Eu0v#i_2SV$13<6=RO2ls@3Gql7At2n z)JC*9`;zW6dIrBM3f$Ab81W31Pv$ZB-(o&t>yE|wN+nWVzk(jO@*fSA=HId5{`80( ze@zL2iLsGkiS~WOgbym+kXxo^?wxN4fRu!Pu8daUqEbVhOy>bEBbI-07u2a}#8fkI z=_NrB1hEkSGk8NkIVP3z0kUgif#D6+79O}LU+^E2JX#euN!slR1)b8Bmk_D!SYOm` zgnzi4Od`MFz}q8jXHQ7BF~~M6H=K~on&8@W0;j(IefiAX5OYcMd`SXiGrjq%$fc=a z*a}%63Ga*cQ<(Jo5Q<4?+TVOoJUpHrNC*krYZVdt70yql2plH<-p4=%wO$qnA0vz_r%g~;`K>xejRP4>%q4CWef+WVv(g5BZXO%F9 zds2sg)UpgY$)%xZ!-;DG9a*S=X0WKluohHr)k&E(vex++(O(gOP`tsv#P8tmg;7T> zh-g}kaXH_<0NlBEKLDSfuZY_yiiuL&7GSAPbb)JSRLa5hV*25{BJ0UcB*O9kjKX6} zp*(SyVFy;(23XgR5b95*F92x<_P)Ki4f+GSwWR|Bo}1|L-2Gtn!PugRQPZ;8r@NP%N z7P=7VkkoR2X@diYO#I%|+C>E(qfhJl6q5!s}m6H&aJ#MN2v*{cjJVDmK%POCCNMdq$xCABfB03^$(Y|d=JHmL#%2I{l zk|KOqyRZka*{lOYU+<2umU@L?ty6TrZE7OwnVz2n_Xvy97Na~O zApt@vpRiP^0VKD{RWO`VHRLk4tR~A;GN|0sx1GOJp!wvLth1LzNR7G?(zIWA$#Uc0 zfmZ&&W!5$bSo7Ih#$S!DPALj4{7$I6pwH?cQ!m>|$T2;sJplTAx{z)K(l_|yb%N{x zOqt8VaZsH?M$`MLx8o?GR8LDS-B3+f19GX2;PHTEf*j;+k+tGYvYZx4oq1U=hR)Pk zgjpM&&{+Na_Y+n%lN>dFeEL6A0uViEh%$R&^}bgUpI%13_5^eJ8E3-%JL^RWSE z%TWB5(_P;fU6;puumK>QgO%J9M%6ILit_gp1k?VV_sUey_8cRzYPrl?#}T6d>A8CHJ-q5#%2SF(fv)R&u0BNE?9F`FT8Vzr9f*pRN% z`y1(*QM0(6(-U%n{+V>^L0kP*pI?`gRzXgB(X-GzgQ*Ru*W#_EA%iXyVR28z~bHczA z6)HEQUqy06Lw?CRI_D*5^J9|KC0Dw~SGe~H5xKX3c#1kh!lDmLSDu(RpGT%A75+_U zZedD~^%5K%m10U>=+H!DZ2nDV-^u$;iyhHqeUd-fDeLxc`xwbddHGQ;Dw* ze80+CwpR3I^TMfKgs&!jGk)G>Url7Tetk}#eStY4eMRl?MTsWW3@i0YL?zG;AmZj| zDkojYYis?GVFCO#8d1wOXM*wV7=pl6$8xVX8%6MaTXt>>R$GADjhvUA2Y%UV#Cs(-`iRaoTyHmCO~}*J7hCdK)gO4<>_3 zPG$}PkH5=*55AU@L+VarM^g^h)h2O@5BxMuVU5ic52hlE%}6;hQ2Ccbpr?V7L32>< z;kMcol@1s?%rIs;wG|hAhkrKT;4~++1Fj<`mc5nAdXVn@8C!37a9OEibM5%UGE~M{ zZap_szaOx)dtue*^mJFBVP}3u3$SQfniLsa6!&zyX6Qod{Oz=3=U#6KEM=}FjkGq{?@Hl#hw)_RgU;6Mz#a4&q(4N|9f%b_qJE~u9kqH+uadZNMeIR2 zNo_0Ke&?-qs=uMb>{(9vV8{sEZb3hZVX~XUZ$EfADR?d zbcqhidyS-t+N}+;lI**|O4s-|x13$8Rnu;L{?h1KphkO$t}!ZaSI3NAqF&Pm+ruvL z_pvf6t$*v<6VdbA<)lK)PjlU!^QRCZ$GYil@YGPGrZF4-Xl6?Uz{*P>jX6SpF$ZAw zX%bYN%$zMY=(G7_gDmZ@uCi2aw2{S<1I}3|Dss={_~^iB-=PiP=KR7?7v7mnOVz2x z0e5Wz`R>>l9ZrC*Cl3wniIRggX(@PQ54Bm>lU=sf6d}P&U^Jkj@dW}lK4-hNR>?&PPpe2}>Wq;;Bynj7(u{%_ zB%Gr0bL#gua@e3!{pw|E={&%=k&rqQ*%chivp0&b+qg7n7U?84N?O|B(PNt?8ptWALiinH#j;+Ydmrw1~J36d{%eMF*Le39s-cJfk0jz zRUk^&2-aC<@5cJaxg`18MG_G2opxnmPVJ~6j#cKIQpT`M2@#8Up%51oy~sQ>4{=2X z-t_kF&0}n&;Ybx5is}xGq4t9b7K?;BMJNX-~-vdstItW9L!|QJ?q0$p>X8&5S0POGZMGRQ{jna(^B6DkiZTf74nT8GjXK zK(2uWyK0-Yl( z%UWzVnE0{pikZHBKV!#5eDtz zw#?5a=E(nts|$^+U=#0^2fD(`iMloNugp6F+rk&n@&!Tlv&Mft+L=HS+Vs+_;d_LZ z-XFgEiRBZOwu&lBT;6Ni1dPZiZrCE{7!%kza|No` zny?#?-7snIcuH@7QRbjaP|e+#VFuTdWOPKfWV`VlRPz)c@16J>F#f{Py(1cdoNNLQC8F+f*UR~_S%Q<{sEV62N>O1G#vL|27Lin8ek1_dS< zB}}owDQOl}7|?ZhR2tOr;Z?_w!16TM5owBRYCe^DB+CCuvV2Q{Y=3dgtl@Fh*5CJ{ zxu}o%z+H|m?WT`B+VLgNNJD{4$Jpj@b?$F<= zzX)5In^CHsW>B73jb7TT3U%D86qQaZc{gQ!zXaP>V14M1N+RRK@7QWyv-cG91Hj6|R=+j1`5}ohSlgMQxnKpDg&plcZEXetJfi1Cm04bu zkU_Rz)8VOJ%U^aFnrX$dk3=8-$JUr3-8zY}ir%4mg2_cpQ)H`^k4s)01`Rh?Wm+V1 zr;~Bk2^=*&UQPMcgMiO6r(L>DCdXVqMGi1C_MxsRB^+Qqaow2n1mH?FqOUM)xQ%h^ zXl>2!At}2Li3i3ce2~XD*v3#M3MLDTX*=Jmn_cyhn#MJJDa;j!b zRo)_c9_RqCm)2rGez~D=YT-CG%XxgpU!!}af9RqST zj<$EesHIzb=R8yL1~oeycZJL1_DFtA7W3Mrr6Ug>b(1rZ1Y3AA$s1Fn;Lrbq=EV!PAVdabYo=tPt+2Y-a-Qk;`EdT3b~&<_y6Kg%KcHn1S1VtCvJz>2oiLnN zz4{}MqFGLD3t$Y>noc~XD(GXb^8?*d@W#9)d!k~8;sv-smfBpYcw!*}rZooh#*?T& zjj`kjMaH4+Lb?B&@dNoyGMyv23rcUwmc*%e=oTIF?;Y1PG3&3?NFU;1_^gG#>DoAC z@B>O65duib>1~0(SKd;B=Kh<Cim-;5ne|PiM7v; zEW?{1xMP&@sTqvX8Y57bn*>M-k#QfOKaF1?YqvF{4yE->ngra?F!vda?@>I{S4G{> zS0sJxJ0nuBS!oxXg6SkrD4UyNobPun_4;h-Ls^KoT$h+-nU(1k`aF|YoBcoyOCKc+ zeD4hZJE@;QG?0k@RtR3866^JN0bgrJi@^dxzX}S-E=aTTw%K5j)mhXLFs1xNYn)QZ z4`SB!Ic`*~$yjbeiF=XFv$}Nis@DGgWNT!*%l){}dwZLnHUv4mrU{cx8#UsLB#1(| zbQT<*Z7J}y#4IFhZOcT z^^XcSE`6vhN!R_>;1(G>0i8;M6+rq)cf)}Zx1_XNG7${~MHJuU0zBjzCfD#7?n<2f zTZLx^{R{(93BUP`G5CCu&je$L(M{pUeGhJwm3z*d?Ljj=5_=}td#`d1;oOzPCCnP7 zYMk|nHO7=kD3M?X2^-;(L~E2(z!IgT5ecPi5ydxvsfU@0v+vDN4v;)NTd7Mz$%;(0 z+;!GN-=#c_xpDA+1wf>`Ch4VRlT1!J^*hZ|Qe8{IZ;d$-{=^`0#x+xcWfk7T{C+Ev z!0SSW`C@+G)s=}WLSQX~Xs?En9wTurO1}bEK_N+$iK{|r$b)Dvgc=kRY5Q-8c(fL?L7&6W4^Gq8W7jtr{TEHYj8)`3sGKneoi8f589u zQCle2Px=SDQ$?6n%!9jAq(k`Sazk-UPnl0sfj=}6^A;2o$0H$PC~2YjEmeZ9SiUAKsbpuGg9d5QNI!uq{Z zj*#!J~>J1ki^pSAI>`KOdQ&|HWSZ8`=3v zR@;p+l)Ca>Ti2^8`iwVi2(Wx)Bkd$HMLtaPmmd0gEf3X2zXx|{p5)9CDX-YlpM-r zge?B}RU>*rge=0r=5F;|7S`SokuKn48Yoo^FglR_B$f!qt+<`pYh zi{3+O@NPACZTz0_=?UdJ9r2~2@`*rc9|arSvpR=atF%TmkHLz*tB_?^jq#*ooIuEq zXnO6ICdFx6@Zxk>z$AeN_41-rZoIPVu$rpn>WWzpVHbvK!vLt<0+$XzY5Hst9F22H z>wvg|VVFY7t!gC^g5Q!&r|*W#Nd64t`0TtzwIVq}sOIwce?i#zPNiLM=_ z_v9%7?&$$M4IU+%YI_Epqz57m@S5zPpuAig)H*7Sn-PVl%*}p35F;j z6xZS=lcs^z4`+j9qv~17b7bBZ3A)OvFuJ&g{jXp8touQ&5|n>!_U#)6NLw{JGJ@E< z_pojQHW_dmSSCJ6`Af{3@nim1uorGqb4p0}DQe4kt1%Uw zkg@9y0H)L4?tTCf-{CFZ6L94P{1bwf?UP)zQE40$X4nK+IHGY;=c)ibGDCU)m1{hWP@jsBUQOp+?Dneqdat|i}TLj>ub;i<*3 zOiAC>`?jv1P(JgwbDvW~M8PH0DE#iD9ONa50W%gC<4jmhQ3B<*D`h!P?k5%*N(NOo zcquuPx~JNTei`dEe8(#r+izm($^0BW;w(gG;$T>i+#1Qi78>b)gjT+!vh> zj_fr8?*@`61%|d7IvO8o8=9O$j*CW_f5aNfS z$z+Y!>QpNNVV*654%A>Xn$^=?1hH5R>n-cy+j?Z>wK0kXm1SLNbt`~o^bP@5cbELz z3t=Mwd3`tCkm=r6YqX|-($C@PBdW|9Kzw$524MLZvlfCU>J1j_iYVi;BY%wxGZ1%6 z4KomRYYpoTJ02kN;h*6r@*yW%&$A}nA!4vNU1et?-S9uA9tADvP*$YNGY6eL20NA5 zix)SCz(OHlDC~~7v}v)HgvJef?1FjIMB&1wuIW|t@2=*@P5#Ht zE{wEezQvWyvx`YYk-Ck|HLELo0Ge+mQ-QmXSI^+1K;Nck5^9gf@AKGQZN9LyJx}bE znYQT86(K>;R#Qk1B{$E6d54ZM{=e<9HNH#+vHod&0a*i}JYOKB1b-pdW3i7{RmogH z3p7n2hQ%n3oU*2bs<;9Yw46=mXNdV%*l(-NPxJ^UFEH}Nh{YMagH?lO0XwW2hcm*w zy0i?3Gu)|V>l$KWJ(&UBL{I?aDr!QzK^gq<8N$C^T!BC1E`Oq7=Dm>a#{TJ;GeIV+ ziyvw6w(9}qCR))LirIr-=KhiLXKYzNlj@_$4Me`EA%W_Qpcqq~6_CSKk(1|Yce@IC zj!UU|b*4yhRG<3!q#wf93vh+rP#`pSBhQeoOZT((SZGl}{MCy`(-B=nC4y>K(jM(+ zj9$=R)$CAGgBf2^BlA>l5~Spik(>|kna<8w5oW_DZn?7r*iZ7GJ2Rhi(FhL|xpvQS z6Yt+Ohn4b$1z+ya%JH&{#?J_MPZU*u^nMCS7KGNkZWm{G35wKD0F1dQNysl76x(63 z0%H#TP51luwB)syfz-dhlBi=YY8d|iiDBsEiDn~< zsSbJ03tz0l@4{#nPO(AXIQ-0;vzGwZ>-?$fAWx9 z#EsmiBt}_F0q9!7?W?!`As-aFtqG)yNWsiliBzD@{v9^QU9vYyMG!3n^lud~vCsS^ z-i~G6)Q(e1X}UK)+T`}VYIi-{+zt_r1-dvC#>{OfZy6_j!wV&8*JI=^yRPo`Rh)asK&ePdg4u?a@Sqy$SzE>he)^HLP4#Iz;5kzTsbDxXd08b>c?N2YbT>>Hc1O;Dq~9vKZ`}bQ+h`E)f!L#LqMo z;Cv?)@Pbk-bbLZ=A%yMRSy3TV1Ti1=eV<1dAnM_|H2v#!)}(KOxl@m;>BT#Nq>)Wj z-1C!4?FT{g{JpLAD;Dy$9srb?pvlhN+ht80~i~nx%@7|%*TwI4=MT!U)(G`lca)=h%FCkZF^3E+yBpu zYD$jz9d=89+|zI^Ras9~Gxvk=6UjYSS_++NHi=R@%k?qG|K)Mh@+w{M>+=E`)ZIZ$i28bR9nd%HJt_B6cI3N~%q8cIa<@Y;Mc4Iv0hpi|%3PEF42K>_ z>($I!J{*q;uWkRV2@fM9VnHZk*KgFsd5=Hl46d_DQUlIZl~m$C*a&kF(}cn~2Wc0U zskLCL?zu(MF27|AI(^$c9f+-{$zXCQS6Tgb>uZoNwsK6Dkms7!Vn)&zCT z4^c>EyI^Q?&ft0rw{qcRT{?;6j@l1}DtLHp9NT3Ia@1_TJXiI zRj%q$FxYP~19bkD2G-Ace0zZ6;x?wC-b6=v#$(@9M^TeRbAJ~7DhNjd6htg1Di3wT z$Pa<$M3jw`iKH6mNqD}uL|qBV!{TDu;kpyt9{2*`^>4<)O#*9{+Yiw~Kk(8YWjv*d zCtbQKPCeenSSLDdvi|W!^WADtuTGnB4?K^0B|l-F0U)qA&i#s*2FQyRI8;-~ztF`L z1(}Op>n~<(ecM)ZDddrS?A!JdZc(D#TD&wGy~d;6Tydb97t@N`7mNR~2m~82PO6P< z0axobp3X&mTu&KiK5A@RJIcOgkoxvvl+)x0gxnW*l^)z1nf#yjg5m!sxx< z5s<74@Z3-DFQfH{FRj46*Br=;b!C+CNCHMJg5<+p3_6qvKaF8NPD>(J~zoiue$FlEDty$pQ) zGrSxZ3_ovSi^}+&Y-V@L0*1q%x3Ql8F4B+55pNSmoYVkI$wA>k%x!hWZ*F)c@#$i$ zY^S#EKiaNA{b*REWic6owAc4@*55YJZ$EEdp|%kw(cqR@jn~9C#DjaekAh11gI@Ci zip1sLoS4stnlq|LED$18mfHeCJr~|1bCA3Q$_>N1_;CD}glI+E=#dF&_I1ei-_#%X zBI3iScR_$~-&EF^avc1TP`Jjl-}k57M#!|O1+v>i^wL&VN)ZDR1=AMh3j zLK6^#`q>X|IdgyJF6D#`&OahzC@VSL50Eq-%2~uJXJ0dlxoAxF*$^sOEjNyFy}SNg zOx<9#=hpFWG&veWH#R^{WDiV~M9CXj*|3rH$%*_40!V6;&xc49!A{BcZoK+lDs=R8hTqFSMd(JDg_cF33SWbmzXe}v z*Y}=8yVHYHv%+;C4C_m%=xqX43x~=RJ01eSOD}H^W(&fX&QBZVpk7~qMV8SrYf>Y_ zfpRABdPK|dH7*GSFtKMAtt+aW^sw+BB`R}fvT(o_ueLXy5f*WF*JKZcVTiA3Vw(I` zu{!ScrM`!9?y=#k%2r7_;Mq}RZGOe3Y@hLg)!VAk3K_qc%B&5!1i<%Cdh7;cy+qM9 zuBc@SSsA%!Fo>WtWL~UPncr{{;B(X&s;y_p3~L}cY5lb&+lLt*^u7HbGqt9RInV(} z5Rjk$VG(AW2ot%N5fZOmp#T`4REX*9xT|PZb1v9$MX>hsIzl?aG_5vFQnqyBA=a!V z!E#&j5S{jM#aMdz>NN)n~1;u(p3EON&`A3YyGAFV&% z-6Z;Z8PqeEZstxTVMs9SW2GyG+%QOCULTomf?EkH zK15{5WV=6aYi}sPx=Zv?&U6mq@-y|WHnZklSiD6eGxbq!jg^)v@!O%cn^Z|fuy->u z5b;`{uq9IuNw2A*w_eOzMh}_HvYDt%VLZGv`Ri7TKKs@c$qPUrR9b72BDG^WoA}JJ zM6a379+nkR^mi)Rr2KbI#PB0k`$;=KOiQ@YaxtWlmIEbjs(Yvz%Xn|x<|U*O7nZ#I zml4!rVk$YPAZdkr`(x>%yWGvqeloAumuf(tgZ3ZCE;I5JjT)RzZ9}6cGx49d8Q)k) zv)XLL3vIQY20WljhjZcf+JrfrMzScP*TFy={DfqO2N)Jqb~dgQ#g2g#BeN6MVRyyn~~02)X!3Qe$~uBThV!ofp}=Bfl?^KE25rtrg;#oBha4Cz@#h9 zo)N#hhfqL-RfB|f4lbw_=PFG}#TD;UI8Sg^?PEAsuLDRTfSVk&1U)%R4ne~S{7njq zbq{&cWAZI zpuASaSpS4jt%ZVSfkj1Orx^W}Y8t}6%;Jagjz{xc*KRa@+aA{smy2^1)t0GKsq*oeGe|?|<)32>_%0 zz{rnO{Pzg6b3eU&4HLf_k)y_;tAbr0X?e8nr=%@v&yZuH0Rd=> z+}{Ye7JAGn#cSs!Q1Ft;Pm?5B6@h!B;JN@Z^q$JQ0?uQ;S`PaT(^&NbgximJrzICp z&AU%Ci?Nn#Zqiw6pICQ$;^*L~mkh46^S;|NDq7$;!>voIA4&tXa~`*tC&(@wX$@y+ z+Kt1W<3F)I%v*Upwf>iqsg3BVaZ~v$ai*WXc>6=8eO52*dQLn6i;y#Vp%joX#6#77 zuOaCMgPa-7)OEpzd1BTEr8@MvHVH(nMQ?RWIq>xfk2#UtI*vSx@Bfoluo{}jmVCp6 z$KOAiM9>t9#OoPoKxmXOTt734_?K0)4!p-fN4Tx%v=Rn{cpv&-k1_^pFzE*;M!sKR zXsUW0P6Bs=#1@-pA6{T1C}A+7Vj;(N4lUdE)oFDj@@q2sm$sAC)`V;B}_dlOfI}4d8JBtYz z)HqW>S4R1qYN@MZP(t~!iAon}u#6?vOQxg5sG=j44DrQaUJY-aYKMJ;=?Ag}j*j@_ z_f78a*j-VaqjM~Jtd7vQ=c9?NbndP6^z3y0@1p+$iX_k+wmL4;`nRlAFnzq;NSN_D zIt$sZz*3Yn3Jc?IU^pzSfSgR+wbWmLDJm^c;;dN%ZV=aJ4yYXmU(#TpcHpO+SQ=f; zAa1B=+tE>!M!6uD@DNgByGSu$*YoG42dl-atDlj(u75k5b5R}0$vARuS6zPSYF;gs z5YrT|89^6Oe&erwd~nI?R$`!C!Cjb6N!Qw_0W`awKI^biz)n_?rmR%fBo+lw?vpPQu_sM8 zdP)qy?lIDM{WYb##hn$I_;5-*^yFrQMgMq_kFfmW+@ zAODj=d%c~l7Jc`&X`%n${{8Ky|Xc;@md}|J90rb_|726FvIX9_hHi#xkfztdQ?XHf67ju=;m@-OTCy0r;4k7aF9%IYb6vP0_7nc2byvVqmhZGZ z;PdqnTnJSbPfgB7%CsVtLVvIcNMXT|mZqw##xfmO-uA$Qy^z2_51dIjTbRfI3|GdO zYY?pYjdcOl^||l0O{6yJLoc?>adM+PbAPZ=Xs-Y0bDgbg(cNn4wDeme9XA@Sb}F6V z*FDW=Ik{R!1fF-Lb|3J2@2%CuomQZvwC-L@43I7G;c=s}N%iAL)|6J=xqk+%={&U` z{ftHsO)S=YXZT6TXmi+cwNlUmU~e9b+cuD=TH+l2cN765GROf8ELo3|NfcP9TL@ey z)$l{Lw`>1$NCOOE+SWX)${*Gur0_0a5i{XQ54uA!R}t-{?TrrRVJ3BPzx-g0BD91J zZn?bl!92@n&^2wFwA8>#7l+b*>4+C+V#kC>h^)UyywPd95(}HdKjEYVn69fi(?yD} zTcmL-BeTlon!Vv3DsB?G1@Cz#8y8%N{mIrOor>KNEj9Q;MntzC1jx5CFm4zbR0}NM z@f#dY)hry4D@g=)r&*6Y5-0JCs~}^nSel)XU!YpUMdM}@3e7|_Nu4KFzO#uTtBn-BnN_D7sR7ZGYdus5ZM@c zbKK?3%t8j1)_kc+f37)hONDgR6EY5&Ld#;4lvkbx+K_f2;Eon^6MW$oA69T|A3lK;q-TN`zOsaR(M!H8OkjN6{9@80x!pQ|k(25Inadj`@ z7Gq52sI#E9pweoqQ=u}aYHQI|gSY0r@z0@BL$uK)#9$F|qkF>1e-;0es-MNtbK8Y2 z6Ja)^y_zKp1sHA7Ri*7Y?-EU)->I!^n^{pD={-&Z+kvp7evxl&4OnukG{(+6NKu43 zC^5EL)RDJmXAffVPKbJR6Qf2{d(7kidm;coP-l%{zt8}$Xt%-6)oq01JnTTP(=@uY z==K@^+LcjJF2SMR#IR9z*ulWIIseBG9lFOxJ=9JA^LQ;CDM!o&`VveY{;i}u0KAnj z)=f&?YLJUQQ%^3Y5HJD)9KNDR?$j>LcDv)xM3>iLzeAV_cw`w7Z?smYkrzXX@i4Xs zU58UJmg}S0JZc+=<4cG#xzmTtd`{S-gQT=$5$mK-b3%T?WzC7d#EV6|E1x09RU~XG z+NP(1sC2~Hg@)FuubAwxSk}x{Z(1xBTyw#-E*5W)XbaDD1;m$+4$aexIxz{tA4uv9 z9zJUXMl^(L8MhsK7d?O@v9J0HKNr6`?OdD+3x=%6(J89St|=bpg}xLTI(2Anp7>bp zwvhlIx+9c&Qe`ygFso<687F5BbdL7~rrYW>S`1`2RC2?2+oy#>t14Cyj(Ds)(rHg{y2E8W|M z4N$LgTWJP}dZ4ZVy0b&a&b_m3KdgEtXIQ<|GtBge| ze0?6wb*OK+-PkyCoe)nu$Oz`eEGLRZ`girjsH>rR5p(P)i{dGp zWz+UCr9>pxm0v7;Ol%~V=*JIh&xD+T(owYH02Q?91NzP1nsGb{}(fJNe;`xX!@yooLy6 z`VH|DwGjo+I1}tN+h4u~q2+k!PqQ+_BHJ4y*;%7`Ol0R*ye9Z|Uq{H&;3K?}bSmS& z6<^W{9+gZIjz`5szeu%qPk>s)#!3NJlwu?hs$746h<~Xe1P%EWtK|-dIalBJRln1lU>;cYaEiIE($W3Q^f#1kgXlkX= zdFCY`m^lshg35u1G2^;6RLl;qDzifiAeQ|6a*&rIfJN~dswl#lURIgZZ66|+?bowL;> zIEsN(ks>$KvG;R%iyc#}_%(Y3irKy)s;sFVP?xfmbc)n5Nj27v)HyOQ$Hq0InGaQs zt%;FVB@MgZvY+<#BCd;(J%!jf3~~^Y2@C3x=#~eFRY-in7nK66`S6oR0@WOcDPl)# z>TO!I+)2SEUS)SUJ&wJ>{*ZnmJ&O2ZFZJhe;5nyP*zI6x?`s77&$y4H9(T{y_qb0T z>Nnc_pF?&zM*!H+I`KqT$N1{vya;jYMWfMDikh9}+<*^)(U27{Zvtfq!fYkQo$GTe znUY%#qWf{l8=kZPDXu4MFAKR8+(z*AEh9WjmOV|$%~A$7`Q49aK3)Dfp;`d$&ZxsQ9eCFhL&jb1Tf zN0gntYfQI~vf^I2e<(Zq3uP){YXT zSWB3^)(N`}(rc9)?jkdL51Z|o+Swb`+UAJZg6)7aP}kZ;w@C*qF2nRp{|x1kXg`O% zQfP|>3sA#KRPrW9(-f%&%S;;wl@`iyG`pV#GA4~CHl2^*-y`rwn?4)IOZv4`Vy@;6 z&<&AjEuf-~EPJCw>aCEAY8Jpsn~w5b&DqzW^zQ~Z%VUJKE|{%yr0$QpYp^EJr51g4o|Sxs zmF&tqJfsT@<@xO^E~mX6KO18T-)cKQK8%Ve<+d&=%=U#SEeH=zt2Cay@RR|s^raIa zhX*Mm%3__yl*3_rMHkFa}l4yU%?J=OW=mxCc5 zJgpHwoc<79V^e(fMIwAKk8H}NQbILk{cT9a@P)(wb#)d%adgezhv1SR!CBnh-66QU zySuw=aM#6MLvVLVaQEQuZV3({-#)qbyU)uzRa-T+`({tXv zCXA%%%9Aa3i0_i;2=thhj=p1~LY3-Q^Ns1gaUNp=V%=b@WT6!j2^l{*t49!X@n*ub zE%F%JcuuDA=Kd;ikg7>KwayJ!9~f8@B^cqq_}b|DvFeT_k6Kv1)d$|&m?h}t3iqL1 zLWwz~*J%Q^*y$YgWm{zv)gnYT5|4Y|%C5i}jojw}AS`?)8Oa?1vx8cV9;iD7>*Aq&p`l^8rZCA5#dWGb7N zcl=}&1^B+~7ds=q$o2hvUwY2U2MdR}&RQP~*Ppea7!v{+f&=d)gga5B0c4j#{piks zi5=*b{-H^PgSLe^st6;3m0_;H)!L0;&Pd*hz2FP7KW1K9oU=p@%ArV1XI-Ura%^!dr; z93lSGBmAMzBs-kZrbJsgtLJo1YfDFe=^{#B1f|?q?^urTia<8UPnq_erg{8#>YR@R z9KfR1%!$zy?~7r;qpo{cP<$X2Nc#sq zh(7@ZNF5O`7gP^thMY)}A2}J0LzQX7+@p!TFrImV<%l%%Fv#^}?MD(B*N+_lA(VW* z);#_`6*-mioTugRWzuxz??M5CH863qFqC)z3xENoRyPug-$Q> z%a=G24eHTy3i?YzF`iWv;+7uN3T}>3ODWvybIxYD$0)~TH&zw*=C-b$l9HP%=7X*# z>h+n!)Ki^8LgLFYAFX+nOZs*n6`Et%Kdt6TlwDf{;v*WH*8&EOZC|k$1*9G5+T?*@ z)M@T1n{{c(!Er~zb{-;bfp?3)lgSnU&N#I5ESqraE|&yf*o0Tm>?z|v#oA0AaPG8D zK!kDmzwc^M95IX;4(D;FW0A}04;3-=^w@8HTvCZ<^%%F%xb6FnI(yP=B|L-+WgdgC z)k^@C=Cu5sm2!u8!35~r&+M9s#WoJi>kdQ)b*=U=`v+}9$0}%DY=1a@{qAX}8k#Yd z>tpQp4YT9DsuyyG!Q}8X96dsl44Dlcxpl->gqaa$YelK(X|@zgxQIO@A+&WW4$%YR zU)0_gMxVje5y&TJm$i)IT*-UVFj8mS33o}{ctUI*ML*U#GUUQG{qVI1R1M4koglIO zKiEqTdrMr?Kp`IhiC6lCjlUqAKclTt5v3s@>$diwmXhZb!;fe(qXk`tAy8tbgJrEk z102R!mV+pDc`Te5KBf2zd{U09`O~7Pd2xn>epV6B_O1^i4OZTmHiVyi%xbz8s`fY8 z2>S}Ho#T@Gw`-a9K5MT>ur+$sXQ_@O-FArHzBL3t zp_XNU&9@vpru%0+M++MHfd#BmUv`*NLKWb0-tBjmrnc7_Rhdnuyh!5wn#@RFQutLx zEg^_Br6sE$8hc1$@xxf@6-?(91Uk$o3c=6uqT}-NQYpk~QE4%j2je^-KG$<1p>O_h zwGkZ%8|%v&bUX|Yppg7ZmN&4>B@wsor;uA`!bt9D%Tem*ttrkl(i z9fS4~EiT^|B3(XMW$6sqN4K|`kL-@z6daZW#bM0yDws+SF)JLm20CMo@j94@ z50uAoRI<^B(mL|r%Ga4AOw}~niewtQDQT6jo22s*9&SHQf4>15Xu3>SGvqmiAvgSS zNu|92&sFpKHMvIT%*X0(T=po0ob&cEJF;JVyMw85>9Bt_&nW+`=6}NOYEYAvo2ILi zAI;|;Q$d|}^9XFK9}>tq7i z3eDyQ#|6`Sx`}}%;}>L4EMH;fRdUS>>ZFUcKA2*RDaF|g=fd$Ss*s6hV>1&n*Ca71 zvzQ*RCEx3JPsEL^^YxZxDxO=#tpbwm{I1$sTuVXaUMmCVHHM= zf}gZXr8i;~+Zkfb^p;*sY9@O{2ErS@ypurhv-}gQ{0(nPA3xhpMXq_nb;^6vbrL+8 zdv{s`PF%vc78Su`Lwp)2LTO+rGU9Bw8yRUS+VDqfq8xT~JdF8ucG4uG~f3ZYS z>TJ~-cG-$tR&Sr>Fv7||Mc!{R;C!mH&T+?}TA{5+X4hAHFP^>_cADXE!3wuexv0a3 zctZ<>5!ot}B>TbY%*)U=%#3^P1ZfD&Z{Tdb!Yc>hNQPP9dgxa?F}9rg7?BODbx*W5 zcp5GEb*UDmnpd*rhsM*(Dr4J6cI8

                                                        %&b<>+ZX+US$uVaNyED&kW@U5W$r07?hs1fAANH(&huoUcMJ^rag8Y{ z2iL>8lZGU%VI3QKYrKBSh6TaMD!)ZSn5e%;apnEB${ml(DyKNJM47mTegq~egLTzYbvf2+^rP0UAW@6x9N@Qj0ww7 zRDyV_N;etat9QMpo-*zyg|ED?N*)8es_laaTR$;7?`vNVVXI_OdkvS5)wve-94Kj& zrRm-UEFrk2i!6wRZd*O6Gh-O&x1aMzF}{Cv$4kQ*1xXrH%agWI`1CTKrG=VWl4=UH z!-SZzSlj`79;E|=my^x>{{*6797;exJixa$a?%&KMkvxS8uJVkPGHl!n$v#@5Iu?+ zSpGH;P1Y;LAFEN9np#!*^4)S1!g4Kfoxbz3S-*d@lt2SY<;C`;Q_HQXcRo;G&32DgD}V!@Q7 zc-&=T!=9Hy<2bYa5&vQajRP}zMZmfRj-E5WuX{_IIo#z#s%^AFKx_v-ztblG6=SO}XpO+shjK;~u`G`&Od%_+*w2gltL1HR>bF_)7xUuLE&TB3#6Ud7cdYOE ze2zmH(ttqiefbkMJ!+4SnQ<@8H9KffI2(FWmX3m$JV^V$vY9cB4{(2C_pl&e=}dg+ z^D{S&+nVpCnD@jiuX^qfnF!dAD2Vq^OUFbd&@?_8Hjzpn;)OLv{pF%P@R1-|%LIqd z@M)lWci~)kNR|GyH4*_b55rz1Ip2MnU$mE=fY^Ex?B|g^iU^@N_MZ(mMtstKhnw0@z3*y|Gw4K+kZaXf zOoa!e*_*TPw-+46(PI5ZmLX42cu7YYAiB;ksuS`%*|HHJ`W$w>8ym=m?@N{a^oik% z453el!+3CHDe8Tr6{auEFVrXR+5p6Co8b2(oY=vOQiKTMHmMeI`Db~dyYV4e=VVlD zN-Vfj!UM_KfmaS>@ga$W1Z(F;5<7S8se%@4oHVj@>8Z`1oxLd#*Dw6_g2Qwhd!_#T zSB09kR7t)7u>Goo?e~AiiAD=pAemfbU`c3{5+(zwh80ac2CAq`L~*1vNJ5U8+y{TO z7+Kq6J(VBh33%ck#T7MJ7QX-j+_WOAL2DQW|! zU6&TMR(gZ6i2+kQ1O1VGQe3Dwl6lx(*iW^_5hIMK4rGh@%`{{(_x+K>sv-egU?+wz zqqoFqfLLn>snW^?@5GUCDDv|8uGHg(0tR)B_HBHeI5DY^k<>iDBCNV*NCEkp&pJw` z0vqacwHscw3%oCRr@#JLD7+}{Ud@!6aV=h*xVRk#SooDmz=!cD@OtslqL0^FB;PcQ_0;Oc8YB<1j(X^#~7(~Cff*obKQUn z(qs;%WP`7y?xeoqTLDBN)!Zq)-1W#A6`i;XudWsWvJ2K&eM|1(5#t3A_>mpE`X+Nm z#`JaSn8~4*1ds4_;~($}{*v1srlodRE)ms&YwG`FBh*!{I-sn6I#$hP=!0-0SkEp5Myp)ZzG%FOvO}ecFptW9tS?)yLLFfzgF2K)L z$;^yp(w#QOYmOBbsV|2zhDH-}o^gS9h6;HX7-Lqxb2I?-kV_O)SO7w9hmm4_oFdh#dYFa?5cx!^z(C}a&qv-w) zO`MRZxxE0djf^5J@bJUC&GV4mx&$$Ol8Fk1k`{zXEx%)5yRwHP)3flTT7%2nXvN<5 zA%M0ntw)z14%z5G1Ke2-SJ)HU2mc|QENBfiv zlKg>eHF+h67^7tgEiP6C(hvn2hRE*I3#*)hLS$-xz%vr}y+|Ba8;?HM_-rf;>q=-? zKcOpLd2P;GGO_NWmLx|+qib8_eAm{$K@!|fb&1G%b-(N(tVU;bXwa|2-ZNueZ^;>M zjgmq)^a3?MJk=Q;pr#S(WsLk$ACG?15GCakG=sA~=6ptP#rQL>59K+-nI ziL7LsTOC>O{31A5#Amie7?;3H>Lp(xs0_q$BDhE2dR_|Y2B1_gaeU0$%o=b0lCF$+ zY&9GX>c^&!mDXh&nZ(FD!_1>6EJ!LAP}pg4&f2GB^;7AKvUZht@2Txj7XtbNP7}w4 zg2sS=fCndsgDpfKmVJF2Y#|Qdun(cX7DBN|2#PO)0fHaC0wd(ctitf9*P#*ABdGA( z1*8$AB_-+@I-&JOi{z@iM`mG}a><5QhI&$%@wC_hpXs=|u^iS~XAEmQ1u_uPL@AuN z4>m4V@3Xu8FDCYWU$$IA>^bX-AnzjbGS7%qWHW<$_Xc{BgRI9tIdeqWBD*Z_<`ND7 z#9q)mfn)6*l<$yFpjH>w&7;%Cd@_u|qyO0K?Vp7uhlr^ex*jqV4%nJv%+b2P_wG zd&d+KqfW7CDpF>@TnHXyr7{}qVYD_)>Z_gw1C5q^ZIYy*6weNuf6WH8?q|gPPRnLU zc0y0j-84Vi@Ha4UiItIV5m4dESI$7OFO7LaPv2Ia}G9{Ybu+Dc_jbSm^ zC36|wsCQ#A;llZTbt1%G>+P}OSl=i>BWI9KWBdhILI-kgY#}>Jclt7;@OPOh&&Qou zTAAM!9Z7Q@Di2I)RYJGs51L2SVT;0dGPAX;zRN+bbIDGjyoG1lMzr;2mb^ zkz5735ricKkb=?dRYs5Ikxp4IqR`Trv6WZWz)X63vB{T|w72`Q)8>|a%bYvD2OVL6>*>y zk+REAk|I*ACB^>bn)W1gb&V4#CPp|t{9@wc=yc9h0wIW19+i1GA|cg@GIh+p6k+hI z6I70=)H83i`ru_u2umJAw8GCmj7U=~8?6`9$sKle??`@h6FUoMfy$Tviht_VbJWfR zd+%zf!Ge9@O9KR*N(^K)wKH~g&C&KYQk!r4DyH)Zd|VMv1LdzQr^X{xnA&W-sd>}UcZzxcszEiT_!24ymxYhEkNvTGoTbtV?!ZCtXdY00d1B^8Okej&8V1q zoH;(N9Oen7(yt7(C?BF9V9^x_lKGAxa}jysoHRRkkOiW0H76u`Py(3{xVzL-{&J@W z!DJ>|sg#?BW)~J2V9}1U%8$BN7GM{PN(Qf#fn?;%-6~6k%Tm1|%L+7$HO}b~iOUtV zD+y)Yc+?eC8%i>N>>C$l6DF8v(reE7xbH=Mu2l1>K^z9!+;&TV*xVXvdfq=IuxXE> zQa7xarBZ^Oj|R*0Urk%G%PcHm_U!g^DD@{3UEP<7Cm^j0C}YCyewc&oJ`8)?G^m3Z z-oeLwk?N1CLdv>s#l#+8TLNc{4uTfIld>Gi} zUs<+~a9`DJEGeKf9>|_=rCfz!J4;~`tMe*ss>$&=XCuqOs9iXT8mweF%{-Ih%Qyap z+fYBbPBT2Fvorw3)7cUdv)6oXFR9|x4i6!FHNB9f9p_vH{adEKH z;Z*n>{J^LprGr*2imSJMR%QKSp~RKdRXk$<-d%G1lVJ=Nr^RKpn?avNamNB$t%(@> zg8nK28(*J>y(G6jqO%*q&d~zMe%a zJD!RGof`z~W+Gox3Z$s(bhc>dER(xV3v*Iu^Qf9`&TU&vbTJC@ox~dZkR3TpNp5rX zZYX_3lllLc{&3HhH}~(dq2%te8}jlU8m_6!hq<0QjJF`Fy&PcRAIyVpF zQx|_>F4WfICBr*yG$|u>(MZwhVyPJWAZ}AaELQctpmp{~!{P~*ot{b9v)9+DC~}jN zt{L3udX~n10}Z{I?hqMa&G*`YFD7RVz(79T{){s7**!}d`F%fQpWq_PJa6Gzqe?ja zxfZh+ks%V@ZHur~xSkZ><9;G^O~K1ts|eiYdir3XK0Bb9_bj5Lq!CH$G2)eWI76zr z&L1U|daZ$L_gE=LAh;kx_c*n0b7OJ7#Dvv%O~m$`z+ErxY1$GPDG5_usT5WPbZ(Kd zSD5{(s5f)0@?#?I105lgcDq$#exscUD)nJ0@8S1CK3VliIt2(1$lAZk_C)#=X45zU2zybp2!`@L2DVnXd18#$?R@5mA= z-YgyV-1_`{SbvDMw!n5lhW%IG=(19E&C6D&`Dz)lr#%xf#>C%YfP?@s#+0!Ld~@5K zed#E54$Lq;MosEMMO>E>J#o9n`}yXTfkS5`-^@Lo+v-e23m~jbiBHoYP>UXqZO^9U zrt*3K4bii_9c{%uR?l|W-KC2pPb02XgpqBJ&83KhYeYTF532>&rNK`Dq>J39E{%`> z-C5dx_;4TTtWnQMg<{0B;aw+%g*I}n(KY#V@yv7R&kOq#=MECj;T#%1&=T<ve-K z!ak4mwy7gW*cyeWWyUNjFgoKmVg|<}>Bpk-rSC%9dGC3?0=%RySoUOHS}5=F9_sv- z6P^caOM6xlp4A7vWp_&wEBjsZrxR+VekAn$R3}uikvz7QEB11(GhyC?RJUbY7f}Sk zVg82j4UEx<$X~DzTUNb0-{oRizpNi{mSZx|!ZXwYL}6!br<;4+0kJ)Q>f+b&+9qQe zYB~fACxokW{HS3gOSCFnIy<9}v$)FKi!IjR1!Q{l#!y7vhocJ&AXQ*5;Iu;K&FtZa z@sq~e{FGNmdxqwtq^aY^L%7HG{6vPphEY)1C14S9&@W0bKp+sK1*b|s`J!gI+;)(l05TD zu***rZKy*>k#cjLX(Nat@1>m;ms)VL#Q%72%WaJyp#GNsj*{u?6Sykg$d>nM{3+0AME}tylI3g{GZ`wVLj= zWxhx((;dF~{4jt`Z4c9Egc1__`wn;_ixNCl&3(h=Xo*yaqOvK(d z4S{$x)fVkQ*w5A2VxskUEFQLr9I`jSECM2uMSI|lp*uQj2hISY{PB6qXJ zl$g7eo^x*apUzy+E8USMs08?!9@QiBDyriH=DL5^z3Q72mF5+u3zKGc_oud%=Wg0l zETzSi*YF9*FR6I#9u9Q#&6t+b5F}v7Hhv;2gTPu!rUA0yr3BNms?(@t>Anu~!eA*`9sPcRxGUiLB8m?i>A?*tc=UT;-Iw zmYu}KA(r{X1;7&Sj0Uk7e(zWWLoAUD(Tk`NE7gFA%0+J>Ira7it4 z7(n$~$lV+lGDtXotg@j`uX1qq%M-=h$b9U~akSmuj#^TQQ;V!R0F65eH1BELnQKQ!BT4OM$io_7^i2c zkZoyWJtEmos8k88M`YKL!Q5pVL^miV9}pOUR6TlG`IJX=S{xDH?g8QT5f}qe8b~%G z-QG;~-inlS+Gd%KY&mvwKK{}wQSYB#tlPa6je1Bh65B(5gePzXsf6t&UnYcpx(zV* zm==l&<+-_+qZrHMpIP`IBtKfcXeYxU?d^UGKT7?zv(^MPC92g0Ro#ZaOb`_rx$ub? zh!`B0+@=P@RkojrWvK6r`I#xC}QI`<+X;0{yBcqeO7AbXIn8#P0= zzeHAQTGL2M&sVE>M@-vwltSlJw-%DlAJNL+dtX{-*c}_-4VgAt@sQjZO1JOXs`2{y zbibxmM6frOhlgG<1%3|jLndE~@DKKslwry}Z<6EOEwo{*>hpb06% z>pzAX+Ni{t7wr>hoYk8WdnLgJRFiN zrEbF?cczD_3?4EwtjR?g^Y=BWr<)Fqo61TVA1cHwE#Vp+0P&}0*~+AN=p^l_0>Wih z39s#n`3uWloS?^6Xv1r>ue24l^k*b6^mszl8Ro712nKE1O`vU$+SyLJ=9{@rB8{bi zorMKJCyNG@TLvqF7 z4rX9*e)cX}72j=%7r;Tr$aROd{Do0IUEJUOnP2yg#47aAsRw`j{YfA9V$l&c3(1dg zli+%7>qE^EBU>)biKG>4aluf)YNPGF6-3TQKY^lvj*U5c%GJe>+&=G zr0uV-u^J+$#Ld(B`|32llchA`&|OubtAHXu?LGUA;!ok%OA~T^NQ8=|TP1SzwO+2; z-6E+DJkg#AswN+07tA6hv`D!ZOhZ}W&cRB2RK<0SU*p9KN zDVOn!_{(S8ESebuRp}gBq)CIpO}2g4eV)!BqI&qCpBMq3-t%h#N$?}WbXNC`Mi!mr?rpHFPer!e&z zdQFB!8J`W?$th*p$({JSejsUy3fyR`lJP(DD9forPs0%;-#gbQ zjh+D=nMVqSX_`ZKQa9M6)f-1AxBOR4=w-;?O`H||J`iNWg*I+ z0_dbiA#Io44A()<`#$w@J7$?Lo5ysLIbBfM%mlu$b!kp#1fLgwkz-+m#T#vc zY6)9bKhIpgsC@Azu>511ck}J2$=HFmz%IT@3u-9Z8%;OLImT75hoz@3ewQM-E^imo z<<7P9N5w8{T$-yt)({KX!R|y)6QG9d_bot3zCHGV%;4wYtI%72 zqpp`jdNO#ba|jKz(aH#12I6aCzDleP&wi>?ABtP2RG;HcHRlNPv?WzcuuPsAj?|TrEtn21DS^pM^=FF?EM`Zb6iVfKxSqs!?7Y%M?dD^{lU-BqQ+qDDW^Kq1bzi})b$`O1xXW)UBBx_9g1e{PT#6yqL_|LGxOsKbii@; z6Yn&P+r_*NP`B!&R0!aRtl6&D3ebn}6B|5r?o1R$>CWiS@{&FBljZMbAaopghzmKl zSYD7XaxwE>Xm$e@4d;|apCs{WHQml`HR=#1PP0~Ezn`zx$qWI-8cMF4OLIg8GkzaV zw#I~uPSv5d4*o^qf8{)1ZWW5)>a5IxsM=nT<3b-7gT|xY+!$rCbfHl)^H6D_y5BRH z0}=cop@bn*R;LF}##+-(mY^kSUVO*3sOf{HObz@|7k)F4vnMY0B+MaR`e=NCCcBnH zR={vp;%QPULM|Of-fQa0qCEPL;}qdqUesqaTT|9jO%~hMv0-38n=(WcB#%JiUlVf2 zdkHXYw!Y3%@py29N=aC!U61LznLJzeqLkt@VLD2ISf}(m8MTPLyCV)GcVnNe)vH!^ z<`xFtTwDMn8)Kl&O=T^`2X~sa=^pOv43*H6W!2{v24j1R%a96#K}2q>8rKQtnqT2B zDm>b3WRGlkor=rT5HqE!DmCMdH9~b}c@mfNuinwQxsA04zBbc;P0}%of>M{djl{QjT?cG~S*4BsUZH3FfBZ6I2t=$?<#?)|OPQuK3$*d9krg8e;W_XpabgQEK@LuY>kUJ+W4g%!3bTs? zF1BV44U89fq15Y-oc$6P<}YeJQ&+ACa9z&a*~evjY_Zsh9gAMNkzKIgRS%i!6EMfO zl7lc`f;6WnRf9dn1&g-Q9x%ftYJzCMGVBn*$KM?&r5N)n z6BR|82ORO?In|088@V!$gUsi0A|2n4ke~XSCkz`}K zCpzRRXZN*xHr1)&Wq!FBmF2p0(Q7T;y|j3oaQlyf?j+YBpqF%@GE ze2@R$R)Zpzd+yn(8Mo7$YC3ocW==;fk_BVBSuucl_-Udrbu3d^i^wlF*zQ*ag`gu| zb9wZUCv-nCyd6qrF>)vM(Gs>BHTAgK?$WNe0{ymE0kZ+EvXd+k%9W-K74VZ}0u})Z zLa<)w6-o8-(d!fOVmN2zKPx2UkAlD$lF`1;?4OyOxI+V3U5^Dv`?_F4oHTs%IA`BwcCR<+a6XoHV|dgmob83iBmLmh33ZHIR^s zGkJERzZWFcud5!$^9XVF*q{8Sanb3SGa16tdk9JG=fSo|@KUuYQU(&5@MHz<`LaYl zGe_&!*5Nbl1ayWV8&FCY@jGWjE=z42$B=}T&O}RIvAhnYQ|xfZp*ki#eDq58AnYB= zsUZ=8jN8H4l8Q$Y??o6z+`O19R@{-6$p-i(iTVX;geU;p$?mA!CPQ6gWV=Ii8eGvx zC<$0-`&&`}e6F_r5CcCeu(Au}zQ{beUxSZyKCnRev&{#t{;+yP*>bNSIjHvvifX*xF7db=o3*sXcv2T0L8qUT%V|{`X)w;Eo<3{Ywkpv9!u0eHwv>(66 z*(T3^hFJ1qJ|j0)+<>{0=HK5xk?)3q@`qkkT_jm=`e2vxYAH`}U}_fPGZe0g`)zmX{nJPcki z3qwNVti*UbxIP`~l>P$tO@e1NWiO+-=hv7J@34ISBpKGMG=4M=l>egKElhO$TBm42U&=avptSSZce{Hd&(qL45jUp!DTR$?7UO?X@X6&_V0(fn3# zGvPa{?6ZpgJIqZH81W$yW{7n$_D<*vhb?o7Wc`f{D}Q#D+6%`~1Rc3-+S1viJOmlYUCrwh-5{HEYtK_gNPK-BSQ1TvKv*}S--wEZS?U!jo)}j4d z^^O@M4Sf}Rb^&8upcH|;lHR z+IT@H@#FPMdsok}3e2#3e|AIA={0TVUsvErzW&swN@I2RXV5#$+|)O1@oRY6WL(%q z1l<0XM+tqCIkC3zIPT4Z}*^6n~;Nyqb<>nq9qLhDJ^8e|P zj~3yu10nS5yu zjduu8&oBUFHcW>w2H77d0{%h+ls>EqnGHG{W`X<;A{^m{JO%5(V}l$p}tO^5|{dXaR1SK+If~rU8@Po`Oioie2gFj^d0^l_**uRV)90CY^6dN$=$m@y% zzAA;m4YI!h`QiQ-Bmw!3q5=}G(I!#;(I5jrK#;rva}fT5ouh=%KNOhOK^vo3?@qD* zem9Oo2%;H71q4JeqZxps@%NFyk%DhFUd8#Jjd6)VQD6|d%x7H>ygSO^-FbU#QA8lL zaeUCs7&+jy(gySe5xl=R5D>I)T4NyvL;TQ(XIicx<#DWcL=528u|U9aLO@Oh&chGz zE^wkiK#;!K2!Rm{k%QL9Q2{wfZNlW>4!NTN->2R{1RP)p08-+D1<_5Q0{*YuB=}}V z^acb<{XHPN2>{@~>jVDFq09b-h$i2I1}CTiZ|cqcOM%w_^8X8x0p1kfc>_tQ{e`+T z2|x*xsDOV9UHtbsq}Kimj_TooPQl=tG6Qc~gx32D(oYG!Lo)~2Pbt20G6!`}kpTXY z>E#Fak1F`MS>9}tXAUBph-V1^cq6U! z1{!wzz_#04SWjzPsajm^!#riQUAYx zhdM_G_}2U%3GQ#8u)x2N&m0HfO@i_ph$`eSbTLN{_?xu_K1cUpBY*pM#?gNv?H_c2 zH>ojiS~83S<^NCw{9on)xD~E9fNCNbpaIdPqJr|~z?aJZkKhI?b^KHO^54Ze8RRrC z19%f1{O_;eHH*~0E&WfhFf0gZ0Tu8j6!Q%%oAJLeCE!g!+#85I`|lAF6rh1Nf1m>1 z#6`UUeRKbU6pM_2|Be~?muo8kL!=*5aZvA?Vl%uAJ~kMz~_ti4dmVpa$b`ApC?7n64pEE@1W%+^LKz=knl1K;6EP| V;QQTwEcU&i*kxMS;og6~`+ryB7i$0j delta 49939 zcmZ6wQ*b3*v@V)X$L`p+z0$F5+qRvoj%~YR+ji2iZ97@9lk?xZ>(;G(s>Z{79947F z$L_M9-Hkuv0kFJ{w{v`8U|^~Vg33^VO?S>ez~XTeTHN6(*34IbLV|&v!zKx8;Up>i zzz6DRplP6g#b%fq;zODU21Nz|P#Ghdm(}Z6iIz8?9~+Xn!SeZp z?s+O!(5v)=ZK_#cTKS6lisH9=&KMI!4XmVJ&R~1L+<3n7dpf+a=oNr;gcG0+-wzD@ zAv^9VGa?4r-Bz^AT0@;apjIzS2SZY52nB33ZeI?#5WaJVJ~lNqi>5vu=!%Afw5X>( z7?B?W#YXEw+rxRt7`IcTZV-5C^!s=kgl-3z)lboJ1qUKbqx`ne4CU!ZktWB&DU#|G zoUe&Cx?Quj%HX+wYmiE`9GSj2F1W_t?`BNiR4W{apInt^(Q|zW99wuM=+-@!e**^E zbz-FHo4XEaDM&iF~3Nc5?zhO1$)pFGQ9OLpj)yhiJeAm zqcBugO434wnm_!C;GuB^E@BWAI0)2`&GlIL!m)bdM0>8okH@lc^Rc%KeDL_C@!HAe zy{3{>FWk?_|L?xRW>sBGJfWh|STiJAzxl3m^A_|-rCnx2A)?I^+^FW9+FU803;$bb zwnm!9sB#}Bwt_2c1?S0b5G`okvtXc)0LMcuoqDWJb(OmEMUY-%_g`6=qY_Zf3Hh1E z>^vjcpdeXmG_m8dJ4#oTw@+kT2P7M=Q>J`N!f$-Kjc%aRBhpm)f}N*04E~T*qPG_) zfswaw8SjvTdG58KiP`Q~vhU)Xzc1q}X8Bnp9#kZ*BGMX;I{uvyS$m7PUTwxYE(u>3ZMgN8jR9c!RMcdw6=aZ1<)%7A zUZK)C1K#WQ@09Pw5O|xkJzLW|SKPvM*x3^MCt*nKOemlvL~JH&xq-S=aPCKyv5x3n zqnQJ5$_c(9ok?~hVg~z=d)#vCD<{LZL(4|ZkcI@>in)M|ReHO6sUFK&QG|;ksI$$<#}SAd`;-JZ zDUY+r_|aT<-fi-~bifu7X$HZK_+_Y5@xzvBtg|Fu!5#BkEO0ck_+^ua)Do&f3r|bL zOO5r*J|}ImTt@-<*@`zfY|+5n#cFI)23GT*MN~=A$T3w$qnBvG&htd^&iQk=1013a z7x6Zynj$CZO-K}sOLc6FVoSL0F(C(gr}p#L;~@oGYq(F*V!-`h;(?Zo?6NmL4nxJg zC_eO){vyahlJa+nJOT3B@6<0p2Aog^ALayN{B;M6=miJu2DJa8C468A^n2eK1EPN+ zql{83Ly!yi;>|a~Ck#Vo56Pe(u~(OZSOYNm6%H`wxm8LB1bkAa^~t0JR$bsIC$Qt^ z7z$V3k;hIG&w$VH%*SR^%<>7RSt=Hv7UQ(SGiOw%Q-~7J)kZ+X+l+)#w0t(@IM-7N ze8RH?dDukj(azp}prXuA2y`$o z7?}T{QwYpb>C3O+zt?<{0~80anbw^t5Pk)!J5XR(Sl2UfHFOm|V)_5w;i;8U>!2SjHzjt1q?hwQS2LqFZ00UzOOG+5QNScO)Npge62P&Wmq4PB| z*y^=tYS@V#iU@8NxJMbxEvCogq9$2ODxwZ9%*wBGOvtn4Xun0t&O-bBDu@v1BQon! zf#aM--wMmg@R|AjyxE>%(A)bB;YbumAZxfB5T%9ZLNm$J77>DusiMicp@Wp_v>^oE z6N7>0fjyEJ;#8K$M*i`E2^49dw+Y-cridQCc)E^Nba;^${Z&g^$-BN!%YNd|T#jcH z<%}nN?Y6SsL1Ijx-kuuS?}sxgoI0tAkIWk$f)pAg&3VmA|3U^|n<~4q4Af6By2d9CYNXky zpj{SO@Ok4>W9HW_Vv)i<@ib1iwcMg-m+N)V5ngLMDfsh;@z!BKeF7|reqGbessmXz zA&ird1^w%W6{mq}M4rN2oO3Gv>=zl~O3;+OOq5cZ^^0b*aTRH2_Rz4a`L_@>Dfu^1VTFrMazWwzyjI&5N|gw*0D??7&m0o zJOXozGuQ>49lhzPz&5=95Jmdy0~p9LWtqI;-{V*Vi@-Q2;VzOxkH;H z*vUjhwgkIjo~gjxE1T3MvgAo@5p4R1s=*sgwfYVg-Zh;M1lQ?1Yv)D!^_=|!h^=j& z&Q9sVOE)yg1}atR^T+=_BD8Zkjv^#5Fb4uKFp~f8h){sAhUhC^U;b9jY}zrwn$t&j z#z73OxY7NXoSdj>f-w1Fr0^q8#4$x7OR>B>@YHhqTnyD&!A({N%U*@;6O@!OIh=VxYwbt(9P&s-mWYmE^i4`qMj)h9iL*;xTc&z-(p&C7u6&mcc&$a%7|8+R3}9r;%g zch&<{I(WGA4yfnrEjEx~)yYe)_1_4Ueqa#~=P@XGsk;WS%yPU&CRKWnZJ{8~tuIll zze&Q(b=^pXA35u@&Tr#EezmA6G5L&I&cYbh#(U^_7Mz93F7JJvep0m19no}Cw76%N zg0yp$D?_2@Qv^i%Jp;d;B1!R)6IfFMIh4sX_K_hc5-8ZpBRq!nNU1DuV7{Mx03>Ku zplD{iuFJu1=nlp`q5Apd8Cas<8UGJ`PEWCcNOTKOIg)7v;K;DH)f-;U<$`S17vc z!X1BR1$)XSa;ID(1pqKTpNf1(fii1SaA~)RF7j7LEupgOx9%~&Uzv*!6wJgW)P_`Z zP78R;Cx`wNn%0(HH>K`e6peg1y)~eiY}t#m7|jw9W1PX8ySLHx=_R|H;pk9`kK?Ep zDF3kr9KfeyE&a~ErDEfcxn4!nt&w(oZ`ik1uy&t|Hy6=Hu;M71igy>`22wk$6S_fl z2ODnT>o{cEDBzMC{i{Bd%ko$|8v^M9?JG`eUZtr=LqelWI&^WGsW{G2`Q_KFEH;+; z%8hb<003&?Rno7UT*oi%a@!=ML>^WXY80-yY?NbP`d6rSdLG zcO99XpLMOHPl>Q%%~in_Kx|3Kfh&q&p(`zS_2kRh)746>)0C;eVcGLN+4-lO{sId7 zs>^ui=H?@1+~Y|pLhtFvGP$-(E`sX7VmS;2nDTZKDvp9b?TmnbgZuky#rwLmawm$- z%W`S**LR^fhxzGQx1j_n#?e>8hOLz@^x4B3YWH=JSV@?KffgjyKwKgm_?x~#_MNsH zg%$ki1hT+5wkd@FoIH<|!3qypzVJUutVU2Qwp|*`w7jf=%AFTR%>9m1?EvG(%>p zgha11t-WkC?R~%oI`<_8&D)HTP+XbJOXQKG>w0EL?clH+)=_*qi`EsT?}bI(QiY?( zM&~vz%q7NLNo(4xSP2+P$;RTcT8_ozHy$#eV)Z2+I1eSFjU%dC?P@s_={Fq~Szl{7 z^Z)fmt{5>NbWzaq{GkECG45j}6B@$exwl#q(39KaH`mV&{K?SqeLDA5CLUw?+g5a| zF&3*?C7JUI;l3h#np9-bqY%*|hkJHdK7%L%-D@BR@YVNB@WKwZs9@boyUBwjJ z#sZzzy(Z1mhOkI|aw?!kmb9FWJsnL!YqTCj&u=$YHt#Gu!XWj}DlmF|L%wC~i4jpH zHT%~#YQ7c-NHRM!<|0E$o)T9)-;Ec^gX_HOvN#2se4+v;6xx<5J1)|6yF1ry=b^bT z)e&7&=OzWIiz>Qw`TBH^Huj_vu_*a&ztQ?xE*17y_Tpm0@|GMK5?8_oOiE%j!;Wyak9_&X$LuOON+(2@ zEtB!&J6^WA52?z(mN&|G)D}%)p@wNqY$K2r#z7}AKDbn{>1gae;<#}28y&G;gVWB& zP^X(^tDc3xZasZF|J#oCOxsz08cl}Q)N|(An4!^~1Y$$?UpwzIN;TcqjcWH@igqM) zIqKa!Q1qGsKDO{6*N0KVv6^w}X;pQ+btbLNOKaGslJ}`Z6Dv`NVBwFZ?9>O1ACRG} zf$^vLW5&HGOfdnlmCf2BF*3wE z;l|nroyOv#b6D;^YEn|=$XceFLvc&BoJ@TR_`9*n6JDkA$4Nc{-GY|LmU8|`xvm00 zae?)_hFYn)X>npnWa|in+UN4`mtFJ!-!NvRxM{ zObZl@2M=NgaDqNR?bl}>-(df|=2q*PHF%I8P$Q^IHLo;|Qo8;Eyp|Z7eaX&zJ7mq1 zNM@~%J>Y8`$(W?b**R2*&logTm_J5g0dwY63L{z1O4>2*Vs(eo`sGdewR+-9{8CEq zM(sWXf@zr*`Du8;udC}$hPwEQODBEQt3Lc~noLODmia_hcC`9qsc6$%=0!wts%*wJ zdbPClr9>W~?DV1V?EhO*p5+CDA*^gCsOWo2-g!DF>WeThMi;C@`Z`X%jDsP5hrPRl`5 zSIcd6dxP9(9*%1Iy+bljEUm*T?P>s{^;7|WRH(@mL-m3td!@kBvu;L%WkfwX?g% z-N&zp(%8J7v8TG_oJLj`IE<(zN;KLqW9auXLT}#@ig*hevD*BYzk4%l#=5+EoVa*s zwf7?E=2UtQpqiWi0IwL#YOv%lp~|^(%ZAmL(Dc(z4Pm6O1^!|XY7(0~H*3~v;^(<1 z>@H=9dXk)SOHat8=U%TV%wTKfkILf4Qqu=4dYjJ4%$)u8L9AT>n${lRy=A$aDX>)i z;c45JitM!f>ck=D!LfXvoqL|A>8$&y_puQ}cqt_CG{5`K9Q=vBHwl5n+=s*(k2FW( z_W~O_Poc~gME2r^uef=Udc@yYl~_ja-6eSnod3J! zb@LH8FCVLXvGNrxu3W?#i0Jm^s!xM2r7a&cc_FS43vsoVh)I7z;g_8#>+^?fX5($! z?!*0=g~)5an-~y>?K#jVfrx%iOl}Qsu?ySN zIdp89%b^$)24QPnrZDUxlQ^Q@d?|zMF;11pD=+jSoh^$v_UnVajl%r9NZ!L$fVvNsE{L#w6Fyrh?geKS(;ClntrWP8ksCC;aR;@kkvxQSI zM3})ypV>8Ug*#H}O*BLis++|wZs`7=30&9q9jX|6286`v;*XfK`mUHvD;!0Wq#r$r zw9RN#H>T1AM#_lHF(Vn0$ZQdWMsL(UTN3b9tJk09CMg?%M_OURzqt7>;Ps?b0=O-STM1 zW|??oc*Q1o5gPv@DVYm{bxM;aHFHsVo8nFdYSk$2SM^LWfRDMdD4!GWh*hR~{E5=I zHP)Z5jgNqvOxjCIt^@e?rat|kuzL||$qA^d=I7W`IY&c424t@HM}G^_6YiE$Vp^mR z?f1j@h?8SSWiixyn$)Gl%wcv$Calp7-D)s8MhgqJ{h2cXSZ305U2jTq;)AQL> zr9cRKkm-9kp}l`bdq4vS2X(cmpv6%WOr@3v$`W!ATXF&SH62BQ|Oel!;Ful_AtXKh?bq<=@ zV;!@z<&Uw7Kh!Xn6>Tkgj=pDl9Cl*S$l9?-c_`s#a3Pmfg08C!N_8d!&W9P=Ui#i_ z$6X95e65!2jU^W4E^m?@{N_$ zD}hNRCXAACu_IG|h?$dN59&6v_wis9ICdIb#8zmQc@?<*?N^)Z%$$fjNzNPZHB9F; z#t)k#kE)r6SUOBQhbaQONeV@}hs740iu4c>m?J4tsN3gwD9szOXjvPjIiSDd1i-7u z^~;JX+xHAs$cJ+FjAPQpTB%e- z*N?lClYOu$!B#u;jB=SNg0h2H?7m8aY3#mQf)=l)!>!>|1D5OBjAWgQtjyIn@t<4j5XGDGtvfIbW&!P=+8D}&F*?)c1a;1Sb!Vq zwuF#`YXM<%vYi~Yt7VS?&}5AUuz07VZa>4Eh6IUXVX*N;*g&j3q@dO1YaX@6%ftr+ zUkm_(FJdjsLw9Wr@$uW$eqw+|N}#{*Rv!SA8Q@THq~jUW*Y0qyJEc_Jtxq0MIA}k` zSWK{@fW>F^#;V7nHos6ziM^1f2V|-y&g_xhu=)uQ5!vB%#8d%~6M#tt|K+gO=K<3D zxik2T$Q$N@s}BG{`4h*d!&=C$cW0{ye8=At%OOWbH6-hEGUScH%GS2(a@&42-9Y6Y z(mauMS?yxh*u2ySv@#d(Q9=1fUeKR@{so9`v||K-zZ1f>AAbg|muGAd0HH@HnanZy zJbtT6RZWM&tJ5ZZpn-W#J0+;3YyJ zU9ARXq0eo2dPRi8;9U(Hx@)WDjRvc2F}HA^f@Xb}nr(WrSwF=BBs`p>-&~z*PU=c= zwnR!&kA3Kjl%ECSJ6Vc(fB-YS%t?hRYZ)!0TGNr_$L@@Q!3MM=-=fiZjzXr&?kwx*{!|S;B|@MKqo7x&KB*`KJ{LuRak;0h0%r|5}UJ zzk*4`WUOm@Lk=n>fzyv}0`7QmCnn{Z1m(WG7_|oxf1Ivr%U=jCrH0!S#U^5SR^Ol2 zZ&D(AVoILpN?4Ufzpj675^W!jBy>u`A3mbP@&yQcW1JQRJtG!97@VN-+>>7)#UMtH z@Ew2Ocq+IuhY=LW@F}7GNw}lycQ24oAQ^-L`EoUcxpSE9L934-qS)`lmAzi(SPt26m}$6} zh4ns|?%xcF)Zu*CXzwhHNVohG?}h1bb)@lJOls zo7EUjL~lo5PI7BWYibY+)CXSa8w28j%_X6o1V8htlPvq&Nl-ch?jgeW%eeK!eElwx zWp_|er&HNS1QMJW_}X=Zx)Wf45s(`udWD9 z$|vFkZpd#4qVU0!yGI8sCd zL6k}QU5fOUS8!hh%Mc?U8ks*GUQYhL*b?~m{{m+Yf`n9xmhz-D(d~!WM@5AbPEWqo ztuhdu4WxmUf`l6}Jtgf;W?{IC4%Q0&GBYs)IsuxK4CI&?OQS#RMHS~wA)7~BjA zvpVd!DfkY2QdQpim|e5dcH|xG@Xm5{{kQ(HxYD=F4+9APBOo>T&l^z8lx+-dZY%zT zfuUs#RRe;ZjC}&9YcYM8gL>RkTdT?Sn(nD1d`S)mpG?(-VOFn$8a67;3f&pS4E;J# z_xm#Ai1qnl$*^5#Z#&axNTtR{lOgG0TKVTRN(_}XCWD4Sy{&w9Y_tO=5@6DqS$u#F z%B#n4C4?5I^&F#ZmvtyJMk>;u)_ZQ0*-62Qyl6yP9aiCbfe2N<(lh8c)MJU@+zZ2; zLtc5LN4m-_7_P|9Roqj#^_tir1pszSJYh7yuoZh#*=HA^IL5A3p^ zEYdpW&kqFUSVNe&i>zLVsXtcLkN9@&k2{J?DC0_%APqV0uuYhVeIC++Dmo|{SS9=- z3trKVFq&9H{6dW&3RzT2Uqt9Zov#9&fpDmdDuc{)ilu#k;|~gtPI~0#_U|?<7U|_WWkL;oc=4e9uqOIV33(&tG z-W%a%P=Lp#x0u;dRiTK0ncz91aC-g^u(G)t44SZ_qu7fBRpt4 zTO+-YUidM1K!jsY{_R~Fj5q&%^mgs;PdNV5VH{X*MKK0KWe^F*1jqhyaQk(3_Y z=`q=-?c8|X`eAtNLc{r=4#$z-#;JWk2&7ERsD9x0D&ER`NcY#OJsbeQ;oYBF+=980 zksjQh2seRCjivX7GuvM^x%NK{PQ(3m9U{)_6H@u<2qR)_QPa2VM^IA<8=)R8=TTtL z6Fgj>THQjpc^Z7J=c(VJI=J5(XNSFJNeddL5;TX_NfniMn5lQI0AV!MwCE8yTVwSi z;#~#;=p03f=9+Ox=eOaTr2&LC?1?Cv7_0|m3}iqjKQ8O0?C^_&1Mx1i((bLB%cs)> z?3lagTRP_6FTwh;7FRxgVSf(BQE=O+!};eSv8 za+PGln+;BUxy&ynS~a;qC0=rkIz@l`KuhNLGh7nTtCmYS!i&ql@kdvAl1)GZe#oy z8~9l~IFsL0)p9k_=WnF!4#_k$7!xHTlXXCCDDO^BN@@!!!nzyP$$16ym;{Pti?h8# zp9d$NER2s--}yx77|#K7UI1CkU+y>_82Jdr&b9>Rq}#f=RN~nDIM~UFiVX}r1#P7C zqV;@Ja_&u=;Fy1HDPoOl3UsBr9&r9lbtPW|uPTRW)oi5P1`TC?EiCdRQ%n_y<}^UX zL5?={K^XgGM>P9IM+iWJoL<=g`^OJp(I8yTxNo);nvrRQ_SIhwim^JYWU1mkg_p*_ zUdtD{FY#;>@Z!0XrH`h4(`WO@u1k!i%vwS{`@ z**?^`);^|%0(Au2g^Tf)*O>;R%tdH>Iyb$pEuqKsZDS;om4st@iZt^=kyD{nZEU$R z+*z)yKo|}8CzH7fhf>7GYG{p-`j7^U>S1CytrEl8G4()c1TKrluX}bD1A3t1kg(j# zFsYbsQN*w@Y`0UcaWPrxeK7#1k<>)|N%5|BX=qp(e#VHlHsX&aZC$Zm+^{Siv+e9Z zmQVmn?0Lix*Cz&-?Z{87JP6M`2&B=edcky!9TGkxh;wzy^UQnarjyxUWVTku8Jdj4 z)w4s=G}AlASS~7?<;T1e8WBKlsHzQwRq6nCY2pRyGGSIuSsIru+-}Nqu^`I80wu$r zUPT*n#OBXgg2tOL5=au!dxGTdNMBQ#nlUzO^?K{@Hq~3QiPSrMIAKL095OOl=tA-g z`>5*aZK}U)*y}M{X^eAZU$f2vTv~ofb@L~wpVgT!jyXhnNk7GnOrZg%U6lrDSrib4 zVn;O5`7-D%#ry_kYi?QD?9R<<21mR!A55>q?jIU*+3zEj_~tN)q+)ScE`%%0UdLe% z98Jk_N@M7vyxrJ;p)saGcw=&hQ^2v32POhd)>6O6p+idxH{uYuqFXL=WrP|-MY+^?w^x{<^B9z;eb z=;M@^9rvv6ousTQe=e-_M_VDOL+v2t1a?!2YDlwn{yk1!rPdwMdk{Rp>7lq9X?b2; z8&`-P9jXrEcY#E;vW48Q&z+WY(C+Up_4RW?m#Qa}RHE<>l=Oh|thW%zoXa!R(e`Kt zTa%Jj{!8pldiq?kF-_C^7z0SNM%=Z3%`&WInB8x~-71Pv!i;TZ;`UyIde*WdVrIHY zYZgimTS2-Omu83P_h`Esw-yhEv`8SXMneaQ>Y1G*MwJRMgAIHf(HG9v-K zXcH+uY3QkmVGrQ-x*VbgS^x)s37cbDr|0({_!ynTe?BjOcSJk6+!c55VXSN#1} zd?N(3sG)tr$XepdTd7Gn4*3F8WGsbebm=fk#pUx`A7#a-cfR7d0Up(TmG@BIp2!~b zCUkR!AUYsLn{?o_LVjkli?+;XapLmHGlWW+6+_n0ruuL#iZ*A6muN=bKp;Bio7cX> z<6E~}k|sF-t2wnccW7UIsTQiV&h(!Fe~5NXPZZU!^uBo-db~RysybhAx{|uYZ1rMA zfSm`^v9q2Opthjc&DG#1CUH20s@gMnr_r*}kL&s+;w9{gn1A5pkor?Q7FP5{2I`!IpI$;q*z5U#x?pG>8qFkp z?s?^2AW3)p-yT>j2~r5_23Kb6fK2(t3$9G!hSj+TJ{5LaQVV_n-^bL6Hut8{UFNU@ z0UwY%D#EECBKKJ)L5tEofqGkjbl;cT5T|qs(_vHJ zqgLXH z*xG0I&agA?a*woH-jHURDj6d`I6U{Aur**ljV-=)cHfZ&O~FztO~}-*Oa(aZQw+%czdAEPXvy-)-?98+BV>frw>M*IOfM{scNY8MwPlOx5$NWXEiy))~bU8D~Nr-5Ebt{{>r` zi976h;PvWFp3!B@%p(g)!zG@(zgYk=+ne?%Jj<^J#k-=t7{j%McDi`462v`oM|>eY zc!P@J+^IqQR6nJ`JW$~DZ}Hm&zY@#y`f|?Nkk^g`M}+b+2ev!eAp53z(7nxwsphB} z%gLz@7@#O4#OTY zP{B4D)ZCo~M=dg}iJfvPZmwiM?O>EJ_Od0+U|jbht=WbO<9;IZ8*^Ny0s(lx5Wyj; zwj)C;!&0-!LSy&OZ^Zv?IUNP}9!;RZz+h35NEm5>uRwe=0{`txmW8R{k^rc*7L?-I zsZ>*++2s;w1}VA(IqgKs{Cw)9tuyn?u}N;8ji1Q8Aa!&mm{KY+F`89dm5M(FW#Mq+ zwO<7O{NU&J)0g&~S$4LcMmzUDyf^QDJv$yx&A?s|=^r^y8yq|lP6@N5q^TlX*){wq zBeoJCx+Y6my1L;g%3yLfmvgel?XR^?=VD?!1x~Rw{5X;zG?wfk8jR=hl(_$<{H0Cx zRTSZQFUk2xW$J~UpA7OkZDEG$=sP%B9wYd3a$n#GaIxn!wP`sZEyn58lruxX#)n;?@2EZV)8~MQU z*_O+ilbn5nVwuXS)wuhZQPY=_l3^o{&bLr6p<7vDil=XFT9zkGSEM;oAD7u)P$}~} zV7lqxSoyccjJEiBaOKH;XcjK~+qSmS`RK(Kg2H)Li!A}8JbV-6H2v0eaVU-9Nf{93 zk#cHa9TB_|&+DueKG$AL*}l{&Yui5H9Zd$7u`5`-aa@b(RWVA*BNi^$Cx_m_&uhIY zrhoq-c#m+N$`pTno|V3^!)Dyei-lf+=I`SM=ai0jzM-S{6)KfhXF?d#0&3x6=4lnO z{bbg(h6vI4I1GHOy86)@@+D6O%N_8jZm7h~W8CrQE#?MuLkRy#u-$L()X0M(2_XUN zhouFP`)uEJE_=-)l-m}l<#vbS`Q#KBz0q5Ubu7X+)gEV1EO$x{JaR)8rFJME9~;Nt z6F&^dI9gBH{sRa-J|UrgG;j^In*O-qfCv+DabZnP+hf};x(?S?k9t8wusa~PimTq> zlX7>L=2^{;+|@c2S2l4+4ej6fTguUU+ZGn|rGlsk*xN-(YM`Rfn|&W#_XA8sojSEa z&b2P04UPxHu+W^ERL?=G>#A4-Z>DQf90OX{J?)4ym`t-KbUlWh*P`hq%b#oa|;a#Tm<2M z745lwXbl>GG~fWl#2E`0=+(AiSDpl7@A_;zLdUM2NIY{4f01y!`+@a7mXC;D1%O)s zA~5aCA<3i3yPQ7%>Mb6=N{jV4MKYQ0N9C??ENj>a)*D}tTb~mh)&1vU_GM;N5LpUq zO}>x6KCG>SW*cs5w%8e=^uNr7M7FM=4qh2S`H*`dzx6VOnAd$;yA9df8qpxy7R&NU zKH7?0GJ^pA_&OF3q9qnQJJ9>ItJb)l4tV>FG+v_#{oet1)03>|{01K^KxVvhurLjWA z_m#)=S)bwu6=JxJrN&ha9lmzzE|ReX3Ma0+Y}`CkDVR09vVW+KP?Zs zay_=4momv>K*q9+pb^;iU?l%n`_R6r@RpWwXiUT2>dpI%N1vW1|C!O{n^)X>CZX_N zzEznko!__;Xy{J>%9R;ma)(SYl?EHkd{bWDC`VSp3^8(?xM|W%Ug)FW(wzBecFAvj zP!IKXC%6oTMEqbcWM>hz>AvM{5(07#WTcA64X>Z!AsC@c4)Th;M5kn z)#SPle1VEKTw0@Hgykxxd^@NsT@+`Q)i!4&jT~6^4Z;9a{uoC~tdqUpRrtDmLFE*m zO&XsM!3TS&HH1maC!pL0OPy?RJqlfsd{lMFtjgk7&lle1U=(EN4zAwhS zn_Nj=pflkOMtVQvZ|}Um2}Pd*H~E^9+i#msuj< zrmn`eCEO;Z{6TK6WX>769289PZOdanyK3%sQ=d_ccABVY*p^y=XHg*8&=j86ML?~m zDH2WQ7BgmCb^uDZv1BypMr+j~EJp1sZw5jO*pWjomy{*(Z-V~!Zz*+tNqK%z^;`-S zeF}|jVu>%IDUVsIWy3tpuusy64N)e0ED8Z;H?y&`nol#%V{{$LpC+C7ap@KFsxJc#q!H^P*wGu`NMDa)y zfk0!JL70V6IQ#-#2(ra_YNE@S`9W+A`#*0;^Kgr)eEWKy!u>fn#>Ihya3kL#+a_?_ zJCt>u)VQhB+Rv;M*GS6XGy-CMAGAgX8KD`)kl<#EYHYRwhZ8{T=a=qSSRm6N-u8@A zv~t#m?hx?*k`5Sp2-*zf|HW>$bYNh_|5I4USF2W%ipa&>_ zB%lO}CjAK>mi(np$u#!QcDjoMw%M9N-KM!(he3O#!m?OR5tTU7W-C&sStm=_0+DQ0vE&9i_#X_GgjwC#*Lmo`RY4{eh@wRG$Q z4I}q@-xsho%7&hMRsyTLTf(PH%_laGPN%zHQl5Qrtjy@5f{`|HLT_a*qrwu6bcY{u z(&3pqaBnsO4wyPjDgx$5(H*r*uIka7P;~-n;?mk)(7hO^j%oFekFE8uM|5Ha=r)_c ze2gwtt<=ivzqBJ^R5Y99YN{TnBr?dgx;}_`qwIC=jz6H7F z&BKxu-_!xTEmfvPjXQvDmlXeWYKidPl)d#K1DuV$y?GuxgS|EtUq@CZ*UE79o$Y`1 z=D^g|rN`}W#%)?#=!W0_NPaP1?uYZvVB{9SjczVd!r7UaVEauvS+&q??v;S8NH5T! zb)s+AfB;*rHIp$QuZCS6(wkTNw_v9D8Ti91VU{UKIAE4kHDbtvrJG>X@B?;|h1XPM zg`1lVfT`9_x3k23t)scQ5|^{KMjP0fNK<-^Z zpLaQ@O?X%Sn)b>gIm4U*U~L}n1s&$66Q3+WRz~8moSF*QO-nnNan_*%_}Z$LI9o)F zSUKS|zGnxrA)~TzsLh7&Wxc@Pj5`+vKT3XKzQ)@p*XpQ5(X^kb;BGWWdfnq42$jtJ z`1PL(`a7^A0r~1$>LN38ioUE4)?HvIFLTaperj)4M7)X4?3c=hrgm()Dj6ASkzuSV0?M}}s#eM} zlasvUE5+JL@vlnQ;UI5X#SPh(ONI_pcrzbX&=KO+)}bPBZvy?RXCRGi=zSoerpa(f zRXv_X(#(7&kdWPit=|kj9CItPeCw>ye9E|DBE2&);<`;lLH&QwZLW98c8%60Q`SC( z<+ivYi##8Wr0L}awpc?zO4}t?{(?H7C~sLeU(K7hY5LrNR{=B62_Y&D5N_@^eYRuP zbJ=hTY@5ot=9E%~kJZuE+O!<8hkvs+*3XbtIg|31F7`O%OYuGvO4NO|?`%u9h;@sQvZSLK^S$C{Ml* z6ioAQx7OFdk&gKK)ZoYqvQGhyJxAtVt9T*r3^$#H%aT9E8b#FsULLs=y_j}t=cinw z#*sn%DV_Nk_JB&7-Wi0xZO2Lg8gezR?1HnfKefOjgr#{l+G0o7)jH?aM%4vLZ9XJf zVoNuHe_=PhfGOtT+}{<;6$JJU5AzYAvrh>C711Pr?kJ?B)07F`uo(7F3dIOXi$ECS(2P1}-9Wcjij?h)Drcr6es{f7cmgF_xQ3F+d=d zNLpN^R@INy)UA~LT4vE9r6gZ)M8^!%NCZmt`WIlm_U;FNnPcrZa^xP-zQ{k|^5@u;rb#R3cp%A^E zAswJ_WY8}ncqEmQw_mE}FCNdu=<*t3;vE`o9aH{6|E&!}kb2zyL%4XHEhX=yGGRw7 z1pFH-aRDk-i?)|~p~Tm%xEKVKq5TduP=CdMb@vh>6A^|KTiWydJM3z_Sl}3I%5om_ zpi#KJ?ASC<@ybuWzw|>d3O2jTc@<+N$Zk*bOC8OcK>Hs`X_QH9AN?No zh4tQzG?zN2Fh=Q}%}2*Tuf{9lSJ1e_9TCg25r!{q@32GV2bDiGq{RpjRiYUAMK5Is z4dNr?JCS`Vo?G_lnPUD^4a8zq_o$9YJv&kgz4<`GvI%WG+FSmh@Rl}CbcaFvo#P+| z;&rZ)h{(G9l_&0{;q)=OOO7OaUp#yiVc>)dC4b@Lj*Fw2~2meT8RBs9UGf4cGM(7_jtc3;F4Hn_i-7pgHvKgj_laa0p(&JV# z%3M+^1PR`GIyKl~6&~*B&FrBM+ge`;iEV)H-ND!y-kQyLG=fYqYtG(S`w2B??1#It z(BtfD`9xMCnM{gR#{>-3tKvs}rr}VZ*20?gG5kF~d+_Q=e&*Cae|t*t!&tWC9mZHV z9fSlvGn!I=#(iI)ElSFvyR&dB(sAm6I>+chK-+)v3_-R{uZ(p!hx4%J0WV}}x8z%w zmr?|<_$#6IkFMBRj{m~n)PP$v@ip7_(O>kLSTrFb#+%GQTd#(fpYYo7wjTR)wg2jd zssE`~hYXM;hy0K!bArTSM4wcI=8}+;E1_%nrWHGz{eZdy3Jf$vd^N#jreT6ZZIi~% z_&TS3jyxb!)C3o;Q1~lZY`@d|cD$^>sz2{v#mQL{~PQNBeb?rTOU?Kf>ER@=ya_9SxF{X;-? z+d~qSS`_#M`V`HKwS@%^h~MZgc|$-~aon63V;Zt`)@K(%T=cjWqGBep})Dx|sf>8&Jy&Owj^1r!p{1ugPa zv+lIyq|pC|t9R_qtc$jGQ>i2s+qP}nM#Z*m-mz^~a>uq=v2CMb+jw*KZs)^(T3hQ6 ztTo&0WA@p{H9U`bU(uOz;%aEy{hjuMW1n!jsnGk0$Q(tZ#Iz69v(ki*gip*OYT?zWwkRSEt@v1uiPxrGsYWrrpqjiyYA%U$tN4&9{K4C>sJr#-{rs2)Uuwi45SX zf{@%m&{bZ>dBWw7uOz~5>MK8w#?5K!AKrCuAUuEp6fw*%zLzSer#=DRN_&?*Pgb5; z!V|K2i^zuh^pO%$A&0~ z6%)N7ES~WHn(DnHeV$T&o^*O1JpdGQaLty?iNucupuwCVZi&8TCf~E&f2-fV952-St?m}hmH<`^zpHH2E+E}34^pE@S-zcL?VdUWZLC}0tihcVEMAs;0&#!2o ze+o+~8FSchaZC%o7!BN+jb{GnjagGqY0in1EI5lW(Ahfii>k^sXPYuw$g@pARnXg? z1F>oBss%TKg%mcWXuK>$=`n7Yz2hj&(5X&`H>$zhN1>3i~&m-K~|9Zdi5{Q)){s>JxTBBCoG zVs=2ja9M98Rs6rNdWxr^&0ZkGdW!3De|cXG(z(9tKm}x5j~tx#cUKo4-1JBTi=ey8XQV?;Blt_Gj?a=hv-u+|GK6DF zs2c4&h(@}_YbcmKc)ACy$@gtm71s2uF3I(E9pz;>PBdGR`n%Vgc@BEH$UEYK9w;nu z3EA;MP)ws6C`kttEx|sv?xhV^#URW6g#^*QP!ZOh`BC--903B2<_pHIEvj1RGIRnr zT!a%MrV>Zd{LK+o$!c^J;MXtl*l*Znb2g{vSXtD=4-t(29U=by6Go@!pVSr3dylIs z=-s!cW0MxAX+K9mGyoZ_I?BRcnIU99yIu?eqwJ<32w=V-1cjwo$6yr(x_jK36DE=g z*plAfv8?E9oC3=Atdb@+?0VN2GM9)`$D8&KTf^b9EY5U_Ys`R(~7UKCX*qhI(JGM`Fr-}q9unEdtx zkjFH-t1@Xc1W|f8`;`ek)m3ay9v*vP9xJ&-hV+EQ-1FT;lHQAZl-%%4_XgA#%RL^b|(r|tpmldqk0OvVWV<} z8!_*=>ROqRO0&&&Q#_l{!n3K$vQvNOB@H&qx}0~!CB^38L9x|@x{>0x=b7Q++jui8 z*PD#7sYfQlBv%Fwg7ayEM@8kB1uM*R(wvW3OjS;-`!sRcOR`YZ_N|^z6~a!*zCn)V z(c+WeX^MqVw-LegF2B0tDHP`-e*OBtH-FbX+>iF(VN=#`{t?0dnvJ!R@BnN3IRn(; zFN8EzJLB)r$_lwNHHI!nXA~0?sf^@xVy!{F`}9~+bwgt%YK;D%0#Mw14@SVBV9eu> zGFB{`%>4Y3)6|zc{mGSp0N{s39+m`bi&1OfI@52(n1axDR`~+8!KK;)G2-e))SL9W9yA`$KiPIFUCE5 zERs;8VK*05caLq<(_di-VSP$G&DAg^qloObIYjCwxOY!FY;8pqy30(oT~q;Mg3;nS zPms>=uw~WbP3{aYGZgfajuq3jEEUV#d-Cep(IG_1;qDi81rdBA=qc&on@l%v$l0F*)&hU62CpD}fx3_~CKyQM-e^dbiPHF3_D7ycTIknm$|*w;X!|~s zzWOY>Z=o|313kn#0%D@jVdlY6ii-IUuh9-()Y-*Js>l=GN&wkI?Z0ffGj~uKP((~b zqT5USxyH#6by7syEYTCm2|!$F^XSH5jXNyzMLeLrTc4zqxa9>Z%w00HQhA};6J?Xs zN^;@@l~YqJ977mw^*r@^T=vb#!Om%9iQ-`!wWB*_A(G-Ix!t?|W-7;e)_*;4czZi6 zq~;$WAO=4{Ksf(*S>}$wB`L}f0~#t$)c%!st;*!{4?NV1y)G$3Mk+!!&+Lh8laI#B z>bUot6g=0U!U_|-{(LQvo|YA6QiJqOXE}PzxytH)fBpDJ;qPlRQ4o$n=Apr|C1b4j z;_0ioiuEwK zzKiW|z8VltXGSbU-|?6JJ|KX4SUZ2ToI9~N3*Nyuv6a%WDgBL)FrBFkK!GIm-UUFcfQ8K*WpK z9X;o*-uxUxFI0t7rc=~$NyS51)*+(^gi3SH5wFn2x<9jq8tOMDGJV*0w(XI#aM0=i zOWv#nHy1{`^k{NkU&QmRU;6wYZr2lQN0m60@vXO++oFK~pm^}4SN71qg9h5)Bo*@i z|G%ODQq(Msan#ZHjAgJj@rPrLD4L8h2AQg8SJ9zZ1vel%*_5nTd$k?smhiMuJdr&M zW5pxjOsV2ieW?^Flj}uRbu9`Ne|}8a8}YcC(XLj@t|NF|b(g$da=CjxO$vP74GDl` z4{np-I(;|G@qwZ&lO)@X#HSgGgpjR+Yoe+Gc=3e5xK``Ls6%!~bYcYuZ++;wy_^1_{tNO?vPD?l->&NdlM;`s=B^bgW3E!15^wCW2 zA?{ZnoLLrqZI84MzL7)fK^uZG^x+A-+UW@VGQ!-3`S<4ZEQZEF#mTL!F@Kk2Hd;3c zSgbcjrv=wqtB3U_u1S*?m+Fm(a{expRcNB_RGewj%ve-t?qHlxGNPdK=a(O{yr^rm z+ZK4?G}@HFZBf80_K#B=3XjG^14+`3%m^|vHA-{16B{0Ewlrw59*g=yEj-L7gij4w z>}N!eh31)aV4ySq1<62zqJ+>cu9e6E#?z_nE3qE~yE8e!^hX#@nyIV-EIXB1CYu7f zwa!!s)UM-8QDXh_x=T3^OkPbwa#?~B|K5P$Rea{0Z~y9$?M=>@?2B8LCv;Yq#N1u3 zZIym)Av;8@uIbT0V`o}ImJ)WBr$uAwf?`e0RZ=vsg@A6>cBN1Q91djEC-MUUtIygE zPxS9L@t#dKM+_%LuF}y!ip^z^qTStQxPsqv&O?P6EYh)o{0e0zl_|FKtJ0>ApK>2N zr>P{1t1hlO0m1|wj~Y2^IxLZXKEh-efsl8x-EJfW7$3rxEio~Da>iEkOqGc^kNyYZ zGKMb6tj5Rcff)UM+bH7>%2CdM6A@v;UERjJru?nN;v3>|!9fI6Q49BMDQA>9fQSDn z1~DPmVegCZsve6;(qKk(Ov6=|>eCN71o%J)4 z-fV3o+tzIm?a;Uxzx4{XA1${)uL4$ba%k?T6{^7UHB5qEggR=r?~@pSf!(iYZyDQ+ zaXjizhL7N21-4(%w$(G9U(GJUb3ved+9HH)(a@yMnp1SP;%gFRw2}64XYr0k&;-qK z+0|4E-S7tEJauYLx;iz9(c833TA%)Pdniw-MQLP*I~e_= z+a>ie=L!qk#-P3?fgcNCUze`oE5<}ldk_cPjZ~=M8E0IT`kznqA_j|0UA=2R^#<{F zY&%Os#c~Xr`Swz${@znh|J!)~O>Ypm*SX+79Czz#maWJ9#Ks9grmVAlT`X>RKE|===uOptS9j^I=;vc+Jsw_XeUDR% zbZp%&_)Wd8L3uWyN+g_i7qusG>NctpYtsYdC~qf7hs`kl4B8%H5cd$@n|L^^ z)l0xU#F9?2zIa78eu?v6gPgl)P zX!Y6ppb;muDjiF-MzJ`DV|a(syspUDyI$SRf;X4%N7u5{kFqhycs%0Lz`Znb>LQbe z57IGuK1HaJBmgD)6fCqh!f?4s2LB|}x`k=*x>oHPmYx|yj@LCw>j*OyrS|zX+t`8} zb4&s=kPvXuxT_>hWOZwL8>F;P{nwLFD0C9dMb*)#_%cGmZ-u1CmoUIQy|sb9CD^=R z$oB66uyrmuOBC*j@Sl@);;#`2K+4hnzU2LY?nV-k!P5ldte2aE6PKWPm+HMM>~DuF zH?v=L2gg)qf#ApXleR=xN+T z&qvk+aN72*=!KOygHh8j%mc(^)f7&-+rqcXn!CbeJ#%KS_P~HJFMV;wwj7(ws-3R& zOIsv)rR4^Rj3&!`6U-0IG?@t=ZIQEq`lw>%f6&#)qr)EzCd}L#LVIMvC^ZF^JXmt=74U61v%n6_Y9kZv z`lB>e)oebuw7rR}U*X@>LJG+}sbU_h5V69mw#_8Ay`+&PWHEY)_UE2m^b@vX zow4LA@*33jnXmr{=_BV!M9(+R&Lc_xHy2=2;xJxgXFRffht}XXLph{Q31f` zq4%K8KrMt9;xxIs=?1e=BS3yn$UO7JX#6!Iq2Gx_m2pZ44y^F&#QFQpDvd-aY$cy1 zU^jxz3^WZ`8c;Uk=k~RAvolL2=0@re{rUGNm%7P}(*=$%$3@VpK%W`B<+>mE_ z+b;Ow+0UBo_(P!-AoSOJR14VTIR;>S@bI(MY&mK=h^9}{l%i|MTMf-li`JvC-3JRT zrsYACUtNPk2M6#9fnw=K z-BX+;PbR@KUg0%IbSl`alP0SmVrmH*LpA_GlVqcshCOn*y1L7ExrrxHSP(cLa}Hl) zPL1+sdwb*~)p2zrxPZ)_v2U_~u*^X0N6Hx}92AMEmHd|3=ka`--{Au&6pcN_1F@8@ z!trxBtm+M@JY?f}HA~sSoDM)n4B9e4q=^#w*h4tWlv`ww+OBkDWWbi~m2Rd@`$1>R zC7R7QuA#t72IEfLOsoamtDxC-mG8`Q^L$ie4ceEl1MZ@2N^9tMWp8qya>AfQJ)yQ3 zd~9H6WR`}yBa9^)&a;NW&gyqmU9I{YOX)fyQsE{ea@tXQ5aU^SP#y5BHOTR-wqx+H zdH_{wQRv^E_7^X6BmAY&wkqxN(N1w<)^@T^L%d6g``rh#y54zFLYyBx5jTLOqq>Vj ziP&c}Iwh$ldZR(=+`-~Y>U7(j+Lc&2gh6+vWcMRhmGwq4IQ&gdJC`q*Im*yI&sO#@dJHUZyt}jf>uE2SB3Sy>AwbBo;I=m zU0=(ZL6Y^~xwDhWV71mvdapWuTU%Xd~goyO`Xn+=Em269Y|^Q;etzS|Md;u)|DhM?Xrd?7A*sy|2Q578HRv03a5mK z64)g}ezwJNm3i9Dz^45BM&c9n)Vx~&^z*_QLuPsVC(;kjdX2FX%zc_7J@aOO!gpg^ zDzk1u{3>Ye{NqCXX zPgFl#5tjDZz53PhQk46r1b@VWS4@_XQa@423F1)0d9SSKEyE=O2kf35)AvXg`iP`= zVXj!WeDPL4Fx`Qie77(>F1fh4*_!L9BeEqyVJy$k0s;ZOd9PGB$UX1u{t8mR#)ZUu z2H}g&x2k{u z{XcE6<$PrbwcpN!z^`vAGY`NVc)#{fS|%6F2NcZ`VYd((nixt_RTfPI9Cct0l)U@;=QA*x#T_QuG%KB)rGe!x_v7O7VR~D?=SLpsICtUSxgA5$!$bo? zu^>CS1t^@hX}yXU;ef+b>tBGS$0dj*mdyvY z%XQd#C55OCxr$h}7OJPNqh6vQVfS*sk?#uqVT$SJMTIl6Tt4M#3W^yYjoL1R&ROUuyQ{k;_$OSgC=*&v7axcNt#xZHxj2GGo3p541$mq4 zwV3y)=C@HxH(q(#@GOAcTJLL7lDV|$%eke#9X7r0CDBqgD>b*)r_IKJ_1H`Kq40@S zjg^aw`fW5N5AlPW?sNEdLt(+`zg6dBzbE2y(S9*8+S7~J7W*ET<4Xxu3|^TMraZ`H z%xD_?ki*K?Zr|wXqus@xH7(s5)u-mO#j395Ec*%w6NB{LbYVdI?&}ZxCd|Sq=KGWv z2ou8@2HK8^1+U`-joDl+QB~>J;MzP|HZ?aMKOj7 z2V)AOV~GP=2FTI9%Hh%l1i#$)Y3ac*_5z%5Y%wwR(9SOl?3`aw?_p5+Cgk%D zS}W>mxIp@CiMC zFjs*|jS;Gnjr?SjREAg;oXo-}1pmQ|VrBN551M6Xn+*; zCjiP3*4H1pm;HYl%n&xR#L+*9Rxu$F)e?=2BefA0>xn`e4{38QerlFv%Nvx;M5h*$ z=t|9px|9S>4Ky0ew?gI26nkH73XtSBPv313uhp>ZRS*X>!I8J7C;)Ne9ukmO$v5=iB{z29P2Z75(Cm~OeDEm8=2Xt@ z@%}dt4*~sm5CjG0hcd)(*7m&5Es>rtXRx^k|8Rc;kx%eZ9P^8D=c@-~?#@dRuMc(b zk;f-1LTwl|J|LeA3%5r9GvG` zl^h@^gpGl9pBSh)LDd>v6Ly^+9Qv_2+8b~g3+%o8>`nj%{7D!P1ms&AIA{pB9<{nD zTTff8-aHoCVy)irA)~uxu69HpF4F+VB9nGHBpbDl zyR7o)*PlPzSWIRUl^V1SU1u$=fOd=>0M0$hYT4X6JaXzAGODzR4OkG@Ty}`dm}3rO z9pCBl9&zh%8Z9XdgGn!CbTOP;Ql{`~%J!}?t4Uxx_a?I`otfKq#X*pYKi2A^plUBx z{w7HZ{{6!^azoc*zIU5lbi^vNZNE=dCk_M4Y=VWHD$2nPTHn6O&pI>tV>An#Mip8$ zA|DlPWIUY$g-%xn1|aD?GBy(uT~>thrx6lMQ`$r~i*`*&+}+$6e4T5HRUg8aN z8$hR}>omd6MH$@#>gM<>iL9QUSFjj22EVJW^*z45ZG{<2Un|UVtuQzBY;lEtvffo@ zfGSV(pNVZw9ISGm10fmfrgUDgX#xK;2NjIIDy1O&x{!0C4M0!u(m6<|sgB>PzzOH$ zUUf4v=W-s?v}C$#T}=ASSc}NH%lV?6u8^c#kw^wmD;V;pIG>Z4$Rm-+R0r6ZKfq4c zu{?4V(PUDSh^l$MuvZ@$xiUaZ%KCM+Mnuy&NKK^Gdu6k}aZ#+?p~4hypJ>r@YPQzm zfvJ3B>l23U4j4TQ5ME*@e=sVOvT${cO#Vw^TqtYO-~JvdxmIYq)JXD*sya{WqLR= z1^e}kA^S{*a_ZAg=2<&WYckg-vyo3+;)83Ik<^i6}@!SJqH1I|n5irlQ);S8pNm1Jwx`O+Z8UL3xSPQXrVYxi`v1A+6- z4Jg=Vk?}gPHPnr|k`N04YKVLxqR$8bwODubHY7ThXR4vIEPJLK^o8Ewr~S|_c=+CU zEPA#Z?2CQV%zNMs?Uoziorlp`9vm_;63_APkzgqrs?yC!-h2 z9TuXlp;4(L-V|RKZbm4M>BtJ4B&k?rBcbvrBF{YTbqSV!nhycVnHV^%4fn@DxlWYP zz_#uRcA)ixa&??L#QhW9qBm5(B9=b^^g|yXWbO8HicX;7WgOybnO0Az3O zW^YR2M@|^UIIo=JR-;AJO|5bt*>rKPJK)Fo_QB!caSW`&**b^owh6vUT(kZWT5uKo zl{(X!QK>2Oh0$Vw^e2$wUGYlB5Wl3X%RgGFvcnlLtc!U^fX$Bsg{Sz@jODRXLtI->jD zkIsa9BU|BkJ+TH^x1I>MAKZ9Em&Rgp_=x6+M37+|(?;WLly%pKTsC~Xae$7{L8o=x zW_2?)hO(J3ZsojWO=}&rjfwKRk>AfE!znMQNUMp9cPmV?_^llrTij7O_v^0s(gf4C z#Cc7m72T9A38$edO{v0l;iMr_YJ8J&`x;9`#P?bkW*jw~l+pFD1(KfqD$~2WD{ z$!3ah4&s|r)T(l@!{n$J+>5~cSW53Qi{^89R

                                                        )Vj{+QFSOpJjKw2GoG2CMX~`lm zJ91jY&_K&mScC)y`6O`jT4V$jWNC4T0*UI#Wr&*&1BNCBX4JD-7d zc7R|fj(H0&UNN=t-tcIP%loR$`EYAf008)eP!wMk1m)p&gA=Va7976&>y6~0iN}TK zi3c9)vG|~)X&i3mTmrk6uw93xhEr`$fZ%Pb-RRLFBUujE)$a5j3&A<3$Rii%_!(-{ zk0C#b)H&ZIqqa=9xc-x>l`QUEFU~v1|9s?W%9hAh$#A80;-Tp)x5fu0->O2j3@OVl z1}U`P=3jK~opPGD{0UwNSY-;{4>y18xzWG&WZBvOaAGgYGuY@rrTlq6=Q!I53ZfMT&>Ko=mzhP$br;sVnW97v7&-&#=Y$7XjNd$eU_tb;WMX51twD#kwfiG# z>Sk7YJhdGv9a4~*=|?952mzCX{NN!rDdTF)Y^+E!H8FmHsU_GKbqrf-1y#`iF5><& zK$EI>XCR`gkLGR>_x!QRQIEYksUPmsDR|GRk1I5e0YftIC>{>TRns7X8Iv){dBiDK z_RE&#DMR%*yAP$h;^#w(l;8V-uWaWK+qk!qoo$T!Wr6*bzW04bN4iCwPQGX5GiC^) zGi~{AExsJo)S&V0o1G^KS;zuL|1usRLrDVBY8QeF2V`WLq?Dw~VnU;e16QzlWJ4Jd z&Gsh1zM&bHTHSA2`uQ$Z?XTxwH$rJGzVh^l$d+Twnp{WczK>f+Ja2BdXWI&ZAJ^>N zN{rD@rapNFkas?<1qMId(P;PZDFpT_-k|56C3}ZQ?hT;E`O*iW3Df``*Abuu{1?K_ zzk)peMod4~k{joo0qBiIhA?1zlPxp0aDxPpb&ccE&pUf((wOLs+d5k;IT0Esi5-Qp zw3j2TGmV|vhmt#O=S^EP>T-nhcPw7=6K0~!jQr*waOIxV@H$L5|5&!dJZ}9lJ7`-4 zUtgmr-X+C?fEL$1b|?buXEYBoVn&#`HTu#iEmR5(KRT#LEiq}XI(*=`3``R>1-hNCTg(Ac5D18yjW8*mr_qiXslG%{p(Ny z9>bU+08FXmE;!E^97t4?7FU=>ZA+9BGO&c6t9EQHMjId66B-3D>8J}rH{BKMfS)%D zZAAJDQLzz^CjDa#1Rm~l(k`Oxi#J%5qe;`4$HMB3cx86WVE4sFhk+U12y&F?neyi6 znN0>3c@mdycQ@kjh$8b*e7@oRM9!qi;t9PZE2yFkeFvbacO**Zz%WQunq1Tu;5^CV zH*1)K^Y+`8d7uGEU_VMO%01xzQIj*$|C2$pC#3jCgBB-*o#bPV(jLvb4Fs_-qcqSC zEi?MnK^?iGV%S^U*rXd=mph9kZ+$zAe@jSmdm887u+?88%p1R^Z+Ce@nXNm zm#Nlbhv&U%o>QUG47Bju#&)I8QrqIxST%xd>2S?_dSNc>!LeMttW9z0F#WS&5?3H! zvfkaWE6D@sW)%WphxQ6EV={PRGa#qrWmusEoaFxXD-1y>V1)o@iDtTPM+0pQ9``4` z=_WjkSmPZvPxQo7w-T2jy(oFHqP>RghWl~>|2z*BO-imJtVOLMY(=F|uFkXmcwRsx z#g>3N#`I+{jFjJp9I99}v!*$;6aLAVRH4~pj_)_I3mhMI>px{sN+iafR!y<0!T zZW*&sV%$RQp4z2*ML8jnalLY$a^2fNR7&_9@Q+^YiI3kk?lFEwSZk*OQ3~AU+nv$= zxO4GHRKoxV>2b(s#)}ddHUQtHFbC5v3*c@(snC?$ZB9S>1pmJY8{eua&!k65N`vuW zTMSnWIMAbPm_Lt@r(vIbzJ+?CV#g0EgJLUu*vP2#2kA(^ed$+h(c{vwXOs$4G8uki z!u>YNP)nj zPbZ-ny}gSp=5)#zlSA$PL4UId^2IbY#N=0Il^-34L-uD3#wFkCi4+Tk7C0rKCszB$ z_C=3E6}P&FOt=5Qke>3B3B|?5b!pyH{!0EEtKeDpM8ln0xweqPqp?^rBv&bYW}Uj1 z7wtO9SUHyMT428aaM{c=tg`Rd_vkX;9fCJ8hR)~?&r(9oUO6bYuKNb|e?Mfy_TDSj zcP7OA+Z3cq0tVnEb&n$?RobBfc-e~x#grf^NjuR_iPIfQAy3e>eNIN9T(zUV&`!QtKgWstX2Y(s0n*B@uMRxAWdk_KD zNiBNJOONttX;OR$KLu$=8e&Agob8}a!AohFFsmG4fH~l}vnu0p8Ipkx=$^4jbP|v% z`Wm{=R`|}k4=s=;TOCbRyT`9Rx4U5zD5KiytA>+F1A#xUa%OM_KFV)u-K3RL&w>R; z7f$t)_r=f19DF;Bkmy@@?7NZMzvv)2)*}$K_F1YY%v5YafdPw_&5&}9HqGV@se|hd zHVc3KlpL+8@wB=A8Y0yYB#_`@T#f$6KUFboINKJ1YJn43w(Ijk9a z;ft?X#}ASa zx?eEfvFOuUr%kvsHVVhXvhQ-7yBm7eKjjaf0Dhm~f5)H6qis1U{`p}3$hH|~6tj?R7AI|yGvC0qNUxO{yqQvBTvP-+ ztS{qQpL1TF?e7GZsx`NkADq8vd+M$2&tr2e2nSGSRXhzL@0pPT3ee_KFF8qwv|t#B zDv#y{O&1TP0~Qgl*7)~D}gMn6GvNTy^T2@0d%9bJuF4#ba&~USKo~_EO9u7Cq0XybE=FhOpj;w=D8z)z-UQZh{-K)na$6D!$ z+6=)G0vyyD%$KPesJ8S)GP@SN;j$wtOGAw5wMk)ztxM;65^V6w+bE73ffe3+ILazM ze$4xBLjt=cr-u(7G^1-qmLd7QBVN|>aTu;71)BMUR{S-91Lk=xV4j)g`0q~Ot#TET zQfw+R=$nTtUSSTrx(BCnRC^t)7}gn6KcoFK$_(n2`I+raY%x~R9}d>s$o%;LCw)h* zlQW$Vb%hih_tsPf9IH)>&PXp}Jd&HQfP)#YDOxSdi$Z#>@(yup#XRbjI2=;n)jrFn zT45UKX5%nGbQZLoVN0N{(eW@m_|@{gio8 zY2VH20gYDXr*&5fR-REnT7AfOgy2R!xy+%{8NCEG>GPk?|FBvirf| zuQMZl4OZB8VoJ)+UGF+8z2$4(uhy2EvpjI6Ug}zY9q?8H#DUu-?`IMe z+>8UjAud|>-4x0@S}t`u)*vPat+-T*erAGBNEuSY-g!4vjcVTfYa+aiHK`HqLwUb}u4 z+@FvZNm+GD#^l@^q9S#Qeq{wSyrW}-;#%?m;AgfC$DohqrXY)gk~`Ubi=nD5QMXDsQ!IwuUGFR>b7BOsPgh{q{<4JG`D!OtKl z|8W!BX194L&Dh*>MQ_BqbVt`WI+YU#nCVEzMYQ9)j&^S#HsBQs6o1a*h~3+kAyXNdJro;GsrZ z#~mmfE;qzbk_RIo)K}l_Mfws!cJ<=(?CPPN#6L zNf1trlV+N3Nq;L*^wS)W@AK9q*~)L+k&OBR{lB{Uei2zy^gYt=;QOWg)>YCZhlyW+ zkZ2+3K1M{bFN>z8?^%%T;nqQVKuXBSK#K4SMeRAT#M50J4-f>h;#QYk*t;-dE>HB7L^EDUzf`6MpY=`P*UL(Rubr8uV0BW&o&ArX^L#L$UZ zngTWU%aH|k2O}9*EhpJk=D6H~3;E7aq)(M`8Q6~Kh(6Sl3JLG8bGr3CFbsA8{=nrC z{d25Sf6~|ggd#F#hN|Sh6Qc)7({9oLd2LQp?Y!SYog`|(%`-5>gyHDPQK-;DQrFw{ zm9D_^#0%o?!0BBWgM1+}rcag|B_9am>;~;T4FedWn`tg*vqK-})r{4qr;S<%zv4hjp*!YGV!pzRJ!Vu zb%8px<%Nq^r^fq~xRES*xEA<;gv>EX%u_hu-b6W?7DLO>DW;*B{h3%QWUb(bdX^6A zo&*$d&1njBT9x@bk(6wD_i38i(O)$-hhlrw*T>^n&HP-d=vvhSJSXcs+{A+Q`IVC+ zIFBVe9(}cL^r}1f)??ME)9ZyA%0^NwqUCMFgmjo$#rd(;`950IE?%O5>OjbU!iYqy zj=XS2xG1RLyE*(6t^ z@ykqEvu8;~ruSn02Y3GtS6iQgGDFPYuax#@OT}67o_BFC+*(CRSl0Z`>+lzdSKB$u z#3{YCpxG4)kNmo4_)dc3b0L;0IN>33#eQ-m0~HG*J(y8Rf;0yJcr8_??0|8r{1WcM z({;auH~A~lpXuwtp1h%;tJ0i{&wy+CXXR+pPs(+n%}4q|GGI&8Uu9bPN`t3AwSMbv z8m-9a{x%SDHt3VIVUSrZn-SchkDH@A=xd{JLYw4cB0>~My?A{mgw+J+9K^UyL;H=1*GU1nSW zpON0_yW>U4W(N>qmkHKcWm=;?~ z7Y(pyByFuM+h0S+^5R7jI!-q|wjP@-Z9G=_HquA%j0Q1ght!U)LSD>y>-Hi97EM0K z4C+*DZ*KAvTy%^z`1|mNjm-o3XWWVx1$8-mlIdWF%3J7Y9z`S`1_iUGlgk;SVC$_~ z|A=wG;&EUe8lPD2HC=B-z^ik3tRzMq*kp|>zjGkR7+n51(~t+Gtu_plw`#R#Z| z&Nk!lop(b!`oR)#v%LZ=(k%!+t=nxKPwoyDPlNFEZ<*a&E=2VFnW67>icjE*Bm^H& zrF3V0=Oz?|HA)m(vYN{_|C*%r6EaHs4cEo`NG!yYTM$*%Z-6tBV4HUm%PS8WPzb1v z_A8ko5I(X{)6?2Bj!GfMS&4!av1a!M;)4z{tng6g$JSe zQ9I*e`@@+?QR+x)PO{ryhRBPla#e9*PrY!$w;ZUpf<8A9QE1gTBA%439-sfhmRZZ`E~{a;_N|a3>ignoREOjODrKD8cc?zsRO?UUG3yU ziaw4DpaFfXgT-3rtp4Q?^shKt`&o1dWQp^ZxliMW(qY5!xTS{$yACU~&S$f{kS4WV zb#Y#6QL<*qnr(4o45!#nq6xb_h2%cb5c?4=6enrxdKoF!vjQ$HYt0~D?M$1ypUP0f zerc@TRh>?K6nScyt*ITT6{^t^otQU{s5wgjSfKl8H)K0EYS_3P&D&s>+tjKmj|r8p z6;nv8tByS`6tX2)6U&}zV1!+m%&*dN+fA@tkc*whgxGAuiDI|CZQ{xRl={^aSCnf? zVc3o{(zMBsCv!Z&Zx8g=XrU45h6%j7x&BfhZbNYoN)7or?ot!*gp1HDrD`$ANu8ww zh(?UouwHLjl$aVmpk%h`N$I@h@2gDm?xtYbW1_)#hON`vGLDaWC@xZ(3J=D;{3{D{ zftKAH9%z_-*g781om#wi;0?`w%{7bxExlqA?sZbO!{2Q(;vwE{ZkP2iY?d~`>%5X0 z=!}U{*=;C^i*K-6&T8FmsqdYCQpL*&Sa!m)J&-JyZY|C7pN+T~8ekQ%5YU7<2x~WU z_NfpQ(-d96r1!+Pyomn^=e~{TSEixk)37%KL&ULvYrHszfXr=UeEHmxL!aT^j-SCv zA8uGx61i|zl&C5e*C46GZu+n9P?Ue(S;w(LxDP3>Ue%%RZRQ4|7nLE%$ zy1L?^?8pCtx+3WNBD1^Y)I%z|q!yOLf(a4zEXg3?SGwrErmwP_TT>`NR(J>1=S|oM z_@dByyT<2Jh~#6B<8SsS?C^gAjIzsm2M<%egt8P^$*_kaICdXAFo4ZS6m-LsB}>-h z-B%3*La(r1lcsxppYZ}JS&2UaG?#t$B!bLO3(1Y$h)wJvPCJS_G4-bC+dpF>J}Y34gz}sJILz=HO8Px zqS_P17Kb8;S>Ys7{1Q@sP>ai4<#>KQd<5Z!4Ip7c2Z(0d;Wyhm}wQZf>&zsNu_1N9wwWWGf&7X_7rc0 z1}AJkQ4QDQidqkjnt3iG-0xRs^`jg8@8v-wb%mDPx9(jfc z;btTkGQ<2LpBI47%yyEO#JOiSRZC#(wOfeVVK#ZgEDaj+Ar5h}oItW)DX}Z*dV-o? z4bnYA2)a@pl>Gctk(~!IEExu`C3ySMW8<;c+=a)Osg3@#?)*d13~(U@DcLn}GeUuP zXwKzd&1&H%yP-2()7cMBfeox$A)cemgKcXxLWF2O^9VEO0W_x<<2++J(e z>NT_bboKP32*x91ngnCIh-uG5xO^Y?Y=*&e1-_bP5x{RV}q%huMyu= z9S$ryzPnR8*)89>nmo5pGFTlXeLb9h@V|O+>zV0zURnXZ5(OyAhtEPc#iYKHg=7milJG74$fCpW;_+}MDFa~xA1lxaS;sfn5W>Z@ zLurCN=|gY@iTgP`QL*N(jGEk^Zg(^bG&NH2k!j zM%78atMP6P;N-e+;=#BjE$x}ZDqv}1wPAywxda5M+vzpJtW%VxSSe|L7OZF*N%HoI z=M$_Vyos>4>QJ9pu4-R<0VjNV6GGd!p?(<=Up%a5WJinsLM|Mgs4Z(N<;IENfZk#$ zCPD$dj<~@eovT2s0ix?RmpBOEuWT*@2(6LK*@aJ!Km80T;HQg*UYQcuKED7}CR#mQ zZ2^b&vdOk;zPG+j2_dC>H`<>lruC-9hK}J8g!bpMoSzKwHClgoKWjQXrZs!uX$@X%GqB1@v}AuAkc@% zWnk&+syad?fmce~9&{?Y$+>YJ|K5&0-3U;uDZ8BeGJy_~I5v8@jkADnLtVfJv^QJ| zw>5!rEUjwFlF~{ipJL1}p4qg(BIGrQV(Fa)GUl7RZxrj#!rV@}Ztnfvji#fM?%kEu zCb3W4S#?|jN<-O z+)6DW*}LzT3OC=3RAA4XV=jXFZcZpjWM(@^%>IOqW7XZPa2m1(p5whBuYMzKp+42W z;r}|X?7&0oq}GTt;EF9JR8Ch}P>j_TyZ(uL&f`)fe`vH}XOEcML2MWUfU~-3N4tI< z;X*r58dK5C{wbr#TR)m1J|h*gBMf-PjWA-?8NJW$PENiLUC6FTPQU8`*@EZlm1n<^ ztYLUGoATPMl7ctG{X4fOeNZAUlzac z9A@zQQ2aoOf>p^iQB869RDWG;L77darNuH8-d2k#_T}bL@bW8RCQ%BfVmnC2g^@$W z>P5D_EA;zAyY=Cgn(-B6cA@|<4)3hjnG1Kpw!{8)81-ye2x&Qm;M7Zy@3$%+ff$;Q zvo609$=Lp5zZ!#OosmuFe9_2qo^cL#)VtpoI%})R&relTgY;Ya7DJ5Xmd>r-s4o01 zG69^$>o523Q^KDA1IfZYzw;D)?oE)n@Jr1gTq|n+5?+ETbslBnn^D~70(+)?={|LMCf{%W|8w;!UrGN0ngmOg@Yp~XfRElTjF{v zzD^7l`wmET{6QJj|A}yDHyR#UvB(UwWH(htdUsg{dVniXCOOmwo{0ZS_Po>$h4KSH zRJt>m-U+*D4}UqzLj}kZSEQ5O+x4*#gNl(}-ly+!qwUqL zGc7li)+SF@o`{E1bx-66edAPt6WaXRfH!E>-!P0>l0!RLWp#pn`WZg*j@CbrHL*?5 z5OlrbC~-Sl%FWRt)Di}*8{Yh?uq4PO(rh;r9U&xaR?s`4 zFm~4cLa^?tY5e-=)D`l>xMuQojUnZjKP|oQ_!Z{j601EPhfa#I#7Dbls#SlEaEs&M zVI3+a?LGRq&VM@bQPgN-P2N_PKq;yrD5(2=-wbTLQTc)1{WH$}1vH^W#u;A&buGn& zC-7ZU?(z~w{DmaY+dyHL8gCVkH^;p%(^Yx-2yGnM0N;;^qcvkm6T>mOx2%P+$~8O;7&;sD%#6LnS-fDN+#V(UVu9W^Dh zI@umYjOlJ9kr4ux3lWd-4oP}AxLb$){t1S1pR6SS-y1)^_3*9yiwWtvep<3>Vr&r(*{0;q2Gk4O zIIsUlY^W-Ra`5EpD-iO9bc)vyDWv;f5mw5Eu7g0~O{~M+!lM{w=pddygh=wuX7l7bIoOG$%j^vo z|Ks|Lyq+F^sPv(vIA~}7q){3fdRjMKDMX&7wV0$Rr{w)~^Vw{s8Rw6H7W^=y$6GmO z1GO6OO%8&XGO_fA&n_!mK!dQhObVi*umiUZM*DTm`ZLZf{Y9HpR;ZpaiUg`C=M~IU zkGz7U3%CS5(+G_m{zHypWG&q(6t(U>BJP~*8osPe!~JBTZEtx_rtO&-2kcy`Q$LmEm+8>;p>K(cXj@k5UT>VbR; z)c4CB@7q5-fA=59V2E2qOW|kTf!lJvB0e$>_)5VqPZG($lsi>D#5QtWS{wOrPxq{c z@k?1XjeX$2Ngw}Cql}7YY9w_%X^w)MqmlqNEI~7E1J*U0oi&~f3WpKDH9`*d(pWG~ zBJ9^&YJ|xX<*RwR5YP*XfZDqy*yId<0D&;4Zu1pp{?*!HtrSshJl9jtwFjrVluj^A zp2gDa9I)hfyAbb(nWF^)U8?Yu*0 zQq6vt(OmLX21iL|Ai|&(FBLx9PZ$QUpv<#IKh8W2_WPX2e^GF#L(2(Qg57rz79Yp|mFvn)5GIga z0yC;QujT745LOskD*e+<>eBQow=B~6fh5QNUFCtgWpsR2_eV;rYGGr*it3;aWYa#E z+$_5pr%7kD_G|<~-!sD6C6dk?=-O+^iI)j8jrNN6#fsfcR{52wsi|2e5~1O)WUP*# zMweGkHjUdQ?#?x~tjtLTGbNIw^XRaLzEBm(*`Bu{7zJd65Ca4avLWybne#O6z&_V| z95O#=yj`U?omrizMn-k+Aj%1o2w&@{IRf1osEeFMc#LBhAp&NK{U7J~wXyVPc^K4{!n$ibA9u*Q;LO!@*~KzOwkg`eA4?r7 zNjDrAxHQIkOVLdih}(z6w+d^0q*Lw@#fsvw=?&r6+~+BHrM@UyQ=WKnV-}{zF<|`q zJ;x>y!CTEi>0D$Gz51^OwREa)lO14ht^{|+JfOf-dQf^In7rCfX+as=|8jXwg&$Ch z*d2hpg&55K0X+(yd5%%1*DP!>-kh_s*hXdp0~jU}!s7pqB67F!_i(vU>~S-SA~zkg z!OVo;w9BQ?@tyzc&tFIZ63J9%tP}-#Jx{C*pA>^2H2NWB$#EqZWu#pMVrj@Vd3`ko z)i7+xmkGSN<$)V_JOoKF=JBGm0&uVc)s@yn0@X*|yWMjSOt;9IIqmirr!`|2qjZl~ z^6_LHJ_lKG2JV?s?O&ebCf;k=Za7Y)UV6cjrB=pmC==EA8xwrqV%O;Bc6$ye^Q!L1 z-BmO?oW&pXHdZOr0?%XmrI|Vlxz^6994F2jc$mdq5H1)qAqa@c7fx#Ty=YY!@}dz?wD z-gm30{gEKu71kG41ixq~m=ZhW&tbI&KB)bp2JM$577fK zHp#|3qYJ;GeM}{9WA}+V;0tLvN3KvhX$xpoJ9n%`I+k|n@UWNX4Rv+Ss3w&me~Tl# zhw{4T7;OizOX;+^<2?lBRDBb+7Gw{HOV3{wB(_cBBZPtlCP%g9(my2CjI zBL31m$fU67H`94LAWz~-iYynd^6`@t?>$shOCP4tRoZh3m?=V+hG~&eRGDI@RbAvg zy_+ZGofrWT_88{KC2o#X~0hqKSOC*Xt+|#Jj*j`Hbn{%mox%^!b z_KK{7ESQv}Bs4!%nz=KJa)7@fBV{e}5z!A&3(fKb;a5J-krfaT%GrUplhL^Ii+DQw z_4RlcFMwiE47(1ae?&513PMBdM%&t41Pk$J7iu54@BqvyL&u~P9$dqDT$tr((Ux-m z5jc+_+4h6?bVDu$BXzo_TJ|TJ3A^>WruLiqQ%w`+)JL-nvxyPS&wI4og?XdpY31b^ zsIX!W26-w57X-zk+R|L%!@1*n&qIUnn&E#aJpq;}oG1!E zp74IwD{|dT&um4PdsZ-uSMQ#T?!?eCqyf&4Lu`a>J(*pHhv@}-_(+$(#%FbWT_`vm zs~xv1zMXXWHq2lGI|LyRQgr(8fmXzDPUk`P-n0K#cz^rVmJ~D7c81nnj>E3SY-Gc$ZIc4?Qu5(hPIkL^BSBq7J=h+{I?I0 zOGE>wJJ;i*tURmYeAn^svbjVpir>R} zWTAwNq!tdiDt2<$L$?Kqfu=7fr+t4+Ob#RJARY8AO*%@U`9jEX~WhPeU9YOOGSu1E;#&NZQ352$no2V)0`%GU^b- z&yaRJ`lCjQMhnzz_~30cnGQ5&>TPG5=taAxUn`|=GQ$(GjueO0-koM*iMSMnjfeni zulWz#(pg;TzXF+#?!&b@$xf|WXA+`wg&jfEz3($jKUj%*K*}%xIiw zasb>c6R6R06N8GcGyBFrjE~P})Rztn8$m8{xv?0188F(~bU%MgJ{`3w^g%nVIhJ_- zNqb}h=yKU-3M)VbF?E(P%n+fB)M9QaqS}>ePA$&g*nebIoMBN=(kgIQWwB1fVJhXK zvkT6TmR*OnM$mC;skXeCG{p`tsOwkHN9?g*+ zI8dZiwNhHJDv2ycWz5{kw*bMN{0gcko#jSN#Qe;%M!*C&+w!r$k9mlOvWz5f zh;wYfYOmQ-zoZA&{I*(>l$!cdB050gi=%ud9IJc$7aMW{nuH{U;+XOmNe0i9+e*l_ zY-SR%H38zd9rjJzb^y=EfsbFL$O!Gn!y*h&LDFWbt)Ug%7V4+=QYRD^SeUw^hU1Wu zhrZZ^KZ*5&6gdivsDI-98N;#^b!tckyRs+D|4kraK?xb;KyxIV0(#vKRkNyQbniow z(WSAHs5Rt2OW$!PE9mIEk6ord*7lBNr5Sd9D2$u~>$kIYuhr1vR^QBmE3>j5x*yyu zdVGC;WAu`1y55;ehBM=#c!6D5eRAwDG0dw?VR^AGzhE#yzr{dc(^&a7)Bv_=??Mk* zoNJ>gw>j<}$oRW$)rFQr{|90J8csLUK5s=BoO^G=8Xv0NOm%qo1vkU?T>Z7g$uDHd zB{!y?y@>a9@GY7@UP{;QhPq8NP)4{Bd?+{l*3L7op(bVwj4CGcxe6mPrw?qx_dce_ zIc8bF>0C}@SGo>ISEf)tGxr|elSiThJpHA4?{B3(0N2!ouw%892Au>iQicV5!Zj%v zJuDG5P@*wfkLyYrlCygZjYnURG7Ea_c?>YX5x(!hPYZ~4BQJE@-Vf(Q>aw*yOg$!c z8_r+lwK}}KMgszq1F0BoJSXecK&BGVnoB5*JayvFgJ<0sSVHIx`^AAOX87|xKPmv+JNm+pu_LFAz<0U5@0G|Wxa5BbAGF0`lJ;UMNra>d zD42@PcZ6L%+~dH0uk!Ye9wvw%(V^-TW%qwHRDbishxdd!1 z^5J0c;1ex%5yVhqD#(vo1g#BhGtbsBA1-gYOa7)Y@|_!m`wj7%cE61&YwNve=GSAX zo*y|^*&A}EnK=U8NED;r|9J*< zx%6GFG zrm)1ekyzdn6b$PgBFEKXj$&tpQWs=DYPsf3TC;auDz{!SW3E_dA=+EBUf^t`M z33Q`Gd<}JStJaK1UdwY*cE0|y<-gG~jUR$txLkLPnm!*qY?kwM^OyuJ>F3P^LFcKJse&Uxcjh?bdM0#RXZWM_74Q_H3V#!#0lhXrewf z7@yz-I0Azy!kOx)F5d!fVu_)+MO^r0sIXUAs3Dra1dPcl$3@cHVkMz!5oES&jQNKD z`bjvYE8m#-0W)*8Ba{mrt7czO-WM+`n`W~^eI?4YyOv=?maZtIp_uMU2`R6UtJHJ~ zJ5ANQA1X`_kA4#xK`R3vl74B+{EgWQ4?Hzj?x#9}s`djzTy+2PPSf~= zwQ)wRe4j?zZ2PN%gJ`cbvAM0{tnQCfuE6Ugwfv)YUh@*wb=J)h=K=OdNkv0ln|UrT zQfT17wi@W;8Ss-xOHSJTfWnOHdC!5MDAGva=~IrxKnKf2w0*rQyKVfULdgo<`D*g6 zH^Xph%c!$b@qG2PjLSLHx&X?eT?QMqjqgXrwXD=WC0osJOTcu)ALlZ_{_$n#EE#S! z+ftY?CCE~nYJMCZhfNNz`!Nc>eP1bJp%b9Fi<%VP9)Ek{Y(atA2s&(G`T|?Lp2}=i z?(19%*1znu=2QKd~DCKd< zgYW%dHcsRS#Dd_&zCg#1K5&BhY-t6Bm2uWntnjFJ(lDNt*^4^h%^N!4Er;C;>=%H6 zL6mEh>K}YV=!HeG^5&?z^R;}3==dkp5oY5#0($m>`i-1qhK!sz$f9zG+VWjf1uf}z zSDN@S;vyV`YYl}^JYl9y-+wrQEY4gLKbRuBe&Daug)(|?UinSucHHS3sW7jOLiv{T zki>7vpgfNcjUV{*$#d7pn%vRX#gnsv-o52)(T|btH(zQ>JX2Dr=Yw|xY;v$E{V*nC zEJp6hn$g^T_KnP_yL>hna^#!k3u6eJW{Y{`|3M$hc|*@hYC$9c_lqp*D;9|4sAqy8 zyOf!QO(#2V3b`h{N#xJY(o8pN5f>Az2SxWE&O`_Z2WLwb&_)3z(ArpkDDh1;GlR$5 zyV-oLLCDy47wUT|TXWr^nlJ=`9CvDcBHE<3cakK@Ohg7oGp|@{KSmsSoG}(;pm8{K zP@5T2;F>~fKj!Eq=IT^~$y%^b01BBc#K?&M>vq=MxgvR$QLk0`<`1^Yls@x>9s2x-7VN`QxTB+C2ET7Zy=hO2#1{j=~moOiX z)Aw*HW95c(o;Bz$KOPD;wQ7Q>164>P)9cN5jRoz8VfHmWsKn-^)yQ$9zOqDLo*)hf zMOw*&+=9j?f}9$KF?lF%l*wHqGZZLk>)IB6P2`$whuSxh4i?M0Se+AZ2h zvChlBlbdR`nw-pBF*6;1=Oz%$#$mdn5cCogIkm~Ur5D8ZWu@wi(N=3yeT~V`GMC%; zAT4~=8L}Z})um!c{}Nl{)}}@mb$Y&L;;$eT6}`0*AsK?A`EsHlgW@q8#3rer z$V+@C{lvER-ZuhN$@MRG?|x`Wm|iSh)EnEZR@ozjR}yb%hLV?7pT9^X^YP=ON_lXH zxMx(ybwH0lu`T-!dpVg;a^euPeP6j%7Hnm*1m1YgD z1`aqmm4yw>8Zi*lhq;DFv{{?RuG8jfQ?C2GdOpBEI0i*07U2jFG{-`mSeZaKJ3cg-Hgg z8qV=`SfDyiYh+s@hr1~2Bx18EMP9SK&+^Oqt}u70jbuX+I=T-lQ>p5Vycwm3ycs}* zvRNg$(|7T)JdkM`VOXFwmYON-Yn1gjpH?MhLF{wXq`t3g#R}_f!LH?DE&9Nzgq2tu zx3X3Nt~GmUZFhXk#BwqNXEqF~=WFChgaOvFhWUgLS0wuIO}4IUbs__?)#|EE*WG@m z!?5$@R?TpSXJ+rZ(rd<^)!azFWNP0I1cojyU2KGr8a4`@SQ=v z8wpv5pT+I_F2XkHTL^B6spy|KVTT&XS|&VnwA*@%qhj&cr`-%DIlXFv7Q%IKQ3Pp{ zZLXB3a>6#LJZNHF>o^*=Y~3KioPP4VYw`Hv-82to>8g0qFh1Dq9F#!%D3s1%Agfu6 zK1%?Z&w-(MH_L;Sb6z0NAzavI-cT;2jW~(&?okFw9?4h)KhZmsUj_QMqrtc64;l8v zbMg2RH+!Fkj7JCPhlblsbHI$%ufm$p)>P>ARYLd{2y0!z9-k^Z&8FGrmS$B%wN+xkIaVrR7 z#85?fgkcg7anM_;6FlP9tQ?eu3DU<~-*Tj&s`Qnb$TG%B_6rR$%}JBvM=8(M#2JSi z4T>=hF%b*aQavP*MTYqb&k(5&MjFl!M0z}UG#f9k0CSMxLX@s0^Ed<2=_sE(e(_(jNYBA~>R&5fe(|54w?b(dvJy>GPhzs`rm!qH|-=MRJGsX|70fWK8r; z#z|>S4klXidE2`*=FOEz5JbRSM01`svhN<=XeklTF*O8s`si&&E)^zuuVA`|ARcpK zakr;mrwQsA^w`9>a;qsecRNf1h6VV)V+DZ+wakvi;B|4(*^<+8M^>rcH`9^=t46IUBV8HQw$|L7HKhJo@H&`S3;fK=MrQm(guWU{;2^wp@jbJTTH?Z1Esp>A}-iQjq z=&^lQ5qNJ!AlF6RUq)cf#^Gz$$g?W{!+?^9@-S8wRQk3iI%>tWUy#0*=`B>IVsi{0Bzn{BLvhF>4_&xZXgjN)CQ z%nOfSHW^8&W^k^_|IAfdXAGZ2syz8HP*qHi? zz#ti1QH@@`x;i|NjW4%323-_RHSR3r%VFE-o=}RsCCEBz$hA`9`wf3FHqrHysw*gO za8Zbs{3oaCm8ic+=?_{(pFl>+%Aa(NP~F0lqXiwqbUMP8QgQ;Fhod!1jIvV&os|uw zRM_ge+RM?-68hWGh)YUUKjB`w$~R;CfdL}c%o=?PpW7?v^gvq4W%`=0?~mr`-&Eak zR?afW-K2_hF?E(a?Q+ir-u8qUOPP~uY8t!I7Q*M{Fiw{fr))PpY%R=L6l+%QEV+gg1V|e}Zb>hrG)t(E3ENV2ovI$3ZfTD;SG(v$7gx1l%X@ zlpBAjL&+LpAOi|bxTkK6503W3nOxIPEV!3CmpgnI~+iB6xrxtB>)#_ z0EA*xma`?NkbP3xS6vA`vV!1lfatD~rfmKn;{-o9P3iu0*%7o7R@U_D(kGAZU32rbMIxP__h@=Yt>S)VLkXNMiHA#UBk zloG2nKBJkEXQ1xFY*4k$I12RFy;PFAWKEzMlQ^}cdJ6VrT(^CL0OE3MmIkz;MW00b zGnQVZE_%~5c`RbS0K&n~Rh*P>b2>kj1>KM~x@@_2Dt1G*m?k%+ zyDqfjBl@R|7##gMPgBo=7C19rXM;Am*H^uCu_jue99-C>dx74 zF5Hf$Ut>6-$6mQ3>qq)cvy@h6L;QrCwdB?_zc@=GtlGLAgYA-ef;-ptrN0uy?@aP` zev4E`HXI*SJxLz%L||QzBcN)mBehA-6FssFIc)+FIP6MN%ZrXPLYFg2hU}zlylG(UV`xCGl@;)(6S&FT3|l#*>Ljb(Q}D|1^e9VN zrJ(cSyPz6(8j*^apJ9jdQ0>Uu$BWrUV?|+c<^nVM1f?;ya}}>m0Ir=#2gIafJM<&c zB7-v#m(2_vfp>D9!^+bjyc-_R93Aw8vKxlm<4>uZ(LCDxUgbAGJV83gO%0NVS=D2; zYMC!gY*X92SG<-JCrV?FKHh5PD=7G0fF?!vt`d`)6yqKf-9XPy$fs{GC|t{rcF`yB zxR~N-`)1@vD)L{iUF9#G_{Xw_5CP^>rc{g^9wDJ4VAgg&d>8EXvoov)wOqg9?Gb-- zkxT-1A|k=)aihRm$HU47VO!bSEY_`xtj}F#=c0x%1J*yn5Z&+`REjnwp5uB39@`ut z1}d?6XZ=OC_i`Q7<~-n8dJdUhl?EFp=iFjff6>$-h}_Kf@VHOzt!a>^Mpr}H;}Bp1c|f&QFdJq8}B zCg+o*&v}bj){#w+(1-#)^*MNfmZXAhN+zF89^bnQ!nj=PRRl=gwo);VXp?8Z%##0t zS3$Co!ca1)&>peW$IElXYmBeYn-QKC?(0_0+G9590cCfrK6tv`y6>@1$6EsVo*7nw z!QUy?jKxdhSqZ$&YJ0=ObWHM9kyYx; zv_*+nEy>KvR%->e)@wXa2npCp#?IQ^eY*lXkHdNS+1csGewLJS%dKou$CH~6(|&mm z+sDitPa|C-Zv?&XUYLX2)9G(99*u#^WRcPIRq#R6h3}c0qdq~q#aXnGV702pgIXDx z8R&DhZp5G!SShRqX};f(GgmyS3mNuLm~F7-`<5uyzxQ;&p4r*X}Er{6KN~RodEFv8RVfIMoTvVRH$k zVBly@87ryC=*(yN4kaM~B2J(GF@Shx!G4-;kH;k5H+EJ=G0pzvcpeJ1_qy1+1a3Yx zcbpIkX>GC>)ULs*x_>mElq;uT;XF*|wRcUMNOYU3!s^^yM6XUNY`V(nRjj-3ln>ni zej8ttP6;H8nP@JF*E!w8yr}?MRrY2~Vng3`D^xPoiBn|g50hxjlGL*Dnh>S>Gut3P zOw+^1WYLLx&Rmy9%N-+sr@N6Cb)DCrZES2$!LZTNId+_;2oasiK>XTyFo_^3>f4b# zueGq%=<$Pu<$FL^I-Te0^0x&|F1f{K&-(oQYW~F(U%Jf!l6#5=4<%(_kLmC-Uao15 z3@y%%<_$5-fT7naZsDlLDz{w8Hs;mO;@_Xl_W?eo~SAF?*>|!W8LAr>4*R*o*i=E=1(J ziO=ub-y;1>*-pCrwO=eCz48}UMq|Kr)G?+6bN6;!*UzB~gsA(7K!mOLr>%zCX3;h$ zBX5~-fM0~$@lb@Qy8%IP+_`Z&somu8%h&IGl?U`Z^#(j{giv-y(69$DkJ((BgoHU? z&_z^lOq=^HmNi~J4k+Dlz`$+Y@M3?br!-w+A(hg44a01w?^Qcyt_$JH?gtV2$7yui zH>cwv`i`ZC8GTCw0P%zfOIfQ;kdHZE5VbV)7g*yP3H@Vt9KUMG!`(~k&ZKtodwcac zdaa&5Vt+rSzZ-NeC6*&NCh+^*Gm2ySQXTfawQ?6WckUXsW;sc30MJq7&YY6W?x$*< z6*EklX3D3g`Bmem@|bdr%yf>mGs8n&1r%RfImte1;@7x3OW=fBSsUWQudk~rCFQz} zBwi8O8{zv+-FG?*s`vi2}IY-AXLpc(^t>G?Wy z+T=$eNaBLHUP9g1bUlOLD`!svJZ1?4w<1BqHZ)q*FWo?gqQ&W%n;hg{qHkEMp#hfSq(?i=%;{BOYR#|6wvt zcolcVTY{DRKvt(X{X(BaPp$rT)hp!s#Y%l{a0xj3YJ_>JEHEaNP1BjAoxQsTSaX7@2iK-rUixZkHyzP5pm&Tvl= zKe!yTm%fVLa!^V^z&G_H_RuYtu@e%n@9>&cFGXLz1C_S>#aAX| zR$0E6;F(aO7vMQ9n`9ZYAiT6;@Bsk$_^^qf#N<#5fEJkJp{hu=Q@ENxUb%c zGWFd9H91u+D-v}}v263DYTo0wHn+by{BCkqT&MhExr*Ls<`pNwA5Zec5Eqv?rpQl; zdN(ndl6^AN_~;21BDrH_wcV8?D{3V!Uz$l=1Q8=ImC7^#-rPPia=8Pv~ z%PXw&K5Aem-~bCg%5Z&?Z!KyXq5WD>9=7&4(cRR$f2x}L1HRg3cpFjHe5NIwewFkW zO?NF*{G!_!WaicgKAviyO6^SCq4ebax-_XfhsTZgbm;q)qlwLoGcvsJhc5S{Dy7mg zKx9_Z>MTmpPggE6%Y4sKKKI5(*4L?D=nYjgzCzNI zpAd;#b4w4yqQ)riI5Ar@`k3UYob20$PN)x zncSqsuJd~sHoAex+mZ}Sj_6%N1jGB%TgW103d{t;?0Ks`J9m9Te8q9mH#GQa!)2jC zwJ5uV)huz51cZIiEP;U83cYDe#{QZjr0Mk#v@}3cQH1z8S%BUeSIC>%Gj0+2izXhR zNM%2@EWgZ=TaG`$Y=o{2cq3=e%A@`vwM!#`c>|@aKM!Hd{TtvEgefDA=8fZ;Q)l1^ zXlA0bIr*qKKs$_$oa1W1tzgdzV!U~re@1+$r=@_H0&3Y^9x-i9IMgxaS}wb9_W(c* zU_q&HutwCEd=Yt?qhGoMcOSP7L`&r=;y*0RG}A9#{+s8-E_@!xXa86=Q+9qF=IP86WFw5y-bJ?eBSDkdvB;p0d2v;$;oCy} zUBLcFtPy?CA}{%x7lP__WX$h>)sN`A4~zMN^Er{g)G_@3Kfs#SEen~6-?-oH`VJa# zhF1ur*Q@tVxv{19`5pEW2LzaT1`huF4Hpp>_y7#>2P8TG03Gx*AP6?z%n5jdQv@IoH{m;3)>03A@dX0Zwde&Wu+vH(nA@IM>jJ5b^<4oK-8A*f;q z9bl#M=2r;*bsqeo_y+~vvx5B#IE?@gN*u%oEKj$8AOb(f^5B#j&Od;1aDM~c;0Qp^ zgXjRPGX<_?^Iz7Lnb7{zM1bRm-Jho5_ZI|o2ng~&4s>Jr z3#d3k3cxYYWugSjFW53bK)nA0gwOLAD0hSy@TV5)|DwF*{sPrWBmZ?lf2vddFOXXC zFW`T*D)B*vqv(J?B@h1>%&z=@U<$zBa!z1>VEtbVM2yy7ATM=d5c(L{asF0C`S*XB zq5l_9M~4t(0|x#nI`O|Ila2lYR*i{3o?C$~#*`rCtUQs0Ama4Fed;RSy6&&#?b-);k=XrKT&dEYkyj5b_50513*R- zG=M+&9RIK;?+gYp{AKAM7Q_E0Km3EMasll+(EfF;e=u16g8=W{di`~}Yj-#>sTCgJ zZ-OZB-~8tVY`nnnlw zQ)KjStGh{mgLC7+cV-41@J9{DAC`|&{sz~~Py_zXg#SyX^?#A~>3;)r<6uEG$ryiG z{yXa$>|%fR89y@rI3OVd78E**3-~9u_22Ej%K77fZ?n{ZKhg^Sw>1#k`G12Y=Ewkl z;Z{&|2RX=m9vATM`PM(y z7J9)T=D!^J-y_mLpoam_&Aj}7M maxPower) { - maxPower= calculatedSpeed; - } - } - for(int i = 0; i < modules.length; i++) { - modules[i].setPower(moduleSpeeds[i] / maxPower); - } - } -} From 1a3b9db6747421df7d3e3106c33b44018b075236 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Tue, 3 Sep 2019 00:03:36 -0400 Subject: [PATCH 45/54] Updated Gradle Version Updated gradle to 4.8.1 to be compatible with the latest JDK --- .idea/compiler.xml | 6 +- .idea/modules.xml | 7 +- .idea/modules/Alloy_main.iml | 25 ---- .idea/modules/Alloy_test.iml | 29 ---- gradle/wrapper/gradle-wrapper.jar | Bin 54333 -> 54417 bytes gradle/wrapper/gradle-wrapper.properties | 3 +- gradlew.bat | 168 +++++++++++------------ 7 files changed, 91 insertions(+), 147 deletions(-) delete mode 100644 .idea/modules/Alloy_main.iml delete mode 100644 .idea/modules/Alloy_test.iml diff --git a/.idea/compiler.xml b/.idea/compiler.xml index 0434dea..4160696 100644 --- a/.idea/compiler.xml +++ b/.idea/compiler.xml @@ -2,10 +2,8 @@ - - - - + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml index 7f3aa01..74c6b84 100644 --- a/.idea/modules.xml +++ b/.idea/modules.xml @@ -2,9 +2,10 @@ - - - + + + + \ No newline at end of file diff --git a/.idea/modules/Alloy_main.iml b/.idea/modules/Alloy_main.iml deleted file mode 100644 index b41b665..0000000 --- a/.idea/modules/Alloy_main.iml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/.idea/modules/Alloy_test.iml b/.idea/modules/Alloy_test.iml deleted file mode 100644 index eb30f79..0000000 --- a/.idea/modules/Alloy_test.iml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index 99340b4ad18d3c7e764794d300ffd35017036793..758de960ec7947253b058ff79c88ce51f3abe08a 100644 GIT binary patch delta 7444 zcmY+JWl$Sjv&TcAxR&A$#oaA9MM|;aUZ6;TK=B3(F2xB>ahD|9iDhk|03axFmpo03sZ*s+C^07}_42kW6;oieZ-h=0~?FKJT9sBRk zQM7OJaOs@;BhEJT{m|%AcC7jRO#9;d&awOi;*|Rr#H5*#)|6xYXZz&R#JzUbH>T8P zH|=jgJU==KcVXxyLZJMOXv)r_2`@ygBt+D4UinMUN-BhdYvePZ1_gLTedJ?=eC6I& zRe{VqD7NT~QjW0s1@|1qucL)mar>pp5g0A@VP!UEyUi)Q(C|HW4;xe7+%aFJF_Gy~ zsX{Hjjw{27>$yrd|AI;6Q0Qcv&7lhTZNAh8TPh7{DVY2-*70ZBupSOCXI;bT(UClz zE4(Grj_g$H+cpwf4W1G)8BC;7V~6==32DKJL>1wQw|mUpMa*`(Lh-QcwB-93HQGhN zq}1MUyWwUI+z}p?9E11%n2EiSR_lA$I!HluEqxD%=r=U^27Sh;n>P#ck{GCI&b!N+EpzmUx8Pi~x z@^DUp>oT?d`}mW#uox(!VVLiv_{*4Ucx&*gyP1XM>_hrz?wQT0$=dh359%kRPW7^X zOFMcz%cwm(6m(8(s}JI)sJn>UNCO$Kv}xs!!3Y+zxuH4xH~Rqt`hi03lAEdRRTQC$ zHMT{{GwE0U8b7?Ei+Td4b3eFKb{71syvdAP`3R5Wp0BXZ5_0MDqVb>4w`TR)pAV^- z*6-k?S?kIoads%0H)9?d%gBjy*));pj6LP+l{!(S*|llMSereU^0OEuD1yFyFVhz< z1OpZS1m@^RUcJB_pF59v^M{;lzcE#l@{}-oni3(wW2rP~1FGEk6qmbRDv{HBDG?B! z>v$6uM|P%$_kHTTVE$G(E)f&81afB;8fyK{?34@ni2i-{EGcen!v^pB+&RXB_8{lS zlsk1y<&vv5X34pY<^bhk=n#iT0y|CT2u$M_TVJ?(;hu!Q&;#qjV(xin+;_}SIjkR< z{TjFs(H(Qk8~f~g@ah!-C6JT; z^T2rmKUieSzuM^&B%-ula-m3?n^5nzFN}W;PZ7I`HEVWoKz`1F1jC`cy30m95@y^F z*mc`nmNfS`PI93YdcZ;-7_vn&a^5NZxEl4GJ78H#kDfhX8Q3{UW)XInsW;SxU#j^V z{NyG>Vnrjx8?w+KmqI@#L^_@cI!jw%9kvVUI*wU^RZM5et)1FN#}KwrQXq^L1NzhU zfT57a$m3>&c4o9am*_pzQ9)%FR;u)&f5=?mcfyFWB5GZzfbe|QAJL=mejJw+n@i>^ zh~BBVx$toH&b7t8JiEA{<%@_>K_Mb94l}%+Y+(Jp&pWsH!?i7##IyM`5W z@w<5tBKvC#)CQj&(-GAg@p%q>uZOkqs!!}EE;0~`+g62d$F0^JDg0~=Fohj3QGN)) z2GUPyCCc6;YqNGW|Ii+7AGF*Qi0#!(XrP z$ENCD3(1!&ex%&cWfX{2;ULOZ67s}aoSt!#lUZV$L#5*H(y#HW>6Ko_fi9m16p(&t zdcY&9t2S>7o==>4)sS2V+rr*d=E)Z(-?!m{SPYcJY^U9L6bR`Kd}6O!(Nem9p|72% zNd9J-FNBI0jdLkCkW@PUgFV^c21OOMv0xZH`p!uBu$1>RW}54Cx?yhjVMWC;7KcZg zt6&PkkmgM_(Ph+`O%)yk5q{N*fPRQ@h{-)ieS5<_W7Lq%atU7;%KXJ4+o zbIqk3kTV`D<3BQpw^ES`Lp`9ttt8_sFdty}#er|o?EU#WXngXA|5iYHs>sBl{?|*o z&nxi^iuM~Q)b!&_J-r;t@B`IlO{xCDWeQyDP(Nfj5TD4~Au|0bN_&xDdI>v5n>V;g z7fL%ylV4Mq9Lf&OgYZ(oxZZ)Ll83;Nd}LWXTyCa}dTjN!^PPc?Vg~@|0r12D61avi5lnZxQHE78 zLz05WgubgbPUWTVd}5%zO0c4WEU-_O#M#z438%hK(wknc@<*`YvDJ!k1COTyr(RuB zo@*seV>P5PtFbZqv_txSad+u%_3)7MG1u3Q1-`{d|J|bV9@+Hy7i`SCGk)&r_m#V% zP%exrk9I6=fHjse)*>?)2opj9D-CN3%NB!-H~48cy)7`c0tXSxV&DOc<^)z1LH@2+ zAa>cN^Y`EqHfr1n#T<^qQg+bFxF8S&w_~Tqp3s$M>Z-qeLy^IxUe{yy%$_tJ|ICyJ zON%=VF)jc`6ql3trF*yiab%<9=fzvT1f*s6YC-U@tG+E5DPJ-ZAGa83$pM3IQk zDmEfp|K*q1L-oQr@nirXd{F}UvVp{ILbv~-WzkD^-=ZGilvpCa@dd?UW1P)THBe;u zdJ52ZVK3tXKlK8`IDl2IZMnSxagnt?DBd4R%VxIi6gnjpld`duQHy$G?5zsL#<0Mx zB%NHclFjCnI;1Ql-(F}uV`Fgq*{&vXM9S?8Tpsb=+NIq$25LBF&#S#=4Id3a8O2iTIF2#hH16s zGuXq7F{h!SxzQ-P#6t#_I!vbS;dQ_=-B1#`V6*~uNGvn&Sej{V^Q>uoB%3MW3mdhqCXO)UHH9GRz!nRD~zSRLKm>eNI9p@+|jvcXPpqPZ-cIi4l%>UL}X!p zAhx2S8?D|)vat*;nbKi-7R&g~h4PsFwqrO(Al4N&H0W9BGaatP#f~tWnkwctY%gLa zv8JRWnLTu8A?bYHtKJ)tL7F{-a9274+PxB+qq5a6lgrl2x+N_%3FuAjidyAfBJ?om z=1#{gE#PyB>#A1^f6ML}O{m5f}C`-lbdpGO&c5smR#o z6d1do-Ks|w@AN~xuuybPpXxc*JNs3>N2Ll;pak6A-=v1Mw`B6Td6bI(O_|`>LeQxEkuUUl(bh6!)C%nNz_nj$+oYgHVcTt`YO~SjLDT4R6T{*EsFDEUe+`%C|~0`F$&Ih?RH}DEu+U z=4?V-prmNO;|9bGGs~UHWxQ3pRM8xt^G{G5Ka{EUSs7DnmslzHm}dQ|NOTh36idr% zEG_cDdGY3DmhgfR;bdX!mgaQ-Tf;KgOP$|P6zKT~-AS-j3BJAN`~l?+5kqqBr&IpC z8?HG+gr{OBZPVy#6|a+|wWF}x+mKO}q+q76;<7+ih4*G-&0FFOHba&&;t_@lAd>0& zs734O?btmxV>VxbD3=SB6L4f49&4+wyBnd7UX-J=TN_UDwC6ylM$>G&=__x05RV?CwQf?UUtg(*PXHMjHm|U@Nu?-^aWpj! zi&~f!91|xhKs3fC=%T!-NV4pnooQqxR0;>9g^P%1M007SWipAO@v5OQ1-Neq?LhNGT4Oj!?6~_WjL6qt;c98S;>axyIA3 zTEz7ws#Pt9p7fBn0L;uyo?)sT{w@)-UpgC&L#B_Q(u1s9Vr^4dR~oJILzi0zps zaQh79=gaFw98u4->DdgO+qQ>-2_MzWw1~ZwFG$^hu$q1%Uj1ZDu~Z|GhJm-YzF(bo zSksI$s0Cg!7m@H*sudLwNqT7eGQJe(w=46ly~FiF-3;oQH@-%qe?v zv(sY_lNbQ;X(-Il8LJbB757t3AY=92Ao|qu%RLhh-sZE~&7;mtUAXd_%~r z(^)w;>HI8zUn6UX$U?>z#EiPv{{)D?IY=T^Slr6I;5?%A+hVbrf-rmFjAhfm3t(QZ5w#A>EBqxo>~K*O;|j;Qpk ziQEQX-La#ben+=}V4&xMT}Vf6YYBxzqmKSq2WB1lau6(rF0<>1wM$#y3c0SPqODrUx$4&(?O|-@MUBZ@S8qyFnlck> z3d{8em5bF?JC8i-GcpaP=Qm0w3nbyyIpd_sSVUxZ98)1M4@{I>2la9pMTfU0`N2m) zSW+JrFsK_3LXSR21RIl4ZutOxFlmtBIOx`z z)G#JQ!_ycDJM7$*kqFm^v!FwO%=JLlol12M!M-rlhY$WyLs$ySt4{ zly5DEjSmvwrMxY*_vSBhJ?N zZJ1lFkTE8~d^aK}<_=VO+XRw}OuY#T_42*#E_HJWn` z{@~C+*O?S|Z?*;tW^PfUxx0D0B@vWxFqPy;T(U|yYdtgy7%gjFwJwI?%kb6nS9ZmW zQKj;Jn}*uq;RCJv1mAd80N3Kh8aE3dEeERjp{wBubro-JZ4$Ceu0 zt4hfijv(R_-s-!C`q`u?+mBji_5QLiO(HmUI>Mb)lpq!u&Ck${SvB&2q1qy-Gp}CV zJx^RA&X_-m(uI0yZe6^)8o45gi4;<1m&NYn9J#kYG8X!oIg(SvzZX+;j^5#~YY6Af z#S)f|iO0V~x3@AenjjmkVXHYREs)N<0;&i2rGGA-sKZU>q<3UiFXT{>9#3_T?d9g& zechVai5+zTrdUxF4S5|1Bc0@~t-Z9%;457`kT$m5F&ZIIf-tEarv7GLn{M+w?17|AV}IW&2!j2)Bo zYSQUcN{FK@CTmXF?i)G@Mdozt+&D)3cM{#ZvX2v7m0-}K8vXBLq110EluH}(v9{Wh z$YMTRlKlE|;vK#{zePDJdscnLb55l+?O-2%FOrOJSdw{pN1Yf-9CEy;EPG3tXu7zj0 z;XSZPrJ|1trW2J3r*&7~B2zRcjd0iAP~^2h!kAa>${Ub6lWxg@Cl|Z?CPBJx-af5v zHx0Y&6^KHiK#(|KG4>mVz%{TT4OQAeiv|cG+(R0vXF=YLvZrp*?r7k#hyN-q=eOYDT8IzRRy^fj_oPIchIJ3d4N@b;|8#ww4=Qk866bH z4Y^I>hIHl`=#~$|f=RJ*NPXj{lDgBgA(Gpae9LNu>q${V=yLCa>w~T?1AqCnBK5({ z>A84v_YANAX?-3AU31IIg#^9&pq#JnaaU-6pkAk7Ne#CY%D@on;(*ASKI3Bm_p{XT z)OB;OK+;W}Y17-~=QVb!0Yn8G=Gc0q+q`Ax&;0!x9suPea%(ybjPb_TJE+5Sy0~|? zCF*B@nO2(4mXOz7KD6^Z3V%%V_=wk;W$*pH5;R~%Zid(5N4dbyGA@PAlzw+WpIb&# z{qDsEy2m`0)sYdOaSG^jrnN@(d&Z}~jZ?MA;2lGMlRqg2lJ?TPU(e~tD z@aco(afrSMN6zU*PU#WXi2!j6SS41eq7kZFEz%CamU(Zgd~k{pR+e zvTj=JpqsCiO8s@f-=)+b{@ zvQ<+b@cvg%h&xC^=^cmv_|xNpm0I$Tm3le5gEe|H%`IRPT>r8SdS*K%zXJjIp3my z{M$pLIrQ{TxmOnZ@5%=Z^taV~+*rRz;80J^KiKU_y49b~i2NaVbn$Ulm!P>hV(j&A zB0lM?(wA1|oVdk_IhG&v-4oh>NO_Wh?EI>Ydr2cR8dEXnKA)1LlX+90{E)Zxc_Cna zLA?I)swv-2l!Bq;ZcnkOv~ofgTl0d7+Of^teB* z47|D$-u#YQ4^t8H!K03jT6h!SY4_K%c1ga_ABBZr$0aR5K4|3{Jne%AfR zgzD1335Pj=en$VGkr5@_@h=*h{)1J+GAK6iqhT$SKDZPDgmMY@L6`#r?BQ)T6mSds zm+)!?A)IxD637IB2RT#2Ek@)}THyI3`ap^g@C_HXzjqPB7d;7a|4kV{@AXgQnHL89 z!ze!x*ZV)n0AC;F0OtGr2XWy-NKs&_|G&Wr$XCF{pnvfWsR{HA{TH3blz@%V|6*P= z75vi}AslU-5?CMiubdP2H^p%dU}@sNQuVkjup{|j%!xyXS0@wwjUt3gOi%(_Q~%4A zkbw>lo8SZHX8f1DJ|TLK-zh7A{QoNV*XoAj&Tyhr I_x`W=KZv(FYXATM delta 7351 zcmZ8`WmFVU*DfvH-6;&+ost5QLr8Zw3^3HtEj4s^HzN&7OQ#4@(xr6g=XJgJyYIT^ z*AwTQ^_;!Vuf3D25PK>SlZ24Q;Ri#K#q`m#4#+M%&OPAalE|A{%{kEWYDn)EP~hMM zp|qUr5Pw2FvLN*v-f^2?Tmv^lyIF-Lb}Wn{4YUw+G-ufiX^MA9mY`-aCzQ8*$G_P# zs;?v4S{-V1%N%-uaXwWkOoYzIbw3~CUW30p=-pMG3bo{{Ii;iSfp2m}HUctk12)7q zM8J<54ZSF46fdoqhG*@VG^v}iyrjIUqe<%YkhoA3z8EAm2bQ5 zHF6xMqRe#`Lws`TMMC?2Lr$}N=&e~2$7E$Ght|yf;L49_H&u(=mh%d)33--jWDzIa zna;vPze$O5>9Mw6U^*wu)s6MWsdyE?Ar!3~eqrgB_x?njr5RdAnc?0w4<@dD+Hsn< z)Y{S59mqC;)>9r6vttvfhg1UPrPymCfN`FI7As={1?voSjTuGCC_JYUBSAoiW6b20 z({^u(*YG<~nZMz2&Xuk5<@ZFw(r;9{iT%z+^ewKoiUH6rHwn!Gp6>Z_l4>p=h-!-l zwfD4Wt0N)d0vd0rQ!am$AzAUG3&1v?$GJJ$w<|k$zmg4A;>R`7BKzv?y;k5Ug@Gyx ziHlW(nV1`=YdWLN#{s>LhzFOjTAF-O>piBqW}cb@(x9P|AAxa1*;`3{_p$p~2?bOZ zFGxyVjg~G$<2mNaR|bo1(c~EZkguaFE?K*hRuA)>hC@HR#1k8iNx!<}J(rn|c$1wB zU{i^?e@VDC%Sez32hX*+Y)b&vBm81b=^h$aCA zkZjDK2a*NRHfNm4VoA-N^Kt?PTT?Nof1F!_p9!8)HIJ`LFR`}HZOMb`A=@N(WeKL6 z&5?RuPvl=_-H}^FtJ|y1)kXxmt2a9nHew4lLKaLUoPL&bsVT9(UA&%}Uvu;|9-t5n zN|ds@D@l;roSyjAei^RA8p9dW*ymGq_x7cDyTMmwWM%6j*ePgDi=DZ~z_F?^Xw(AV zYQQRA9NlMC7`tyzV*U&<7Q*)1VMXDmV6eQY2_pxU8F=<8kraWAF=_a^lE<=ju5I>c zux+5Bj%%&Ff*t?+oytuewl0cYCvpKRk7uNH{AhK(zHx*+=@I$jSDh?%m95h)mSmZN z0zt(6NSC2jXCr?oo6Jp0lcF*86UQL_*n+w1>qettJV^mQ8?iF!N_E}`anZS+Khw1* zLs}j-KUos9_YdfgkRaMrdw~cor@Ceyi8(IK7~vZqF3*>|ScLSeg&HVkyis9_t_TKv zo-TVT4R4kJ@ZPT*dL=e`w;LYhWn_^(papR@dZ%B30^=)Fx`SPvJB>)ft__poykS`t zHr$uLFm3W{yE_%{CiAca1i!Oxyhm=#j<9p3V&Wbj@rX=cJuXwlE#EzK(Q18fs?lw| zS+e>o)^wkSUm8PWHQmn|+l;X}x=e$Kd&2FkaDL2+ ztV(vC(5rEg*+M1*azpG`4TgTAol8dfEC9Q-fd@5P*sMD4ws#(R?dtLk=7C66b_ajz zV?=93RwZz|ckjh%ASMmq z1fBB})|!6br}N!%Vj=tND7!&TAJ_JH*h8HN?TjiFAH=6U8B7_C>~86~G-0$MmKFoYO@A;AHZ-pJZh=wIp^F3TX)PK`9s63u)*5f zKm&;wMaZ45xfT^;w(O3c%%2gKENb(eHn&XG1m0m*ztf68mI5Y`r^BS1EKHip!(BJY zMI-MbQB0E?h0?2vPcQJV622EsbZrXb9elwV3A;yHr|Hfae3OZO2GJRs=D&O7(ojJ} zB7}oOMTLWdlYz^_=#XY4fP=dMz`@b}Ra`x6p;0Qh&>jIi2+{6mDdyX~smaMkeIzW7W)>hDup9XcU zi;K37fq!ZO8(a_l8(aaW5E~a4mlT<=I~lGvy}Pxqp1qfW;A>ZP2^Bev`x4x1cWH9@ z>_UFNdWJjfBY`+~h?ZP*L`7U}Rh*OR(pT!bd3P3%#%BTNe9$n#~8SS!dKNn7v zPhAWUm))BN`syaxM)_hpq8H#7ABqbNR$Pc50@C;RBle^0uoH3I(J~?{)5mvOjIz<~ zSuZ8&(6$((7l z%{tvp9XbPS6Ve)Jxk)xkQKJD%F2#<(+&bK_SFn{}a~aZhV<={h0#tgPVxoxcGFgro^wirE{ot!gn9N+#M9- zJGZ!fVkD0Pw{V;_oN&ar>M^!&kKn3E|ukEJ%M7P`}m7S<0&Sq^mELe7kF5xm0-uS zlbzOMKArQfK3Qk0s_Ii)Id+6|Q9n6k+dld6+4JRXR`n6zqD6UU<^fdNCglR;tB$?+ zG&uzE^kBA$d};aI06Ri>|8Xak(c8BWwlV&7CK{pNM;|E2dCIu`l~po&?GBsMf${cQ zKw!f(Iq=TGOX$;yje&;|+cZTBdM?qXk*fh&Q6xy0YR_=eE7mGP`}u>zB1OXv!eIyqPo|L&s>-F%MPnALISgd-VA$eXu^n)tmgi zp{{rIJO-aQ`Su!s!V60xQZtea!MQ2{JH&6QRVTW&RnphA4OA}94Pr9O7F4L#nPQ#E zT()2OeE!X5fLH9H+4(bFGF&8a{G4m8pJkzT>Yo)qhGmzmwfgZVy!lX3f;A%2L|vh* zgnVtqcfAe%s5d_=J8TnnTD2A-Cmz=7il)XHv%P$P-j4>nx<9ua!oC76>PgIGd)Cwr zHAm*bqjF;oLX_hB6g_JSUCwg3$z}@?guwak&7`_&)3#bLYKn8opS?tKcg&qky9z<*{DX5#qpA&eXb=g6LcuDmNO3hc z6UGpeng?Gz;0NlDJ#77>dZw5>AYIXgbuT<#d0ZE6^+N~1ccj&yuK*oUOTx26n)+cK z>MDStLBgkvr;;@d2&ON=EIeAb9XOk<)3YMLN8l`uZN(9Ufh3POPcTyK|BJ zrqn;tMhq^7fn=t_-otYaJEbUO$&AQ~Rvy7fQ@F{XkIyOl;i-U}KuzMNNMBYPEBw#X zc;hrYR&5%b6v_eemK_yzqD2z3YZ+-_nbpeTp3pWR=b{-$LD*Y}DUh9Hjw)`-u+a=& z8@it^0Q-{X#X5FqOgs6`o*1jefTgzEXM|2S|IxU-l8hdvgqjDw2yc$dr!$C4R6lO- zu#R5DFVX??!dkJpOjzTlr9y_7bM!p@NN_wqzBSU#g>|)*SVu2hKo@n1+k_8S<-4=< z^_b>?e)%REhlr2||Fj2t>9T@(E}&m_zUCqMgIHR9IalQsszmi1buUW1dUb!QeBrr# zr&`&XS6zRXPH*~`$_r4p;wIPVNQO>tzN^MPTL5C~z9pN0YZ2~a^_b~)gKUHo7TzR> zqXU~}DN8`fn9#Wp?)PPaW(y*@1LO!--FxC*o!yl??=;BiFR^5UZby`eQ?2`)Cyun! zy&l$$fm>zIg0b5;6r9Q@+MY0DGvD(_;Hsdd!dpW=2H)jFwT30;rRfiEv`(F% z=-ZgSn;OWI^ZGdKIrCj9n7NO>Xh<>#iB)Q1L(`sXt>gm!rG9K9Os9Pu&@$o84DT3& zJ*g6jO@$qst3}C`(1uWw?`h#zuvm7=3lkiOc5J0SPRBAl=J``!z16OrWXLmlGUv=6 zDY((Hn%@92L}Q0N^6Pi1`*tYRs4~>CN??B$06+``_|UfXiy0^hl9{qyWME!`hzgY6 zhr0$*Y0>tbHilKDOXD1c)p9%>U2_W>+TZPlMz`)X3>Hc$Q|a2oEYEMeob|Sa(XC(x z719)Zg%=E=!-_hR-x2{&?PKcE+c@r0tw)=%kB%Sx3U<`e-W*V+;aoylrI=j9&d8os zlOU81eA|bpgm>bf*6#I@r%;!$zOQ%uF>XSN#of3lQ_%^EyhTm3)sgI<20R6(L1@j` z$tfJ|V-4cW5zS>k=PpVZP1sYR)hIv@9*g>?Yn~8JX<~o!=ul2QQ9r`O$}i%cQk1Tn z`5WRJHOj}d?{(J0EM%VOny!A%z>>dbk3ky7Vao+3jXY`JnY3o3364g$S)%Lw0vBeW zp?n|I`tYG{qV!Y0-ME)ZMx0}Y3HMN6=I~mo@M5IjGuCWX{sF$=eJMIi)OkVsQgxwz z&k=v!Ze2L$dN~aYirSFJI{Nrnc_sGJ(f>u`UP5Ms>;9QeC9!H2_(Bvg@rC&J1SRB8 zJcuE-&3+jm;;-~{7SfJvI74$t5FrJ;7Yg_^_GNb^*)Xw(x$uVSC^<>-y6s>`eN;9d zw3@NYw=kwvlFlzU=J|qVf?DV>i08@p9K%#r;)+!MDLWN3oUgS7u3k*2Ae&EscEI1O z{y;-68T3}eCcBPgo5kI;b|LnL>_M7sOTVk>i=6tg7gkL3e$IbG@Md`lV@3PhoqJa& zcK`eEg!XMWAw3r1ZEa3oH?zoxgrIZpgD*4NW+r~QIZ30`hZu*biP2^rE7fxfcBw}R z2d$}62X5x%(WUZd8L4Afqov7Nqa92WZ3K>yTq@`)#_j8W!&RdcS%eyVf$r~!T6$H=URX9Yrs{C>IoBc z&zidkhm*oGKE4ZaxJ;>UR1+AvG@ATV;(gbw=}Nk)oOUbSIll+=x2!ds)I+1ZRl(~I z+3d}h-&Tn(nI(q3#U2e-SJ{w+DC5NK@%MpX4=#pa?|KR45u^5Z({Y|4C7^0BN(j<{Rh4&ZM zd;JQ{BM)9xV_rYevaE)1r&i%o7C3}}IR?D1o8QRwH+O=|<#6zs(Lb3}FMEoESt@Dc z*FjVxs1*wPF6@V$8<(*xMk&sr$+vtF`G}}hoDv;^=44o!43QIW<&Hnpl%HefMY`V2p(xB)*@9rD3v68)1NP z!8|*TSV~>&ZoM0&1gH^~3uzvc<$oz0*z|+V1A@IdbshL4)FL35mv(|g+kf~w;Tfzs zKRloZrhNkwWG#USsyuRqlEJ1x2?54N&P;p z2+cMEtJb3xLX3pDm9!1U`$ODZVcT5frBc zINRcL*$x#t(eNR=b7WUoon*jwuyB`M3P5ToW< zA1t)^tNZ9^;L`zy`OeQ!`zS!ScT#yL+@FRcQ%-Rpr2p3z8_qmH z0KC~9lzsdq>SADQ5c%2bD7}&1__Fmk_C;@rYj|1^E4ARbLw5KLLiCz4fgM|66BcK8 z(%y`BwmM0lhS-6ZLzoD?7bh7kMD)Poh!NU(pw)>q!v_b;wCu-b@#WFoz+l*&1;bKL zN*)0$$`IQLKMn~v20DwzBN;zbE!9F}SmMnK9fDsmfy z0Gov*j70pFZW(oUHOQrV+2KCgL6eqI?0n!QB_O~z6qtxTA|>`Mh?w5%*!}b(`W=zf zB_lGYXjjzaCT z`rMJ?$X5E|>R9@s^b%L~!j7bZ3X;0YbCmtE+r$(o*8`cSjS3EJ@Vli;Og?$S8hT8!AmEKyd(I-v5^KOKJp6;kCtRSXEIJU$cF{w z&JJ(S)7kp132Q$*@}N3w_2kCiuI9@g+=p2Hq}e(J`}KXOc#>@2DSEY}J!0R94GRM< z7??DA1W%caPlkD^IsPK6cD^R64LwFb`XzkV&}$t`zWUTkevefzcB>{zgr-JT3K8Je zwd?~wUx~Q$Q$H^(s5{=y9?3YkP?dt}cp=Ylc~a68jM^}>zF~6tiMFcGZ|~@dBGN)9 zITr@{(u00BBZKAf`;jLf?W)JU*-S3ieqiLlcg;ENttj$k^o7QqdEj=E&==n_B!0Ve z-@zksBGJVA>2LPzZ{GCSbSNH72Em!NkPF1xYj`)&M%V9;yRXO4+n}g=DnBS5&9a0e ziZigDxb^I=|A1>@iR&hgK--J+>lwQdf5RIwS0Z|tS>^%TmJ)vg4L~s4E0KY+uPkMHEgd|1j!Nxo`J&Iq#m$vb! zQ)UA7J;^6t*%Wtn$vinKOvU!bl51YB>VKf9;UfuQX+{0^$>VJ9WR%EB$^X!8)XzPv zMshMMR;k2am6S;8byy*+@vunC1b2S2h-ZoDbqM#71+G8nP&pD25n_e0s{Lq}i}3{1 z7im5{nC$n;@IuLJb36McV+W(6$lPTFt$-twaLPD4u?1#9C9U6lcpj)fgs+?1N#cm= zN{_c3$XZP#N*`LzJV-Dd;1pi@FPOig8Wa@P-xII|h6X&SC&&wZrM_%j3sU+L;@oDL z^UR_9M!M~d*$ZiF1f-6axF_a?t|wv@DI4J{#rf_O2K*`njs)^{yw&0<@z<`+^6@OQ z86ba05j1OL5>s6a%6jD_H`P2`Ae4AactLACkQc8|$nbm(z1b+bG1XXjB0=x^^6ubu zN*Y0qkDgez?>QlQNaLKrHX~>I_nIVJdGyQjXe}8YGs@v~A><@>DOjYqQA;vLY7}-CSqmO@{l5@vJDSUwxkXu_L9p`+dy`QU*WqE3+3> zm#~{f+$%a_N1Wr_A?+_h`t_PMHykS%db>f$)a%Tv-|RV!@O#l$MTklcSfZBUJu@m_ z3GWTnRq0MTmqH(A87)i4qaUuf_w6+;6;(%rI%dDx@53odSHXglsjlW#v|2ap$L{#P zby%V~=9sxAN0jH`r5ehVOur|@WxJ{p|LzsOWnPKjkBD!U4+%~~3T{j*0XMCl)u z{w9ckuksIm`lgOR`QbkhD`k`$UJ1%GY7EZ;O&m2qKr;I4P(qW8u%XJcxKO4sa(Fzb z^q2;`8#H-L9KHZLHD-dqY6r!!A%iN8t07D~L1*JAp@z;R(6Mn=1Z$Un)M%Ur%It=V z`F}&f!40|oGwde>5hg&;q6r{EyZ2v(0s6}i8LHt!1bv;vh00BmBYg1tkBko`nZt#a zO_IaEgMOW~M~DphXQ)l7BQS^mgPq}&(Df-+1oODRR1#YKH?RIQIf7}zKX*L~1)4W4 zji8|`_%v4;5;LSV3YnIiV0nw;YLu&`bRlu6%ZJ6|G}(TF$Dko ze-OKX`fmbUC`IvqU)WLf*QAG9&v7GUv_Lny=%F2dp=;M)$oaQQxKO}6IXnm|H*X97 o9$GtZgFx92jqj&}3M}AK{P!my{eR{Ai=3fm3v4Lg`u~skKeXu^Y5)KL diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index 6dfd77e..2d80b69 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,5 @@ -#Sun May 06 20:16:45 EDT 2018 distributionBase=GRADLE_USER_HOME distributionPath=wrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-4.8.1-bin.zip zipStoreBase=GRADLE_USER_HOME zipStorePath=wrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-4.4.1-all.zip diff --git a/gradlew.bat b/gradlew.bat index f955316..e95643d 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -1,84 +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 +@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 From d1d2cb294d343fb0588debb1c9409e27eb7fc6c7 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 3 Nov 2019 20:27:16 -0500 Subject: [PATCH 46/54] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index b0e1548..46e2c52 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# Alloy  [![Build Status](https://ci.montclairrobotics.org/buildStatus/icon?job=Alloy)](https://ci.montclairrobotics.org/job/Alloy/) [![CodeFactor](https://www.codefactor.io/repository/github/garrettburroughs/alloy/badge)](https://www.codefactor.io/repository/github/garrettburroughs/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) +# Alloy  [![Build Status](https://ci.montclairrobotics.org/buildStatus/icon?job=Alloy)](https://ci.montclairrobotics.org/job/Alloy/) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) ![AlloyLogo](http://gdurl.com/AFl8) From a5a859b04134d07c3b81738eb5b813d3cb1e0592 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 3 Nov 2019 21:02:37 -0500 Subject: [PATCH 47/54] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 46e2c52..f10921b 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# Alloy  [![Build Status](https://ci.montclairrobotics.org/buildStatus/icon?job=Alloy)](https://ci.montclairrobotics.org/job/Alloy/) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) +# Alloy  [![Build Status](https://ci.montclairrobotics.org/buildStatus/icon?job=Alloy)](https://ci.montclairrobotics.org/job/Alloy/) [![CodeFactor](https://www.codefactor.io/repository/github/montclairrobotics/alloy/badge)](https://www.codefactor.io/repository/github/montclairrobotics/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) ![AlloyLogo](http://gdurl.com/AFl8) From c2afd4395534e352f40654f053524f84d0790504 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 3 Nov 2019 21:06:27 -0500 Subject: [PATCH 48/54] Added CircleCi --- .circleci/config.yml | 42 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 42 insertions(+) create mode 100644 .circleci/config.yml diff --git a/.circleci/config.yml b/.circleci/config.yml new file mode 100644 index 0000000..d45b35f --- /dev/null +++ b/.circleci/config.yml @@ -0,0 +1,42 @@ +# Java Gradle CircleCI 2.0 configuration file +# +# Check https://circleci.com/docs/2.0/language-java/ for more details +# +version: 2 +jobs: + build: + docker: + # specify the version you desire here + - image: circleci/openjdk:8-jdk + + # Specify service dependencies here if necessary + # CircleCI maintains a library of pre-built images + # documented at https://circleci.com/docs/2.0/circleci-images/ + # - image: circleci/postgres:9.4 + + working_directory: ~/repo + + environment: + # Customize the JVM maximum heap limit + JVM_OPTS: -Xmx3200m + TERM: dumb + + steps: + - checkout + + # Download and cache dependencies + - restore_cache: + keys: + - v1-dependencies-{{ checksum "build.gradle" }} + # fallback to using the latest cache if no exact match is found + - v1-dependencies- + + - run: gradle dependencies + + - save_cache: + paths: + - ~/.gradle + key: v1-dependencies-{{ checksum "build.gradle" }} + + # run tests! + - run: gradle test \ No newline at end of file From 1462e012b617a8d0845152d4fe00fc9ff2798503 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 3 Nov 2019 21:07:19 -0500 Subject: [PATCH 49/54] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index f10921b..fd7c7cd 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# Alloy  [![Build Status](https://ci.montclairrobotics.org/buildStatus/icon?job=Alloy)](https://ci.montclairrobotics.org/job/Alloy/) [![CodeFactor](https://www.codefactor.io/repository/github/montclairrobotics/alloy/badge)](https://www.codefactor.io/repository/github/montclairrobotics/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) +# Alloy [![CodeFactor](https://www.codefactor.io/repository/github/montclairrobotics/alloy/badge)](https://www.codefactor.io/repository/github/montclairrobotics/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) ![AlloyLogo](http://gdurl.com/AFl8) From d923d87981d2dc3f25a67df142f3980e578bc6c8 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 3 Nov 2019 21:09:38 -0500 Subject: [PATCH 50/54] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index fd7c7cd..d69aae6 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# Alloy [![CodeFactor](https://www.codefactor.io/repository/github/montclairrobotics/alloy/badge)](https://www.codefactor.io/repository/github/montclairrobotics/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) +# Alloy [![CircleCI](https://circleci.com/gh/MontclairRobotics/Alloy.svg?style=svg)](https://circleci.com/gh/MontclairRobotics/Alloy) [![CodeFactor](https://www.codefactor.io/repository/github/montclairrobotics/alloy/badge)](https://www.codefactor.io/repository/github/montclairrobotics/alloy) [![Codacy Badge](https://api.codacy.com/project/badge/Grade/f3335dca15a8429ebc50528ca6330411)](https://www.codacy.com/project/garrett_2/Alloy/dashboard?utm_source=github.com&utm_medium=referral&utm_content=GarrettBurroughs/Alloy&utm_campaign=Badge_Grade_Dashboard) ![AlloyLogo](http://gdurl.com/AFl8) From 5528051e5695ca9b4691b60cd3ea788cf9d6a741 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 3 Nov 2019 21:28:16 -0500 Subject: [PATCH 51/54] Updated gitignore --- .gitignore | 80 ++++-------------------------------------------------- 1 file changed, 6 insertions(+), 74 deletions(-) diff --git a/.gitignore b/.gitignore index 43d287c..0c9f602 100644 --- a/.gitignore +++ b/.gitignore @@ -1,76 +1,8 @@ -# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm -# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839 - -# User-specific stuff: -.idea/**/workspace.xml -.idea/**/tasks.xml -.idea/dictionaries +.gradle/ .idea/ -main/java/main.iml - -# Sensitive or high-churn files: -.idea/**/dataSources/ -.idea/**/dataSources.ids -.idea/**/dataSources.xml -.idea/**/dataSources.local.xml -.idea/**/sqlDataSources.xml -.idea/**/dynamic.xml -.idea/**/uiDesigner.xml - -# Gradle: -.idea/**/gradle.xml -.idea/**/libraries - -# CMake -cmake-build-debug/ - -# Mongo Explorer plugin: -.idea/**/mongoSettings.xml - -## File-based project format: -*.iws - -## Plugin-specific files: - -# IntelliJ +build/ out/ -.idea/ - -# Project -src/test/ -src/main/java/META-INF/ -.idea/artifacts/ - -# mpeltonen/sbt-idea plugin -.idea_modules/ - -# maven -src/main/target/ - -# JIRA plugin -atlassian-ide-plugin.xml - -# Cursive Clojure plugin -.idea/replstate.xml - -# Crashlytics plugin (for Android Studio and IntelliJ) -com_crashlytics_export_strings.xml -crashlytics.properties -crashlytics-build.properties -fabric.properties - - -.gradle -/build/ - -# Ignore Gradle GUI config -gradle-app.setting - -# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) -!gradle-wrapper.jar - -# Cache of project -.gradletasknamecache - -# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 -# gradle/wrapper/gradle-wrapper.properties +.settings +*.iws +*.iml +*.MF \ No newline at end of file From 4eaf4904d9001941b486e30449468e33d05be851 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 3 Nov 2019 21:31:31 -0500 Subject: [PATCH 52/54] Removed Ignored Files --- .idea/compiler.xml | 9 ------- .idea/misc.xml | 24 ------------------ .idea/modules.xml | 11 -------- .idea/modules/Alloy.iml | 12 --------- .idea/modules/Frameworks-Alloy_main.iml | 25 ------------------- .idea/modules/Frameworks-Alloy_test.iml | 29 ---------------------- .settings/org.eclipse.buildship.core.prefs | 2 -- Alloy.iml | 15 ----------- src/main/main.iml | 24 ------------------ 9 files changed, 151 deletions(-) delete mode 100644 .idea/compiler.xml delete mode 100644 .idea/misc.xml delete mode 100644 .idea/modules.xml delete mode 100644 .idea/modules/Alloy.iml delete mode 100644 .idea/modules/Frameworks-Alloy_main.iml delete mode 100644 .idea/modules/Frameworks-Alloy_test.iml delete mode 100644 .settings/org.eclipse.buildship.core.prefs delete mode 100644 Alloy.iml delete mode 100644 src/main/main.iml diff --git a/.idea/compiler.xml b/.idea/compiler.xml deleted file mode 100644 index 4160696..0000000 --- a/.idea/compiler.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml deleted file mode 100644 index 692bd32..0000000 --- a/.idea/misc.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml deleted file mode 100644 index 74c6b84..0000000 --- a/.idea/modules.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - \ No newline at end of file diff --git a/.idea/modules/Alloy.iml b/.idea/modules/Alloy.iml deleted file mode 100644 index 8b519b7..0000000 --- a/.idea/modules/Alloy.iml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - \ No newline at end of file diff --git a/.idea/modules/Frameworks-Alloy_main.iml b/.idea/modules/Frameworks-Alloy_main.iml deleted file mode 100644 index b41b665..0000000 --- a/.idea/modules/Frameworks-Alloy_main.iml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/.idea/modules/Frameworks-Alloy_test.iml b/.idea/modules/Frameworks-Alloy_test.iml deleted file mode 100644 index dd23334..0000000 --- a/.idea/modules/Frameworks-Alloy_test.iml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/.settings/org.eclipse.buildship.core.prefs b/.settings/org.eclipse.buildship.core.prefs deleted file mode 100644 index 654fdc2..0000000 --- a/.settings/org.eclipse.buildship.core.prefs +++ /dev/null @@ -1,2 +0,0 @@ -#Tue May 08 17:04:10 EDT 2018 -connection.project.dir= diff --git a/Alloy.iml b/Alloy.iml deleted file mode 100644 index ebd49c0..0000000 --- a/Alloy.iml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/src/main/main.iml b/src/main/main.iml deleted file mode 100644 index a6a5fea..0000000 --- a/src/main/main.iml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file From fb2f6fc05689a3717fb6265c852b728600efa184 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 3 Nov 2019 21:32:33 -0500 Subject: [PATCH 53/54] Cleaning up files --- .classpath | 12 ------------ .gitignore | 1 + 2 files changed, 1 insertion(+), 12 deletions(-) delete mode 100644 .classpath diff --git a/.classpath b/.classpath deleted file mode 100644 index 4857be4..0000000 --- a/.classpath +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - diff --git a/.gitignore b/.gitignore index 0c9f602..7758fd5 100644 --- a/.gitignore +++ b/.gitignore @@ -3,6 +3,7 @@ build/ out/ .settings +.classpath *.iws *.iml *.MF \ No newline at end of file From ea0e1952e9eb4e88522a208f736769f2b16e0042 Mon Sep 17 00:00:00 2001 From: Garrett Burroughs Date: Sun, 3 Nov 2019 21:33:45 -0500 Subject: [PATCH 54/54] More File Cleanup --- .gitignore | 1 + .project | 23 ----------------------- .travis.yml | 6 ------ 3 files changed, 1 insertion(+), 29 deletions(-) delete mode 100644 .project delete mode 100644 .travis.yml diff --git a/.gitignore b/.gitignore index 7758fd5..8f4523b 100644 --- a/.gitignore +++ b/.gitignore @@ -4,6 +4,7 @@ build/ out/ .settings .classpath +.project *.iws *.iml *.MF \ No newline at end of file diff --git a/.project b/.project deleted file mode 100644 index 2744906..0000000 --- a/.project +++ /dev/null @@ -1,23 +0,0 @@ - - - Alloy - Project Alloy created by Buildship. - - - - - org.eclipse.jdt.core.javabuilder - - - - - org.eclipse.buildship.core.gradleprojectbuilder - - - - - - org.eclipse.jdt.core.javanature - org.eclipse.buildship.core.gradleprojectnature - - diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 920746e..0000000 --- a/.travis.yml +++ /dev/null @@ -1,6 +0,0 @@ -language: java -jdk: -- oraclejdk8 -before_install: -- chmod +x gradlew -