Merge pull request #73 from blair-robot-project/jackson_everything

Jackson everything

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap.java

@@ -7,7 +7,6 @@
 import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.components.MappedDigitalInput;
 import org.usfirst.frc.team449.robot.drive.talonCluster.TalonClusterDrive;
-import org.usfirst.frc.team449.robot.drive.talonCluster.commands.UnidirectionalNavXDefaultDrive;
 import org.usfirst.frc.team449.robot.mechanism.activegear.ActiveGearSubsystem;
 import org.usfirst.frc.team449.robot.mechanism.climber.ClimberSubsystem;
 import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.Intake2017;
@@ -119,18 +118,24 @@ public class RobotMap {
 	 *                            testMP is true, but otherwise must have a value.
 	 * @param dropGearSwitch      The switch for deciding whether or not to drop the gear. Can be null if doMP is false
 	 *                            or testMP is true, but otherwise must have a value.
-	 * @param locationDial        The dial for selecting which side of the field the robot is on. Can be null if doMP is false or testMP is true, but otherwise must have a value.
-	 * @param boilerAuto          The command to run in autonomous on the boiler side of the field. Can be null if doMP is false or testMP is true, but otherwise must have a value.
+	 * @param locationDial        The dial for selecting which side of the field the robot is on. Can be null if doMP is
+	 *                            false or testMP is true, but otherwise must have a value.
+	 * @param boilerAuto          The command to run in autonomous on the boiler side of the field. Can be null if doMP
+	 *                            is false or testMP is true, but otherwise must have a value.
 	 * @param centerAuto          The command to run in autonomous on the center of the field. Can be null if doMP is
 	 *                            false or testMP is true, but otherwise must have a value.
-	 * @param feederAuto          The command to run in autonomous on the feeding station side of the field. Can be null if doMP is false or testMP is true, but otherwise must have a value.
+	 * @param feederAuto          The command to run in autonomous on the feeding station side of the field. Can be null
+	 *                            if doMP is false or testMP is true, but otherwise must have a value.
 	 * @param leftTestProfile     The profile for the left side of the drive to run in test mode. Can be null if either
 	 *                            testMP or doMP are false, but otherwise must have a value.
-	 * @param rightTestProfile    The profile for the right side of the drive to run in test mode. Can be null if either testMP or doMP are false, but otherwise must have a value.
+	 * @param rightTestProfile    The profile for the right side of the drive to run in test mode. Can be null if either
+	 *                            testMP or doMP are false, but otherwise must have a value.
 	 * @param leftProfiles        The starting position to peg profiles for the left side. Should have options for
-	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left". Can be null if doMP is false or testMP is true, but otherwise must have a value.
+	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
+	 *                            Can be null if doMP is false or testMP is true, but otherwise must have a value.
 	 * @param rightProfiles       The starting position to peg profiles for the right side. Should have options for
-	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left". Can be null if doMP is false or testMP is true, but otherwise must have a value.
+	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
+	 *                            Can be null if doMP is false or testMP is true, but otherwise must have a value.
 	 * @param nonMPAutoCommand    The command to run during autonomous if doMP is false. Can be null, and if it is, no
 	 *                            command is run during autonomous.
 	 * @param testMP              Whether to run the test or real motion profile during autonomous. Defaults to false.

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/MappedThrottle.java

@@ -47,10 +47,12 @@ public MappedThrottle(@NotNull @JsonProperty(required = true) MappedJoystick sti
 	}
 
 	/**
-	 * Gets the raw value from the stick and inverts it if necessary. This is private so it's not overriden, allowing it to be used by both getValue and pidGet without causing a circular reference.
+	 * Gets the raw value from the stick and inverts it if necessary. This is private so it's not overriden, allowing it
+	 * to be used by both getValue and pidGet without causing a circular reference.
+	 *
 	 * @return The raw joystick output, on [-1, 1].
 	 */
-	private double getValuePrivate(){
+	private double getValuePrivate() {
 		return (inverted ? -1 : 1) * stick.getRawAxis(axis);
 	}
 

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/talonCluster/commands/ShiftingUnidirectionalNavXDefaultDrive.java

@@ -8,6 +8,7 @@
 import org.usfirst.frc.team449.robot.interfaces.oi.UnidirectionalOI;
 import org.usfirst.frc.team449.robot.interfaces.subsystem.NavX.NavxSubsystem;
 import org.usfirst.frc.team449.robot.util.AutoshiftProcessor;
+import org.usfirst.frc.team449.robot.util.BufferTimer;
 import org.usfirst.frc.team449.robot.util.Logger;
 import org.usfirst.frc.team449.robot.util.YamlSubsystem;
 
@@ -34,27 +35,26 @@ public class ShiftingUnidirectionalNavXDefaultDrive <T extends YamlSubsystem & U
 	/**
 	 * Default constructor
 	 *
-	 * @param toleranceBuffer          How many consecutive loops have to be run while within tolerance to be
-	 *                                 considered
-	 *                                 on target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
-	 * @param absoluteTolerance        The maximum number of degrees off from the target at which we can be considered
-	 *                                 within tolerance.
-	 * @param minimumOutput            The minimum output of the loop. Defaults to zero.
-	 * @param maximumOutput            The maximum output of the loop. Can be null, and if it is, no maximum output is
-	 *                                 used.
-	 * @param deadband                 The deadband around the setpoint, in degrees, within which no output is given to
-	 *                                 the motors. Defaults to zero.
-	 * @param maxAngularVelToEnterLoop The maximum angular velocity, in degrees/sec, at which the loop will be entered.
-	 *                                 Defaults to 180.
-	 * @param inverted                 Whether the loop is inverted. Defaults to false.
-	 * @param kP                       Proportional gain. Defaults to zero.
-	 * @param kI                       Integral gain. Defaults to zero.
-	 * @param kD                       Derivative gain. Defaults to zero.
-	 * @param loopEntryDelay           The delay to enter the loop after conditions for entry are met. Defaults to
-	 *                                 zero.
-	 * @param subsystem                The drive to execute this command on.
-	 * @param oi                       The OI controlling the robot.
-	 * @param autoshiftProcessor       The helper object for autoshifting.
+	 * @param toleranceBuffer             How many consecutive loops have to be run while within tolerance to be
+	 *                                    considered on target. Multiply by loop period of ~20 milliseconds for time.
+	 *                                    Defaults to  0.
+	 * @param absoluteTolerance           The maximum number of degrees off from the target at which we can be
+	 *                                    considered within tolerance.
+	 * @param minimumOutput               The minimum output of the loop. Defaults to zero.
+	 * @param maximumOutput               The maximum output of the loop. Can be null, and if it is, no maximum output
+	 *                                    is used.
+	 * @param deadband                    The deadband around the setpoint, in degrees, within which no output is given
+	 *                                    to the motors. Defaults to zero.
+	 * @param maxAngularVelToEnterLoop    The maximum angular velocity, in degrees/sec, at which the loop will be
+	 *                                    entered. Defaults to 180.
+	 * @param inverted                    Whether the loop is inverted. Defaults to false.
+	 * @param kP                          Proportional gain. Defaults to zero.
+	 * @param kI                          Integral gain. Defaults to zero.
+	 * @param kD                          Derivative gain. Defaults to zero.
+	 * @param driveStraightLoopEntryTimer The buffer timer for starting to drive straight.
+	 * @param subsystem                   The drive to execute this command on.
+	 * @param oi                          The OI controlling the robot.
+	 * @param autoshiftProcessor          The helper object for autoshifting.
 	 */
 	@JsonCreator
 	public ShiftingUnidirectionalNavXDefaultDrive(@JsonProperty(required = true) double absoluteTolerance,
@@ -66,12 +66,12 @@ public ShiftingUnidirectionalNavXDefaultDrive(@JsonProperty(required = true) dou
 	                                              int kP,
 	                                              int kI,
 	                                              int kD,
-	                                              double loopEntryDelay,
+	                                              @NotNull @JsonProperty(required = true) BufferTimer driveStraightLoopEntryTimer,
 	                                              @NotNull @JsonProperty(required = true) T subsystem,
 	                                              @NotNull @JsonProperty(required = true) UnidirectionalOI oi,
 	                                              @NotNull @JsonProperty(required = true) AutoshiftProcessor autoshiftProcessor) {
 		super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, maxAngularVelToEnterLoop,
-				inverted, kP, kI, kD, loopEntryDelay, subsystem, oi);
+				inverted, kP, kI, kD, driveStraightLoopEntryTimer, subsystem, oi);
 		this.autoshiftProcessor = autoshiftProcessor;
 		this.subsystem = subsystem;
 	}

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/talonCluster/commands/UnidirectionalNavXDefaultDrive.java

@@ -1,7 +1,6 @@
 package org.usfirst.frc.team449.robot.drive.talonCluster.commands;
 
 import com.fasterxml.jackson.annotation.*;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.interfaces.drive.unidirectional.UnidirectionalDrive;
@@ -66,8 +65,7 @@ public class UnidirectionalNavXDefaultDrive <T extends YamlSubsystem & Unidirect
 	 * @param kP                          Proportional gain. Defaults to zero.
 	 * @param kI                          Integral gain. Defaults to zero.
 	 * @param kD                          Derivative gain. Defaults to zero.
-	 * @param loopEntryDelay              The delay to enter the loop after conditions for entry are met. Defaults to
-	 *                                    zero.
+	 * @param driveStraightLoopEntryTimer The buffer timer for starting to drive straight.
 	 * @param subsystem                   The drive to execute this command on.
 	 * @param oi                          The OI controlling the robot.
 	 */
@@ -81,15 +79,15 @@ public UnidirectionalNavXDefaultDrive(@JsonProperty(required = true) double abso
 	                                      int kP,
 	                                      int kI,
 	                                      int kD,
-	                                      double loopEntryDelay,
+	                                      @NotNull @JsonProperty(required = true) BufferTimer driveStraightLoopEntryTimer,
 	                                      @NotNull @JsonProperty(required = true) T subsystem,
 	                                      @NotNull @JsonProperty(required = true) UnidirectionalOI oi) {
 		//Assign stuff
 		super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, subsystem, kP, kI, kD);
 		this.oi = oi;
 		this.subsystem = subsystem;
 
-		driveStraightLoopEntryTimer = new BufferTimer(loopEntryDelay);
+		this.driveStraightLoopEntryTimer = driveStraightLoopEntryTimer;
 		this.maxAngularVelToEnterLoop = maxAngularVelToEnterLoop != null ? maxAngularVelToEnterLoop : 180;
 
 		//Needs a requires because it's a default command.
@@ -138,9 +136,6 @@ else if (driveStraightLoopEntryTimer.get(!(subsystem.getOverrideNavX()) && !(dri
 			this.getPIDController().enable();
 			Logger.addEvent("Switching to DriveStraight.", this.getClass());
 		}
-
-		//Log data and stuff
-		SmartDashboard.putBoolean("driving straight?", drivingStraight);
 	}
 
 	/**

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/interfaces/oi/ArcadeOI.java

@@ -1,8 +1,11 @@
 package org.usfirst.frc.team449.robot.interfaces.oi;
 
+import com.fasterxml.jackson.annotation.JsonTypeInfo;
+
 /**
  * An arcade-style dual joystick OI.
  */
+@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
 public abstract class ArcadeOI implements UnidirectionalOI {
 
 	/**
@@ -39,10 +42,11 @@ public double getRightOutput() {
 
 	/**
 	 * Whether the driver is trying to drive straight.
+	 *
 	 * @return True if the driver is trying to drive straight, false otherwise.
 	 */
 	@Override
-	public boolean commandingStraight(){
+	public boolean commandingStraight() {
 		return getRot() == 0;
 	}
 }

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/interfaces/oi/TankOI.java

@@ -1,8 +1,11 @@
 package org.usfirst.frc.team449.robot.interfaces.oi;
 
+import com.fasterxml.jackson.annotation.JsonTypeInfo;
+
 /**
  * A tank-style dual joystick OI.
  */
+@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
 public abstract class TankOI implements UnidirectionalOI {
 
 	/**

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/interfaces/oi/UnidirectionalOI.java

@@ -25,6 +25,7 @@ public interface UnidirectionalOI {
 
 	/**
 	 * Whether the driver is trying to drive straight.
+	 *
 	 * @return True if the driver is trying to drive straight, false otherwise.
 	 */
 	boolean commandingStraight();

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/interfaces/subsystem/NavX/commands/PIDAngleCommand.java

@@ -54,7 +54,7 @@ public abstract class PIDAngleCommand extends PIDCommand implements YamlCommand
 	 * @param kP                Proportional gain. Defaults to zero.
 	 * @param kI                Integral gain. Defaults to zero.
 	 * @param kD                Derivative gain. Defaults to zero.
-	 * @param subsystem    The subsystem to execute this command on.
+	 * @param subsystem         The subsystem to execute this command on.
 	 */
 	@JsonCreator
 	public PIDAngleCommand(@JsonProperty(required = true) double absoluteTolerance,

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/mechanism/climber/ClimberSubsystem.java

@@ -39,10 +39,10 @@ public class ClimberSubsystem extends YamlSubsystem implements Loggable, BinaryM
 	private final double maxPower;
 
 	/**
-	 * The bufferTimer controlling how long we can be above the current limit before we stop climbing.
+	 * The bufferTimer controlling how long we can be above the power limit before we stop climbing.
 	 */
 	@NotNull
-	private final BufferTimer currentLimitTimer;
+	private final BufferTimer powerLimitTimer;
 
 	/**
 	 * Whether or not the motor is currently spinning.
@@ -53,23 +53,22 @@ public class ClimberSubsystem extends YamlSubsystem implements Loggable, BinaryM
 	/**
 	 * Default constructor
 	 *
-	 * @param talonSRX            The CANTalon controlling one of the climber motors.
-	 * @param maxPower            The maximum power at which the motor won't shut off.
-	 * @param victor              The VictorSP controlling the other climber motor. Can be null.
-	 * @param millisAboveMaxPower The number of milliseconds it takes to shut off the climber after being above the
-	 *                            current limit. Defaults to 0.
+	 * @param talonSRX        The CANTalon controlling one of the climber motors.
+	 * @param maxPower        The maximum power at which the motor won't shut off.
+	 * @param victor          The VictorSP controlling the other climber motor. Can be null.
+	 * @param powerLimitTimer The buffer timer for the power-limited shutoff.
 	 */
 	@JsonCreator
 	public ClimberSubsystem(@NotNull @JsonProperty(required = true) RotPerSecCANTalonSRX talonSRX,
 	                        @JsonProperty(required = true) double maxPower,
 	                        @Nullable MappedVictor victor,
-	                        int millisAboveMaxPower) {
+	                        @NotNull @JsonProperty(required = true) BufferTimer powerLimitTimer) {
 		//Instantiate things
-		canTalonSRX = talonSRX;
+		this.canTalonSRX = talonSRX;
 		this.maxPower = maxPower;
-		currentLimitTimer = new BufferTimer(millisAboveMaxPower);
-		motorSpinning = false;
+		this.powerLimitTimer = powerLimitTimer;
 		this.victor = victor;
+		this.motorSpinning = false;
 	}
 
 	/**
@@ -163,12 +162,12 @@ public boolean isMotorOn() {
 	}
 
 	/**
-	 * Whether or not the current limit has been exceeded
+	 * Whether or not the power limit has been exceeded
 	 *
 	 * @return true if exceeded, false otherwise
 	 */
 	@Override
 	public boolean isConditionTrue() {
-		return currentLimitTimer.get(Math.abs(canTalonSRX.getPower()) > maxPower);
+		return powerLimitTimer.get(Math.abs(canTalonSRX.getPower()) > maxPower);
 	}
 }

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/SimpleArcadeOI.java

@@ -5,7 +5,6 @@
 import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.annotation.ObjectIdGenerators;
 import org.jetbrains.annotations.NotNull;
-import org.usfirst.frc.team449.robot.components.MappedSmoothedThrottle;
 import org.usfirst.frc.team449.robot.components.MappedThrottle;
 import org.usfirst.frc.team449.robot.interfaces.oi.ArcadeOI;
 

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/SimpleTankOI.java

@@ -5,7 +5,6 @@
 import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.annotation.ObjectIdGenerators;
 import org.jetbrains.annotations.NotNull;
-import org.usfirst.frc.team449.robot.components.MappedSmoothedThrottle;
 import org.usfirst.frc.team449.robot.components.MappedThrottle;
 import org.usfirst.frc.team449.robot.interfaces.oi.TankOI;
 
@@ -35,9 +34,10 @@ public class SimpleTankOI extends TankOI {
 	/**
 	 * Default constructor
 	 *
-	 * @param leftThrottle  The throttle for controlling the velocity of the left side of the drive.
-	 * @param rightThrottle The throttle for controlling the velocity of the right side of the drive.
-	 * @param commandingStraightTolerance The difference between left and right input within which the driver is considered to be trying to drive straight. Defaults to 0.
+	 * @param leftThrottle                The throttle for controlling the velocity of the left side of the drive.
+	 * @param rightThrottle               The throttle for controlling the velocity of the right side of the drive.
+	 * @param commandingStraightTolerance The difference between left and right input within which the driver is
+	 *                                    considered to be trying to drive straight. Defaults to 0.
 	 */
 	@JsonCreator
 	public SimpleTankOI(@NotNull @JsonProperty(required = true) MappedThrottle leftThrottle,
@@ -56,8 +56,8 @@ public SimpleTankOI(@NotNull @JsonProperty(required = true) MappedThrottle leftT
 	@Override
 	public double getLeftThrottle() {
 		//If the driver is trying to drive straight, use the average of the two sticks.
-		if (commandingStraight()){
-			return (leftThrottle.getValue()+rightThrottle.getValue())/2.;
+		if (commandingStraight()) {
+			return (leftThrottle.getValue() + rightThrottle.getValue()) / 2.;
 		}
 		return leftThrottle.getValue();
 	}
@@ -70,8 +70,8 @@ public double getLeftThrottle() {
 	@Override
 	public double getRightThrottle() {
 		//If the driver is trying to drive straight, use the average of the two sticks.
-		if (commandingStraight()){
-			return (leftThrottle.getValue()+rightThrottle.getValue())/2.;
+		if (commandingStraight()) {
+			return (leftThrottle.getValue() + rightThrottle.getValue()) / 2.;
 		}
 		return rightThrottle.getValue();
 	}
@@ -83,6 +83,6 @@ public double getRightThrottle() {
 	 */
 	@Override
 	public boolean commandingStraight() {
-		return Math.abs(leftThrottle.getValue()-rightThrottle.getValue()) <= commandingStraightTolerance;
+		return Math.abs(leftThrottle.getValue() - rightThrottle.getValue()) <= commandingStraightTolerance;
 	}
 }