/**
* Maps the specified key to the specified value in this table. The key can not be null. The value
* can be retrieved by calling the get method with a key that is equal to the original key.
*
* @param key the key
* @param data the value
* @throws IllegalArgumentException if key is null
*/
@SuppressWarnings("unchecked")
public static void putData(String key, Sendable data) {
ITable dataTable = table.getSubTable(key);
dataTable.putString("~TYPE~", data.getSmartDashboardType());
data.initTable(dataTable);
tablesToData.put(data, key);
}
public void initTable(ITable table) {
this.table = table;
super.initTable(table);
if (table != null) {
table.putNumber("error", super.getError());
table.putNumber("output", super.get());
table.putBoolean("onTarget", false);
// timer = new Timer();
// timer.schedule(new
// org.usfirst.frc330.wpilibj.BeachbotMultiPrefSendablePIDController.SendDataTask(), 0, 250);
}
}
/** {@inheritDoc} */
public void updateTable() {
if (m_table != null) {
if (get() == Value.kOn) {
m_table.putString("Value", "On");
} else if (get() == Value.kForward) {
m_table.putString("Value", "Forward");
} else if (get() == Value.kReverse) {
m_table.putString("Value", "Reverse");
} else {
m_table.putString("Value", "Off");
}
}
}
/** {@inheritDoc} */
public void startLiveWindowMode() {
setSpeed(0); // Stop for safety
m_table_listener =
new ITableListener() {
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
setSpeed(((Double) value).doubleValue());
}
};
m_table.addTableListener("Value", m_table_listener, true);
}
public void valueChanged(ITable table, String key, Object value, boolean isNew) {
if (key.equals("p") || key.equals("i") || key.equals("d") || key.equals("f")) {
if (gains.getP() != table.getNumber("p", 0.0)
|| gains.getI() != table.getNumber("i", 0.0)
|| gains.getD() != table.getNumber("d", 0.0)) {
System.out.println("Got new PID gains!");
gains.set(
table.getNumber("p", 0.0), table.getNumber("i", 0.0), table.getNumber("d", 0.0));
}
} else if (key.equals("setpoint")) {
if (goal != ((Double) value).doubleValue()) {
setGoal(((Double) value).doubleValue());
}
} else if (key.equals("enabled")) {
if (isEnabled() != ((Boolean) value).booleanValue()) {
if (((Boolean) value).booleanValue()) {
enable();
} else {
disable();
}
}
}
}
/** {@inheritDoc} */
public void startLiveWindowMode() {
m_table_listener =
new ITableListener() {
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
String val = ((String) value);
if (val.equals("Off")) {
set(Value.kOff);
} else if (val.equals("Forward")) {
set(Value.kForward);
} else if (val.equals("Reverse")) {
set(Value.kReverse);
}
}
};
m_table.addTableListener("Value", m_table_listener, true);
}
public void initTable(ITable table) {
if (this.table != null) {
this.table.removeTableListener(listener);
}
this.table = table;
if (table != null) {
table.putNumber("p", gains.getP());
table.putNumber("i", gains.getI());
table.putNumber("d", gains.getD());
table.putNumber("f", gains.getF());
table.putNumber("goal", goal);
table.putNumber("source", source.get());
table.putBoolean("enabled", isEnabled());
table.addTableListener(listener, false);
}
}
/** {@inheritDoc} */
public void updateTable() {
if (m_table != null) {
m_table.putNumber("Value", getVoltage());
}
}
/** {@inheritDoc} */
@Override
public void updateTable() {
if (m_table != null) {
m_table.putBoolean("Value", get());
}
}
/** {@inheritDoc} */
public void stopLiveWindowMode() {
// TODO: Broken, should only remove the listener from "Value" only.
m_table.removeTableListener(m_table_listener);
}
public TableWidgetContainer(String key, ITable table, WidgetRegistry widgetRegistry) {
this.widgetRegistry = widgetRegistry;
this.table = table;
this.key = key;
table.addTableListener("~TYPE~", this, true);
}
/** {@inheritDoc} */
public void stopLiveWindowMode() {
setSpeed(0); // Stop for safety
// TODO: Broken, should only remove the listener from "Value" only.
m_table.removeTableListener(m_table_listener);
}
