org.usfirst.frc.team1736.lib.Calibration

Class CalWrangler

java.lang.Object

org.usfirst.frc.team1736.lib.Calibration.CalWrangler

public class CalWrangler
extends java.lang.Object

DESCRIPTION:
Calibration Wrangler. Manages the full set of calibrations in the software. Can override calibration values based on a .csv file at a specific location on the RIO's filesystem

Calibration file format:
calibrationName,value

Ex:
ShooterSpeed,3200.5
Pgain,0.125


USAGE:

1. Each calibration will register itself with this static wrangler upon instantiation
2. At the start of teleop or autonomous, call the loadCalValues() method to update cal values based on .csv file values

Field Summary

Fields

Modifier and Type	Field and Description
static java.util.ArrayList<Calibration>	registeredCals Full set of all registered calibrations on this robot

Constructor Summary

Constructors

Constructor and Description
CalWrangler()

Method Summary

Modifier and Type	Method and Description
static Calibration	getCalFromName(java.lang.String name_in) Return a reference to a registered calibration, given its name.
static int	loadCalValues() Reads from the calibration .csv file and overwrites present calibration values specified.
static int	register(Calibration cal_in) Register a calibration with the wrangler.
static int	resetAllCalsToDefault() Resets all registered calibrations back to default values
static int	saveCalValues() Writes present set of cal values over existing ones on file.

Methods inherited from class java.lang.Object

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

Field Detail

registeredCals

public static java.util.ArrayList<Calibration> registeredCals

Full set of all registered calibrations on this robot

Constructor Detail

CalWrangler

public CalWrangler()

Method Detail

loadCalValues

public static int loadCalValues()

Reads from the calibration .csv file and overwrites present calibration values specified. Prints warnings to screen if odd things happen. Will attempt to override any values possible, but on failure will just leave the values at default.

Returns:

0 on success, -1 if cal file not found,

saveCalValues

public static int saveCalValues()

Writes present set of cal values over existing ones on file. Saving will ensure that cal overrides persist over disable/enable cycles. A status box is generated on the webpage for failed or successful overwrites.

Returns:

0 on success, -1 on writing errors

resetAllCalsToDefault

public static int resetAllCalsToDefault()

Resets all registered calibrations back to default values

Returns:

0 on success, nonzero on failure

register

public static int register(Calibration cal_in)

Register a calibration with the wrangler. Registration adds a reference to the calibration to the wrangler so when the wrangler is called upon to update calibration values, it knows which values it should be changing. This function is called automatically by the constructor for calibrations. Unless something very intersting is happening, the user should never have to call it.

Parameters:

cal_in - The calibration to add to this wrangler.

Returns:

0 on success, nonzero on failure

getCalFromName

public static Calibration getCalFromName(java.lang.String name_in)

Return a reference to a registered calibration, given its name. Case sensitive.

Parameters:

name_in - Name of the calibration to look up.

Returns:

Reference to calibration, or null if no registered cal matches the name.