ThreadedberryPi.java

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package org.usfirst.frc3946.UltimateAscent.subsystems;

import edu.wpi.first.wpilibj.command.Subsystem;
import org.usfirst.frc3946.UltimateAscent.ThreadedPi;
import org.usfirst.frc3946.UltimateAscent.commands.PrintThreadPiData;

/**
 *
 * @author Gustave Michel
 */
public class ThreadedberryPi extends Subsystem {
    // Put methods for controlling this subsystem
    // here. Call these from Commands.
    ThreadedPi raspberryPi;
    
    public void initDefaultCommand() {
        // Set the default command for a subsystem here.
        //setDefaultCommand(new MySpecialCommand());
        setDefaultCommand(new PrintThreadPiData());
    }
    
    /**
     * Start getting Data from Pi
     */
    public void startPi() {
        raspberryPi.start();
    }
    
    /**
     * Stop getting Data from Pi
     */
    public void stopPi() {
        raspberryPi.stop();
    }
    
    /**
     * Checks if Pi thread is running
     * @return status of Pi
     */
    public boolean isEnabled() {
        return raspberryPi.isEnabled();
    }
    
    /**
     * Checks Connection of Pi
     * @return status of Pi
     */
    public boolean isConnected() {
        return raspberryPi.isConnected();
    }
    
    /**
     * Get Offset from center from Pi
     * @return Offset from Center
     */
    public int getOffset() {
       return raspberryPi.getOffset();
    }
    
    /**
     * Get Distance from goal from Pi
     * @return Distance from goal
     */
    public int getDistance() {
       return raspberryPi.getDistance();
    }
    
    /**
     * Get Timestamp from last received Data
     * @return Timestamp from Data
     */
    public double getTime() {
       return raspberryPi.getTime();
    }
    
    public boolean getReport() {
       return raspberryPi.getReport();
    }
      
    /**
     * Constructor, starts Pi Thread
     */
    public ThreadedberryPi() {
        super();
        raspberryPi = new ThreadedPi();
        startPi();
        System.out.println(this.getClass().getName()+" Initialized");
    }
}