WIP: Scheduler command rewrite

docs/build.gradle

@@ -97,7 +97,7 @@ ext {
 apply from: "${rootDir}/shared/opencv.gradle"
 
 task generateJavaDocs(type: Javadoc) {
-    options.links("https://docs.oracle.com/javase/8/docs/api/")
+    options.links("https://docs.oracle.com/en/java/javase/11/docs/api/")
     options.addStringOption "tag", "pre:a:Pre-Condition"
     options.addStringOption('Xdoclint:accessibility,html,missing,reference,syntax')
     options.addBooleanOption('html5', true)

shared/java/javacommon.gradle

@@ -100,10 +100,6 @@ sourceSets {
     dev
 }
 
-tasks.withType(JavaCompile).configureEach {
-    options.compilerArgs = ['--release', '8']
-}
-
 dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.2.0'
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.2.0'

styleguide/checkstyle.xml

@@ -70,7 +70,6 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
       <property name="sortStaticImportsAlphabetically"
                 value="true"/>
     </module>
-    <module name="AvoidStarImport" />
     <module name="RedundantImport" />
     <module name="UnusedImports" />
     <module name="OneTopLevelClass" />

wpilibc/src/main/native/cpp/experimental/AnalogAccelerometer.cpp

@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/experimental/AnalogAccelerometer.h"
+
+using namespace frc::experimental;
+
+AnalogAccelerometer::AnalogAccelerometer(int channel) : m_impl(channel) {}
+
+AnalogAccelerometer::AnalogAccelerometer(AnalogInput& channel)
+    : m_impl(&channel) {}
+
+double AnalogAccelerometer::GetAcceleration() const {
+  return m_impl.GetAcceleration();
+}
+
+void AnalogAccelerometer::SetSensitivity(double sensitivity) {
+  m_impl.SetSensitivity(sensitivity);
+}
+
+void AnalogAccelerometer::SetZero(double zero) { m_impl.SetZero(zero); }
+
+double AnalogAccelerometer::GetMeasurement() const { return GetAcceleration(); }
+
+void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
+  m_impl.InitSendable(builder);
+}

wpilibc/src/main/native/cpp/experimental/AnalogInput.cpp

@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/experimental/AnalogInput.h"
+
+#include <utility>
+
+#include <hal/AnalogAccumulator.h>
+#include <hal/AnalogInput.h>
+#include <hal/HAL.h>
+#include <hal/Ports.h>
+
+#include "frc/SensorUtil.h"
+#include "frc/Timer.h"
+#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc::experimental;
+
+AnalogInput::AnalogInput(int channel) : m_impl(channel) {}
+
+int AnalogInput::GetValue() const { return m_impl.GetValue(); }
+
+int AnalogInput::GetAverageValue() const { return m_impl.GetAverageValue(); }
+
+double AnalogInput::GetVoltage() const { return m_impl.GetVoltage(); }
+
+double AnalogInput::GetAverageVoltage() const {
+  return m_impl.GetAverageVoltage();
+}
+
+int AnalogInput::GetChannel() const { return m_impl.GetChannel(); }
+
+void AnalogInput::SetAverageBits(int bits) { m_impl.SetAverageBits(bits); }
+
+int AnalogInput::GetAverageBits() const { return m_impl.GetAverageBits(); }
+
+void AnalogInput::SetOversampleBits(int bits) {
+  m_impl.SetOversampleBits(bits);
+}
+
+int AnalogInput::GetOversampleBits() const {
+  return m_impl.GetOversampleBits();
+}
+
+int AnalogInput::GetLSBWeight() const { return m_impl.GetLSBWeight(); }
+
+int AnalogInput::GetOffset() const { return m_impl.GetOffset(); }
+
+bool AnalogInput::IsAccumulatorChannel() const {
+  return m_impl.IsAccumulatorChannel();
+}
+
+void AnalogInput::InitAccumulator() { m_impl.InitAccumulator(); }
+
+void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) {
+  m_impl.SetAccumulatorInitialValue(initialValue);
+}
+
+void AnalogInput::ResetAccumulator() { m_impl.ResetAccumulator(); }
+
+void AnalogInput::SetAccumulatorCenter(int center) {
+  m_impl.SetAccumulatorCenter(center);
+}
+
+void AnalogInput::SetAccumulatorDeadband(int deadband) {
+  m_impl.SetAccumulatorDeadband(deadband);
+}
+
+int64_t AnalogInput::GetAccumulatorValue() const {
+  return m_impl.GetAccumulatorValue();
+}
+
+int64_t AnalogInput::GetAccumulatorCount() const {
+  return m_impl.GetAccumulatorCount();
+}
+
+void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
+  return m_impl.GetAccumulatorOutput(value, count);
+}
+
+void AnalogInput::SetSampleRate(double samplesPerSecond) {
+  frc::AnalogInput::SetSampleRate(samplesPerSecond);
+}
+
+double AnalogInput::GetSampleRate() {
+  return frc::AnalogInput::GetSampleRate();
+}
+
+double AnalogInput::GetMeasurement() const { return GetAverageVoltage(); }
+
+void AnalogInput::InitSendable(SendableBuilder& builder) {
+  m_impl.InitSendable(builder);
+}

wpilibc/src/main/native/cpp/experimental/commands/PIDCommand.cpp

@@ -0,0 +1,97 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/experimental/commands/PIDCommand.h"
+
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc::experimental;
+
+PIDCommand::PIDCommand(const wpi::Twine& name, double Kp, double Ki, double Kd)
+    : Command(name),
+      m_controller(Kp, Ki, Kd, *this),
+      m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(const wpi::Twine& name, double Kp, double Ki, double Kd,
+                       double period)
+    : Command(name),
+      m_controller(Kp, Ki, Kd, *this, period),
+      m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(double Kp, double Ki, double Kd,
+                       std::function<double()> feedforward, double period)
+    : m_controller(Kp, Ki, Kd, feedforward, *this, period),
+      m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(double Kp, double Ki, double Kd)
+    : m_controller(Kp, Ki, Kd, *this), m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(double Kp, double Ki, double Kd, double period)
+    : m_controller(Kp, Ki, Kd, *this, period), m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(const wpi::Twine& name, double Kp, double Ki, double Kd,
+                       Subsystem& subsystem)
+    : Command(name, subsystem),
+      m_controller(Kp, Ki, Kd, *this),
+      m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(const wpi::Twine& name, double Kp, double Ki, double Kd,
+                       double period, Subsystem& subsystem)
+    : Command(name, subsystem),
+      m_controller(Kp, Ki, Kd, *this, period),
+      m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(const wpi::Twine& name, double Kp, double Ki, double Kd,
+                       std::function<double()> feedforward, double period,
+                       Subsystem& subsystem)
+    : Command(name, subsystem),
+      m_controller(Kp, Ki, Kd, feedforward, *this, period),
+      m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(double Kp, double Ki, double Kd, Subsystem& subsystem)
+    : Command(subsystem),
+      m_controller(Kp, Ki, Kd, *this),
+      m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(double Kp, double Ki, double Kd, double period,
+                       Subsystem& subsystem)
+    : Command(subsystem),
+      m_controller(Kp, Ki, Kd, *this, period),
+      m_runner(m_controller, *this) {}
+
+PIDCommand::PIDCommand(double Kp, double Ki, double Kd,
+                       std::function<double()> feedforward, double period,
+                       Subsystem& subsystem)
+    : Command(subsystem),
+      m_controller(Kp, Ki, Kd, feedforward, *this, period),
+      m_runner(m_controller, *this) {}
+
+void PIDCommand::InitSendable(SendableBuilder& builder) {
+  m_controller.InitSendable(builder);
+  Command::InitSendable(builder);
+  builder.SetSmartDashboardType("PIDCommand");
+}
+
+void PIDCommand::_Initialize() { m_runner.Enable(); }
+
+void PIDCommand::_Interrupted() { _End(); }
+
+void PIDCommand::_End() { m_runner.Disable(); }
+
+void PIDCommand::SetReferenceRelative(double deltaReference) {
+  SetReference(GetReference() + deltaReference);
+}
+
+const PIDController& PIDCommand::GetPIDController() const {
+  return m_controller;
+}
+
+void PIDCommand::SetReference(double reference) {
+  m_controller.SetReference(reference);
+}
+
+double PIDCommand::GetReference() const { return m_controller.GetReference(); }

wpilibc/src/main/native/cpp/experimental/commands/PIDSubsystem.cpp

@@ -0,0 +1,96 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/experimental/commands/PIDSubsystem.h"
+
+using namespace frc::experimental;
+
+PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double Kp, double Ki,
+                           double Kd)
+    : Subsystem(name),
+      m_controller(Kp, Ki, Kd, *this),
+      m_runner(m_controller, *this) {
+  AddChild("PIDController", m_controller);
+}
+
+PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double Kp, double Ki,
+                           double Kd, std::function<double()> feedforward)
+    : Subsystem(name),
+      m_controller(Kp, Ki, Kd, feedforward, *this),
+      m_runner(m_controller, *this) {
+  AddChild("PIDController", m_controller);
+}
+
+PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double Kp, double Ki,
+                           double Kd, std::function<double()> feedforward,
+                           double period)
+    : Subsystem(name),
+      m_controller(Kp, Ki, Kd, feedforward, *this, period),
+      m_runner(m_controller, *this) {
+  AddChild("PIDController", m_controller);
+}
+
+PIDSubsystem::PIDSubsystem(double Kp, double Ki, double Kd)
+    : Subsystem("PIDSubsystem"),
+      m_controller(Kp, Ki, Kd, *this),
+      m_runner(m_controller, *this) {
+  AddChild("PIDController", m_controller);
+}
+
+PIDSubsystem::PIDSubsystem(double Kp, double Ki, double Kd,
+                           std::function<double()> feedforward)
+    : Subsystem("PIDSubsystem"),
+      m_controller(Kp, Ki, Kd, feedforward),
+      m_runner(m_controller, *this) {
+  AddChild("PIDController", m_controller);
+}
+
+PIDSubsystem::PIDSubsystem(double Kp, double Ki, double Kd,
+                           std::function<double()> feedforward, double period)
+    : Subsystem("PIDSubsystem"),
+      m_controller(Kp, Ki, Kd, feedforward, period),
+      m_runner(m_controller, *this) {
+  AddChild("PIDController", m_controller);
+}
+
+void PIDSubsystem::Enable() { m_runner.Enable(); }
+
+void PIDSubsystem::Disable() { m_runner.Disable(); }
+
+void PIDSubsystem::SetReference(double reference) {
+  m_controller.SetReference(reference);
+}
+
+void PIDSubsystem::SetReferenceRelative(double deltaReference) {
+  SetReference(GetReference() + deltaReference);
+}
+
+void PIDSubsystem::SetInputRange(double minimumInput, double maximumInput) {
+  m_controller.SetInputRange(minimumInput, maximumInput);
+}
+
+void PIDSubsystem::SetOutputRange(double minimumOutput, double maximumOutput) {
+  m_controller.SetOutputRange(minimumOutput, maximumOutput);
+}
+
+double PIDSubsystem::GetReference() const {
+  return m_controller.GetReference();
+}
+
+void PIDSubsystem::SetAbsoluteTolerance(double tolerance,
+                                        double deltaTolerance) {
+  m_controller.SetAbsoluteTolerance(tolerance, deltaTolerance);
+}
+
+void PIDSubsystem::SetPercentTolerance(double tolerance,
+                                       double deltaTolerance) {
+  m_controller.SetPercentTolerance(tolerance, deltaTolerance);
+}
+
+bool PIDSubsystem::AtReference() const { return m_controller.AtReference(); }
+
+PIDController& PIDSubsystem::GetPIDController() { return m_controller; }

wpilibc/src/main/native/cpp/experimental/controller/Controller.cpp

@@ -0,0 +1,14 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/experimental/controller/Controller.h"
+
+using namespace frc::experimental;
+
+Controller::Controller(double period) : m_period(period) {}
+
+double Controller::GetPeriod() const { return m_period; }