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package livewindowfakerobot;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.tables.ITable;
import java.util.Timer;
import java.util.TimerTask;
/**
*
* @author Sam
*/
public class LiveWindowFakeRobot {
private static final NetworkTable liveWindow = NetworkTable.getTable("LiveWindow");
private static final ITable STATUS = createTable(liveWindow, "~STATUS~", "LW Status"),
wrist = createTable(liveWindow, "Wrist", "LW Subsystem"),
wPotentiometer = createTable(wrist, "Potentiometer", "Analog Input"),
wVictor = createTable(wrist, "Victor", "Speed Controller"),
elevator = createTable(liveWindow, "Elevator", "PIDSubsystem"),
ePotentiometer = createTable(elevator, "Potentiometer", "Analog Input"),
eVictor = createTable(elevator, "Victor", "Speed Controller"),
testSys = createTable(liveWindow, "TestSystem", "LW Subsystem"),
tComp = createTable(testSys, "Compressor", "Compressor"),
tGearTooth = createTable(testSys, "Gear Tooth Sensor", "Gear Tooth"),
tVictor = createTable(testSys, "Victor", "Speed Controller"),
tPotentiometer = createTable(testSys, "Potentiometer", "Analog Input"),
tRelay = createTable(testSys, "Spike", "Relay"),
tDigitalOutput = createTable(testSys, "Digital Output", "Digital Output"),
tGyro = createTable(testSys, "Gyro", "LWGyro"),
tSolenoid = createTable(testSys, "Solenoid", "Solenoid"),
tServo = createTable(testSys, "Serov the Servo", "Servo"),
tAccel = createTable(testSys, "Accelerometer", "Accelerometer"),
tEncoder1 = createTable(testSys, "Encoder 1", "Encoder"),
tUltra = createTable(testSys, "Ultrasonic", "Ultrasonic"),
tCompass = createTable(testSys, "Compass", "Compass"),
tSwitch = createTable(testSys, "Limit Switch", "Digital Input"),
canSystem = createTable(liveWindow, "CAN Subsystem", "LW Subsystem"),
canJag = createTable(canSystem, "CAN Jaguar", "CANSpeedController"),
canTalon = createTable(canSystem, "CAN Talon", "CANSpeedController");
public static void main(String[] args) {
System.out.println();
STATUS.putBoolean("LW Enabled", true);
STATUS.putString("Robot", "Testing");
wPotentiometer.putNumber("Value", 2.6);
ePotentiometer.putNumber("Value", -11.6872);
tSwitch.putString("Value", "Off");
elevator.putNumber("p", 0.5);
elevator.putNumber("i", 0.5);
elevator.putNumber("d", 0.5);
elevator.putNumber("f", 0.5);
elevator.putNumber("setpoint", 0.5);
elevator.putBoolean("enabled", false);
canJag.putString("Type", "CANJaguar");
canTalon.putString("Type", "CANTalon");
(new Timer()).schedule(
new TimerTask(){
@Override
public void run() {
wPotentiometer.putNumber("Value", (Math.random()-.5) * 24);
ePotentiometer.putNumber("Value", (Math.random()-.5) * 24);
tPotentiometer.putNumber("Value", (Math.random()-.5) * 24);
tGyro.putNumber("Value", Math.random() * 360);
tAccel.putNumber("Value", (Math.random()-.5)*8);
tSwitch.putString("Value", Math.random() < 0.5 ? "On" : "Off");
tEncoder1.putNumber("Speed", Math.random() * 20);
tEncoder1.putNumber("Distance", Math.random() * 10);
tEncoder1.putNumber("Distance per Tick", Math.random());
tCompass.putNumber("Value", Math.random());
tUltra.putNumber("Value", (Math.random()-.5) * 200);
tGearTooth.putNumber("Value", (int)(Math.random() * 100));
}},
0, 500);
}
private static ITable createTable(ITable parent, String name, String type) {
ITable table = parent.getSubTable(name);
System.out.println(table);
table.putString("~TYPE~", type);
table.putString("Name", name);
return table;
}
}
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