Actually move everything into the maven build path

src/com/github/dozer/coroutine/helpers/RunParallelTask.java → src/main/java/com/github/dozer/coroutine/helpers/RunParallelTask.java

@@ -1,45 +1,45 @@
-package com.github.dozer.coroutine.helpers;
-
-import java.util.Arrays;
-import java.util.Iterator;
-import java.util.LinkedList;
-import java.util.List;
-
-
-import com.github.dozer.coroutine.Task;
-import com.github.dozer.coroutine.helpers.RunContinuousTask;
-
-public class RunParallelTask extends RunContinuousTask {
-
-	private List<Task> tasks;
-
-	public RunParallelTask(Task... tasks) {
-			System.out.println("Parallel task constructor");
-		   this.tasks = new LinkedList<>();
-		   this.tasks.addAll(Arrays.asList(tasks));
-	}		
-
-  @Override
-  protected boolean runContinuously() {
-	  for (Iterator<Task> taskIterator = tasks.iterator(); taskIterator.hasNext();) {
-
-	      Task task = taskIterator.next();
-	      if (task.iterator == null) {
-	        task.iterator = task.iterator();
-	      }
-
-	      if (task.waiter != null && task.waiter.getAsBoolean()) {
-	        if (task.iterator.hasNext()) {
-//		    	  System.out.println(task.toString() + " has next");
-	          task.waiter = task.iterator.next();
-	        } else {
-//		    	  System.out.println(task.toString() + " removed");
-
-	          taskIterator.remove();
-	        }
-	      }
-	  }
-	  return tasks.isEmpty();
-  }
-}
-
+package com.github.dozer.coroutine.helpers;
+
+import java.util.Arrays;
+import java.util.Iterator;
+import java.util.LinkedList;
+import java.util.List;
+
+
+import com.github.dozer.coroutine.Task;
+import com.github.dozer.coroutine.helpers.RunContinuousTask;
+
+public class RunParallelTask extends RunContinuousTask {
+
+	private List<Task> tasks;
+
+	public RunParallelTask(Task... tasks) {
+			System.out.println("Parallel task constructor");
+		   this.tasks = new LinkedList<>();
+		   this.tasks.addAll(Arrays.asList(tasks));
+	}		
+
+  @Override
+  protected boolean runContinuously() {
+	  for (Iterator<Task> taskIterator = tasks.iterator(); taskIterator.hasNext();) {
+
+	      Task task = taskIterator.next();
+	      if (task.iterator == null) {
+	        task.iterator = task.iterator();
+	      }
+
+	      if (task.waiter != null && task.waiter.getAsBoolean()) {
+	        if (task.iterator.hasNext()) {
+//		    	  System.out.println(task.toString() + " has next");
+	          task.waiter = task.iterator.next();
+	        } else {
+//		    	  System.out.println(task.toString() + " removed");
+
+	          taskIterator.remove();
+	        }
+	      }
+	  }
+	  return tasks.isEmpty();
+  }
+}
+

src/com/github/dozer/output/DoubleSolenoid → src/main/java/com/github/dozer/output/DoubleSolenoidWrapper.java

@@ -2,12 +2,12 @@
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 
-public class DoubleSolenoid {
+public class DoubleSolenoidWrapper {
   private final int pin1;
   private final int pin2;
   private DoubleSolenoid doubleSolenoid;
 
-  DoubleSolenoid(int pin1, int pin2) {
+  DoubleSolenoidWrapper(int pin1, int pin2) {
     // TODO Generic this in some way.
     this.pin1 = pin1;
     this.pin2 = pin2;

src/main/java/com/github/dozer/output/Motor.java

@@ -0,0 +1,7 @@
+package com.github.dozer.output;
+
+public interface Motor{
+    public void set(double speed);
+    public double get();
+    public void stop();
+}

src/com/github/dozer/output/Motor.java → src/main/java/com/github/dozer/output/MotorRamping.java

@@ -3,27 +3,23 @@
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.PWMTalonSRX;
 
-public class Motor {
+public class MotorRamping implements Motor{
   public static final double MOTOR_RAMPING = 0.01;
 
-  private final int pin;
-  private final boolean inverted;
   private SpeedController speedController;
 
-  Motor(int pin, boolean inverted) {
-    // TODO Generic this in some way.
-    this.pin = pin;
-    this.inverted = inverted;
-  }
-
-  public void init() {
-    speedController = new PWMTalonSRX(pin);
-    speedController.setInverted(inverted);
+  MotorRamping(SpeedController speedController, boolean inverted) {
+    this.speedController = speedController;
+    this.speedController.setInverted(inverted);
   }
 
   private double setpoint = 0;
   private double current = 0;
 
+  public double get(){
+    return speedController.get();
+  }
+
 
   public void set(double speed) {
     setpoint = speed;

src/main/java/com/github/dozer/output/MotorSimple.java

@@ -0,0 +1,28 @@
+package com.github.dozer.output;
+
+import edu.wpi.first.wpilibj.SpeedController;
+
+public class MotorSimple implements Motor {
+  private SpeedController speedController;
+
+  MotorSimple(SpeedController speedController, boolean inverted) {
+    this.speedController = speedController;
+    this.speedController.setInverted(inverted);
+  }
+
+  private double setpoint = 0;
+  private double current = 0;
+
+  public double get(){
+    return speedController.get();
+  }
+
+
+  public void set(double speed) {
+    this.speedController.set(speed);
+  }
+
+  public void stop() {
+    speedController.stopMotor();
+  }
+}

src/main/java/com/github/dozer/output/Servo.java

@@ -0,0 +1,10 @@
+package com.github.dozer.output;
+
+public interface Servo {
+  public void setAngle(double angle);
+  public double getAngle();
+  public void setRadians(double rads);
+  public double getRadians();
+  public void setPosition(double pos);
+  public double getPosition();
+}

src/main/java/com/github/dozer/output/ServoWrapper.java

@@ -0,0 +1,36 @@
+package com.github.dozer.output;
+
+
+public class ServoWrapper implements Servo {
+
+  private edu.wpi.first.wpilibj.Servo servo;
+
+  ServoWrapper(int pin) {
+    this.servo = new edu.wpi.first.wpilibj.Servo(pin);
+  }
+
+
+  public void setAngle(double degrees) {
+    servo.setAngle(degrees);
+  }
+
+  public double getAngle(){
+    return servo.getAngle();
+  }
+
+  public void setRadians(double radians) {
+    this.setAngle(Math.toDegrees(radians));
+  }
+
+  public double getRadians(){
+    return Math.toDegrees(this.getAngle());
+  }
+
+  public void setPosition(double pos){
+    servo.setPosition(pos);
+  }
+
+  public double getPosition(){
+    return servo.get();
+  }
+}

src/com/github/dozer/output/SingleSolenoid.java → src/main/java/com/github/dozer/output/SingleSolenoid.java

@@ -3,17 +3,12 @@
 import edu.wpi.first.wpilibj.Solenoid;
 
 public class SingleSolenoid {
-  private final int pin;
   private Solenoid solenoid;
 
   SingleSolenoid(int pin) {
-    // TODO Generic this in some way.
-    this.pin = pin;
+    this.solenoid = new Solenoid(pin);
   }
 
-  public void init() {
-    solenoid = new Solenoid(pin);
-  }
 
   //This used to be a double. Not sure why, since solenoid has only had a 
   public void set(boolean on) {

src/com/github/dozer/util/PID.java → src/main/java/com/github/dozer/util/PID.java

@@ -26,21 +26,21 @@ public PID(double kp, double ki, double kd, double maxSum) {
   public double compute(double input, double setpoint) {
     double error = setpoint - input;
 
-    errorSum += error * ki;
-    if (errorSum < -maxSum)
-      errorSum = -maxSum;
-    if (errorSum > maxSum)
-      errorSum = maxSum;
+    this.errorSum += error * ki;
+    if (this.errorSum < -this.maxSum)
+      this.errorSum = -this.maxSum;
+    if (this.errorSum > this.maxSum)
+      this.errorSum = this.maxSum;
 
     SmartDashboard.putNumber("pid_error_sum", errorSum);
 
-    double output = kp * error + errorSum - kd * (error - lastError);
-    if (output < outMin)
-      output = outMin;
-    if (output > outMax)
-      output = outMax;
+    double output = this.kp * error + this.errorSum - this.kd * (error - this.lastError);
+    if (output < this.outMin)
+      output = this.outMin;
+    if (output > this.outMax)
+      output = this.outMax;
 
-    lastError = error;
+    this.lastError = error;
     return output;
   }
 }