void ISendable.InitSendable(ISendableBuilder builder)
{
builder.SmartDashboardType = "3AxisAccelerometer";
builder.AddDoubleProperty("X", () => X.StandardGravity, null);
builder.AddDoubleProperty("Y", () => Y.StandardGravity, null);
builder.AddDoubleProperty("Z", () => Z.StandardGravity, null);
}
#pragma warning restore CA1063 // Implement IDisposable Correctly
public virtual void InitSendable(ISendableBuilder builder)
{
if (builder == null)
{
throw new ArgumentNullException(nameof(builder));
}
builder.SmartDashboardType = "Gyro";
builder.AddDoubleProperty("Value", () => Angle.Degrees, null);
}
public override void InitSendable(ISendableBuilder builder)
{
if (builder == null)
{
throw new ArgumentNullException(nameof(builder));
}
builder.SmartDashboardType = "Speed Controller";
builder.IsActuator = true;
builder.SafeState = SetDisabled;
builder.AddDoubleProperty("Value", Get, Set);
}
public virtual void InitSendable(ISendableBuilder builder)
{
if (builder == null)
{
throw new ArgumentNullException(nameof(builder));
}
builder.SmartDashboardType = "PWM";
builder.IsActuator = true;
builder.SafeState = SetDisabled;
builder.AddDoubleProperty("Value", () => Raw, v => Raw = (int)v);
}
void ISendable.InitSendable(ISendableBuilder builder)
{
builder.SmartDashboardType = "Scheduler";
NetworkTableEntry namesEntry = builder.GetEntry("Names");
NetworkTableEntry idsEntry = builder.GetEntry("Ids");
NetworkTableEntry cancelEntry = builder.GetEntry("Cancel");
builder.UpdateTable = () =>
{
var ids = new Dictionary <double, ICommand>();
foreach (var command in m_scheduledCommands.Keys)
{
ids.Add(command.GetHashCode(), command);
}
var toCancel = cancelEntry.GetDoubleArray(ReadOnlySpan <double> .Empty);
foreach (var hash in toCancel)
{
if (ids.TryGetValue(hash, out var command))
{
Cancel(command);
ids.Remove(hash);
}
cancelEntry.SetDoubleArray(ReadOnlySpan <double> .Empty);
}
var names = new List <string>();
foreach (var command in ids.Values)
{
names.Add(command.Name);
}
namesEntry.SetStringArray(names.ToArray());
idsEntry.SetDoubleArray(ids.Keys.ToArray());
};
}
void ISendable.InitSendable(ISendableBuilder builder)
{
builder.SmartDashboardType = "Command";
builder.AddStringProperty(".name", () => Name, null);
builder.AddBooleanProperty("running", () => ((ICommand)this).IsScheduled, value =>
{
ICommand c = this;
if (value)
{
if (!c.IsScheduled)
{
c.Schedule();
}
}
else
{
if (c.IsScheduled)
{
c.Cancel();
}
}
});
}
void ISendable.InitSendable(ISendableBuilder builder)
{
builder.SmartDashboardType = "String Chooser";
builder.GetEntry(INSTANCE).SetDouble(m_instance);
builder.AddStringProperty(DEFAULT, () => m_defaultChoice, null);
builder.AddStringArrayProperty(OPTIONS, () => m_map.Keys.ToArray(), null);
builder.AddStringProperty(ACTIVE, () =>
{
lock (m_mutex)
{
if (m_selected != null)
{
return(m_selected);
}
else
{
return(m_defaultChoice);
}
}
}, null);
lock (m_mutex)
{
m_activeEntries.Add(builder.GetEntry(ACTIVE));
}
builder.AddStringProperty(SELECTED, null, val =>
{
lock (m_mutex)
{
m_selected = val;
foreach (var entry in m_activeEntries)
{
entry.SetString(val);
}
}
});
}
void ISendable.InitSendable(ISendableBuilder builder)
{
(m_analogInput as ISendable).InitSendable(builder);
}
void ISendable.InitSendable(ISendableBuilder builder)
{
}
void ISendable.InitSendable(ISendableBuilder builder)
{
builder.SmartDashboardType = "Duty Cycle";
builder.AddDoubleProperty("Frequency", () => Frequency.Hertz, null);
builder.AddDoubleProperty("Output", () => Output, null);
}
