everythings has been updated and works. Lastt stop: PIDDDDDD

MiniLib/.classpath

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
 	<classpathentry kind="src" path="src"/>
-	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
-	<classpathentry kind="lib" path="lib/pi4j-core.jar"/>
+	<classpathentry exported="true" kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
+	<classpathentry exported="true" kind="lib" path="lib/pi4j-core.jar"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>

MiniLib/src/frc/team670/pi/UltrasonicSensor.java

@@ -0,0 +1,134 @@
+package frc.team670.pi;
+
+import com.pi4j.io.gpio.GpioController;
+import com.pi4j.io.gpio.GpioFactory;
+import com.pi4j.io.gpio.GpioPinDigitalInput;
+import com.pi4j.io.gpio.GpioPinDigitalOutput;
+import com.pi4j.io.gpio.Pin;
+import com.pi4j.io.gpio.PinState;
+
+/**
+ * Represents an ultrasonic sensor connected to the pi motor shield
+ * 
+ * @author ctychen, lakshbhambhani
+ *
+ */
+public class UltrasonicSensor extends Thread {
+
+	private GpioPinDigitalInput echo;
+	private GpioPinDigitalOutput trigger;
+	private final GpioController gpio = GpioFactory.getInstance();
+	private int boundary;
+	private long lastRead, startTime, endTime, elapsed, measure;
+
+	/**
+	 * 
+	 * @param trig     Trigger pin for sending signal to put sensor in detecting
+	 *                 mode
+	 * @param echo     Pin that sends signals back
+	 * @param boundary an integer specifying the minimum distance at which the
+	 *                 sensor will return a Triggered response of True.
+	 */
+	public UltrasonicSensor(Pin trig, Pin echo, int boundary) {
+		this.trigger = gpio.provisionDigitalOutputPin(trig);
+		this.trigger.setShutdownOptions(true);
+		this.echo = gpio.provisionDigitalInputPin(echo);
+		this.echo.setShutdownOptions(true);
+		this.boundary = boundary;
+		lastRead = 0;
+		start();
+	}
+
+	public void run() {
+		System.out.println("Ultrasonic started");
+		if (echo.getState() == PinState.LOW) {
+			startTime = System.currentTimeMillis();
+		}
+		if (echo.getState() == PinState.HIGH) {
+			endTime = System.currentTimeMillis();
+		}
+		elapsed = endTime - startTime;
+		measure = (elapsed * 34300) / 2;
+		this.lastRead = measure;
+		if (this.boundary > measure) {
+			System.out.println("Boundary breached: " + this.boundary + "Measure: " + this.measure);
+			this.trigger.setState(PinState.HIGH);
+		} else {
+			this.trigger.setState(PinState.LOW);
+		}
+
+	}
+
+	public boolean isTriggered() {
+		return (trigger.getState() == PinState.HIGH);
+	}
+
+}
+=======
+package frc.team670.pi;
+
+import com.pi4j.io.gpio.GpioController;
+import com.pi4j.io.gpio.GpioFactory;
+import com.pi4j.io.gpio.GpioPinDigitalInput;
+import com.pi4j.io.gpio.GpioPinDigitalOutput;
+import com.pi4j.io.gpio.Pin;
+import com.pi4j.io.gpio.PinState;
+
+/**
+ * Represents an ultrasonic sensor connected to the pi motor shield
+ * 
+ * @author ctychen, lakshbhambhani
+ *
+ */
+public class UltrasonicSensor extends Thread {
+
+	private GpioPinDigitalInput echo;
+	private GpioPinDigitalOutput trigger;
+	private final GpioController gpio = GpioFactory.getInstance();
+	private int boundary;
+	private long lastRead, startTime, endTime, elapsed, measure;
+
+	/**
+	 * 
+	 * @param trig     Trigger pin for sending signal to put sensor in detecting
+	 *                 mode
+	 * @param echo     Pin that sends signals back
+	 * @param boundary an integer specifying the minimum distance at which the
+	 *                 sensor will return a Triggered response of True.
+	 */
+	public UltrasonicSensor(Pin trig, Pin echo, int boundary) {
+		this.trigger = gpio.provisionDigitalOutputPin(trig);
+		this.trigger.setShutdownOptions(true);
+		this.echo = gpio.provisionDigitalInputPin(echo);
+		this.echo.setShutdownOptions(true);
+		this.boundary = boundary;
+		lastRead = 0;
+		start();
+	}
+
+	public void run() {
+		System.out.println("Ultrasonic started");
+		if (echo.getState() == PinState.LOW) {
+			startTime = System.currentTimeMillis();
+		}
+		if (echo.getState() == PinState.HIGH) {
+			endTime = System.currentTimeMillis();
+		}
+		elapsed = endTime - startTime;
+		measure = (elapsed * 34300) / 2;
+		this.lastRead = measure;
+		if (this.boundary > measure) {
+			System.out.println("Boundary breached: " + this.boundary + "Measure: " + this.measure);
+			this.trigger.setState(PinState.HIGH);
+		} else {
+			this.trigger.setState(PinState.LOW);
+		}
+
+	}
+
+	public boolean isTriggered() {
+		return (trigger.getState() == PinState.HIGH);
+	}
+
+}
+>>>>>>> 6802b4ec7965e7c8e883777222c318f6d05e200b

MiniLib/src/frc/team670/pi/sensors/Encoder.java

@@ -0,0 +1,129 @@
+package frc.team670.pi.sensors;
+
+import java.util.ArrayList;
+
+import com.pi4j.io.gpio.GpioController;
+import com.pi4j.io.gpio.GpioFactory;
+import com.pi4j.io.gpio.GpioPinDigitalInput;
+import com.pi4j.io.gpio.Pin;
+import com.pi4j.io.gpio.RaspiPin;
+import com.pi4j.io.gpio.event.GpioPinDigitalStateChangeEvent;
+import com.pi4j.io.gpio.event.GpioPinListenerDigital;
+import com.pi4j.io.gpio.PinState;
+
+import edu.wpi.first.wpilibj.RobotState;
+import frc.team670.robot.RobotConstants;
+import jpigpio.JPigpio;
+import jpigpio.PigpioException;
+import jpigpio.PigpioSocket;
+
+/**
+ * Represents an encoder connected to the pi
+ * 
+ * @author ctychen, lakshbhambhani
+ *
+ */
+public class Encoder {
+
+	private GpioPinDigitalInput leftPin, rightPin;
+
+	private int leftPinState;
+	private int rightPinState;
+
+	public int count;
+
+	// private final GpioController gpio = GpioFactory.getInstance();
+
+	JPigpio pigpio;
+
+	private final int[] outcome = { 0, -1, 1, 0, -1, 0, 0, 1, 1, 0, 0, -1, 0, -1, 1, 0 };
+
+	int last_AB = 0;
+
+	/**
+	 * Runs the encoder counting in another thread
+	 */
+	public void update() {
+		// while(RobotState.isEnabled()) {
+		int A = leftPinState;
+		int B = rightPinState;
+		int current_AB = (A << 1) | B;
+		int position = (last_AB << 2) | current_AB;
+		count += outcome[position];
+		last_AB = current_AB;
+		// }
+	}
+
+	/**
+	 * Creates an encoder on 2 pins which can be used to get data from the motor
+	 * 
+	 * @param leftP  Pin for the left sensor on the encoder
+	 * @param rightP Pin for the right sensor on the encoder
+	 * @throws PigpioException
+	 */
+	public Encoder(int leftP, int rightP) throws PigpioException {
+		count = 0;
+
+//		 leftPin = gpio.provisionDigitalInputPin(leftP);
+//		 leftPin.setShutdownOptions(true);
+//		 rightPin = gpio.provisionDigitalInputPin(rightP);
+//		 rightPin.setShutdownOptions(true);
+		pigpio = new PigpioSocket("127.0.0.1", 8888);
+		pigpio.gpioSetAlertFunc(leftP, (gpio, level, tick) -> {
+//				System.out.println(
+//					String.format("Callback in Java: We received an alert on: %d with %d at %d",
+//						gpio, level, tick));
+			if (level < 2) {
+				leftPinState = level;
+				update();
+			}
+		});
+		pigpio.gpioSetAlertFunc(rightP, (gpio, level, tick) -> {
+//				System.out.println(
+//					String.format("Callback in Java: We received an alert on: %d with %d at %d",
+//						gpio, level, tick));
+			if (level < 2) {
+				rightPinState = level;
+				update();
+			}
+
+		});
+
+	}
+
+	/**
+	 * Returns number of ticks the encoder has gone through
+	 * 
+	 * @return int Ticks - the number of ticks
+	 */
+	public int getTicks() {
+		return this.count;
+	}
+
+	/**
+	 * Calculates and returns the number of rotations the wheel has gone through
+	 * 
+	 * @return Double rotations - the number of rotations the wheel has gone through
+	 */
+	public double getRotations() {
+		return Math.abs(getTicks()) / 800.0;
+	}
+
+	/**
+	 * Calculates and returns the distance for which the motors have rotated
+	 * 
+	 * @return distance traveled in centimeters
+	 */
+	public double getDistance() {
+		return (2 * Math.PI * (RobotConstants.DRIVE_BASE_WHEEL_DIAMETER / 2) * getRotations());
+	}
+
+//	public double getVelocityCm() {
+//		return (RobotConstants.ENCODER_TICKS_PER_ROTATION);
+//	}
+//	
+//	public double getVelocityTicks() {
+//		
+//	}
+
+}