Added @experimental tag to TalonSRX and TalonController

strongback/src/org/strongback/components/TalonSRX.java

@@ -16,11 +16,18 @@
 
 package org.strongback.components;
 
+import org.strongback.annotation.Experimental;
+
 /**
  * A motor controlled by a Talon SRX with built-in current sensor, position (angle) sensor, and optional external limit switches
  * wired into the SRX so that it can automatically stop the forward and reverse directions when the limit switches are
  * triggered.
+ * <p>
+ * This class is currently experimental. It certainly works as a simple motor, but most of this interface exposes functionality
+ * of the Talon SRX motor controller, including various input sensors. Little beyond setting and reading the speed has been
+ * tested.
  */
+@Experimental
 public interface TalonSRX extends LimitedMotor {
 
     @Override
@@ -315,8 +322,10 @@ public enum FeedbackDevice {
         ENCODER_RISING(4),
 
         /**
-         * Encoder that increments position per falling edge (and never decrements) on Quadrature-A.
-         * Note: Was not supported in 2015 firmware, per the <a href="https://www.ctr-electronics.com/Talon%20SRX%20Software%20Reference%20Manual.pdf">Talon SRX Software Reference Manual</a>, section 21.3
+         * Encoder that increments position per falling edge (and never decrements) on Quadrature-A. Note: Was not supported in
+         * 2015 firmware, per the
+         * <a href="https://www.ctr-electronics.com/Talon%20SRX%20Software%20Reference%20Manual.pdf">Talon SRX Software
+         * Reference Manual</a>, section 21.3
          */
         ENCODER_FALLING(5);
 

strongback/src/org/strongback/control/TalonController.java

@@ -16,6 +16,7 @@
 
 package org.strongback.control;
 
+import org.strongback.annotation.Experimental;
 import org.strongback.components.TalonSRX;
 
 /**
@@ -85,7 +86,12 @@
  *
  * The {@link #reverseOutput(boolean)} method can be used to invert the output of a follower Talon. This may be useful if a
  * follower and leader Talon are wired out of phase with each other.
+ * <p>
+ * This class is currently experimental. It certainly works as a simple motor, but most of this interface exposes functionality
+ * of the Talon SRX motor controller, including various input sensors. Little beyond setting and reading the speed has been
+ * tested.
  */
+@Experimental
 public interface TalonController extends PIDController, TalonSRX {
 
     /**

strongback/src/org/strongback/hardware/Hardware.java

@@ -16,6 +16,7 @@
 
 package org.strongback.hardware;
 
+import org.strongback.annotation.Experimental;
 import org.strongback.components.Accelerometer;
 import org.strongback.components.AngleSensor;
 import org.strongback.components.DistanceSensor;
@@ -547,6 +548,7 @@ public static TalonSRX talonSRX(int deviceNumber) {
          * @param pulsesPerDegree the number of encoder pulses per degree of revolution of the final shaft; may be 0 if unused
          * @return a {@link TalonSRX} motor; never null
          */
+        @Experimental
         public static TalonSRX talonSRX(int deviceNumber, double pulsesPerDegree) {
             return talonSRX(deviceNumber, pulsesPerDegree, 0.0d);
         }
@@ -565,11 +567,26 @@ public static TalonSRX talonSRX(int deviceNumber, double pulsesPerDegree) {
          *        be 0 if unused
          * @return a {@link TalonSRX} motor; never null
          */
+        @Experimental
         public static TalonSRX talonSRX(int deviceNumber, double pulsesPerDegree, double analogTurnsOverVoltageRange) {
             CANTalon talon = new CANTalon(deviceNumber);
             return talonSRX(talon, pulsesPerDegree, analogTurnsOverVoltageRange);
         }
 
+        /**
+         * Creates a {@link TalonSRX} motor controlled by a Talon SRX. The {@link CANTalon} object passed into this method
+         * should be already configured by the calling code.
+         * <p>
+         * The resulting {@link TalonSRX} will have a null {@link TalonSRX#getEncoderInput()} and a null
+         * {@link TalonSRX#getAnalogInput()}, and the {@link TalonSRX#getSelectedSensor()} will always return 0.
+         *
+         * @param talon the already configured {@link CANTalon} instance; may not be null
+         * @return a {@link TalonSRX} motor; never null
+         */
+        public static TalonSRX talonSRX(CANTalon talon) {
+            return talonSRX(talon, 0.0, 0.0d);
+        }
+
         /**
          * Creates a {@link TalonSRX} motor controlled by a Talon SRX with an optional (angle) sensor. The {@link CANTalon}
          * object passed into this method should be already configured by the calling code.
@@ -582,6 +599,7 @@ public static TalonSRX talonSRX(int deviceNumber, double pulsesPerDegree, double
          * @param pulsesPerDegree the number of encoder pulses per degree of revolution of the final shaft
          * @return a {@link TalonSRX} motor; never null
          */
+        @Experimental
         public static TalonSRX talonSRX(CANTalon talon, double pulsesPerDegree) {
             return talonSRX(talon, pulsesPerDegree, 0.0d);
         }
@@ -601,6 +619,7 @@ public static TalonSRX talonSRX(CANTalon talon, double pulsesPerDegree) {
          *        be 0 if unused
          * @return a {@link TalonSRX} motor; never null
          */
+        @Experimental
         public static TalonSRX talonSRX(CANTalon talon, double pulsesPerDegree, double analogTurnsOverVoltageRange) {
             if (talon == null) throw new IllegalArgumentException("The CANTalon reference may not be null");
             return new HardwareTalonSRX(talon, pulsesPerDegree, analogTurnsOverVoltageRange);
@@ -644,6 +663,7 @@ public static final class Controllers {
          *        be 0 if unused
          * @return the interface for managing and using the Talon SRX hardware-based PID controller; never null
          */
+        @Experimental
         public static TalonController talonController(int deviceNumber, double pulsesPerDegree,
                 double analogTurnsOverVoltageRange) {
             CANTalon talon = new CANTalon(deviceNumber);