Move to a much simpler, static config class and remove using constant…

…s for defaults. (strongback#97)

* Beginnings of a more simple config file.

* Getting closer to unit testing and better config layout.

* Swap to Config from RobotConfiguration

Move more parameters to config so that it can be removed from Constants.
Put Constaints on a diet to remove redundant values.
Add ConfigReader unit test.
Stop passing config everywhere, using a static instance instead.
Use namespaces in Config class for better grouping and more consistency.

* Ensure example config is written out.

* Separate logging and charting.

Move to static methods so that they don't need to be passed around.

* Rename method to make it consistent

* Add unit test for TimestampedLogWriter.

* Move things around to reove a class as per pull request.

* Changes from reivew.

Renamed Logger->Log and other minor changes.

src/main/java/frc/robot/Auto.java

@@ -4,7 +4,8 @@
 import frc.robot.controller.Sequence;
 import frc.robot.controller.Sequence.SequenceBuilder;
 import frc.robot.controller.Sequences;
-import frc.robot.interfaces.Log;
+import frc.robot.lib.log.Log;
+
 import static frc.robot.lib.PoseHelper.*;
 
 import static frc.robot.Constants.*;
@@ -22,11 +23,9 @@
  * Auto routines should be defined in Sequences.java
  */
 public class Auto {
-	private final Log log;
 	private SendableChooser<Sequence> autoProgram = new SendableChooser<Sequence>();
 	private SendableChooser<Integer> initBallSelector = new SendableChooser<Integer>();
-	public Auto(Log log) {
-		this.log = log;
+	public Auto() {
 		addAutoOptions();
 		initAutoChooser();
 		addBallOptions();
@@ -44,13 +43,13 @@ private void addBallOptions() {
 
 	public void executedSelectedSequence(Controller controller) {
 		Sequence seq = autoProgram.getSelected();
-		log.info("Starting selected auto program %s", seq.getName());
+		Log.info("Starting selected auto program %s", seq.getName());
 		controller.doSequence(seq);
 	}
 
 	public int getSelectedBallAmount() {
 		Integer numBalls = initBallSelector.getSelected();
-		log.info("Starting with %s balls", numBalls);
+		Log.info("Starting with %s balls", numBalls);
 		return numBalls;
 	}
 

src/main/java/frc/robot/Config.java

@@ -0,0 +1,227 @@
+package frc.robot;
+
+import frc.robot.lib.ConfigReader;
+import frc.robot.lib.PIDF;
+import static frc.robot.Constants.*;
+
+/**
+ * Class responsible for updating values which are dependent on robot hardware.
+ * (e.g. if subsystems are present or not) It reads from a text file Currently
+ * the supported types are String, int, double, boolean and int array.
+ * 
+ * Example lines:
+ *   drivebase/present = true
+ *   drivebase/rampRate = 0.13125
+*    drivebase/right/canIDs/withEncoders = 7,6
+ *   drivebase/right/canIDs/withoutEncoders = 5
+ * 
+ * The configuration can be overridden on each robot by changing a text file
+ * stored on the robot allowing different robots to have different
+ * configuration preventing having to modify the code each time it's pushed
+ * to a different bit of hardware.
+ * 
+ * This is very useful for testing when parts of the hardware are not
+ * attached, delivered or even broken.
+ */
+public class Config {
+
+	/*
+	 * Drivebase parameters
+	 * 
+	 * The robot has motors on each side. This is the information that defines these
+	 * motors and their behaviour
+	 */
+	public static class drivebase {
+		public static final boolean present = getBoolean("drivebase/present", false);
+		public static final String motorControllerType = getMotorControllerType("drivebase/motorControllerType", DEFAULT_MOTOR_CONTROLLER_TYPE);
+		public static final int[] canIdsLeftWithEncoders = getIntArray("drivebase/left/canIDs/withEncoders", new int[] { 4, 5 });
+		public static final int[] canIdsLeftWithoutEncoders = getIntArray("drivebase/left/canIDs/withoutEncoders", new int[] {});
+		public static final int[] canIdsRightWithEncoders = getIntArray("drivebase/right/canIDs/withEncoders", new int[] { 1, 2 });
+		public static final int[] canIdsRightWithoutEncoders = getIntArray("drivebase/right/canIDs/withoutEncoders", new int[] {});
+		public static final boolean currentLimiting = getBoolean("drivebase/currentLimiting", true);
+		public static final int contCurrent = getInt("drivebase/contCurrent", 38);
+		public static final int peakCurrent = getInt("drivebase/peakCurrent", 80);
+		public static final double rampRate = getDouble("drivebase/rampRate", 0.01);
+		public static final PIDF pidf = getPIDF("drivebase", new PIDF(0, 0, 0, 0.7));
+		public static final String mode = getString("drivebase/mode", DRIVE_MODE_ARCADE);
+		public static final double maxSpeed = getDouble("drivebase/maxSpeed", 4.0);
+		public static final boolean swapLeftRight = getBoolean("drivebase/swapLeftRight", false);
+		public static final boolean sensorPhase = getBoolean("drivebase/sensor/phase", false);
+	}
+
+	/**
+	 * NavX
+	 * 
+	 * Using the gyro for autonomous routines.
+	 */
+	public static class navx {
+		public static final boolean present = getBoolean("navx/present", true);
+	}
+
+	/*
+	 * Climber parameters.
+	 * 
+	 * The climber is a PTO from the drivebase. There is a solenoid to release the
+	 * brake.
+	 */
+	public static class climber {
+		public static final int ptoPort = 6;
+		public static final int brakePort = 0;
+	}
+
+	/*
+	 * Intake parameters.
+	 * 
+	 * Uses a pneumatic to deploy and a motor to run mecanum wheels.
+	 */
+	public static class intake {
+		public static final boolean present = getBoolean("intake/present", false);
+		public static final int canID = getInt("intake/canID", 10);
+		public static final PIDF pidf = getPIDF("intake", new PIDF(0.015, 0.0, 15.0, 0.019));
+		public static final int solenoidPort = getInt("intake/solenoidPort", 1);
+	}
+
+	/**
+	 * Colour wheel parameters.
+	 * 
+	 * Unknown deployment method. Single motor to spin wheel.
+	 */
+	public static class colourWheel {
+		public static final boolean present = getBoolean("colourWheel/present", false);
+		public static final int canID = getInt("colourWheel/canID", 7);
+		public static final PIDF pidf = getPIDF("colourWheel", new PIDF(0, 0, 0, 0));
+		public static final int solenoidPort = getInt("colourWheel/solenoidPort", 5);
+	}
+
+	/**
+	 * Loader parameters.
+	 * 
+	 * A hooper containing a spinner motor for pushing the balls into the shooter.
+	 */
+	public static class loader {
+		public static final boolean present = getBoolean("loader/present", false);
+		public static final int spinnerCanID = getInt("loader/spinner/canID", 12);
+		public static final PIDF spinnderPIDF = getPIDF("loader/spinner/", new PIDF(0.3, 0.0, 30.0, 0.1));
+		public static final int passthroughCanID = getInt("loader/passthrough/canID", 11);
+		public static final PIDF passthroughPIDF = getPIDF("loader/passthrough/", new PIDF(0, 0, 0, 0));
+		public static final int ballInDetectorPort = getInt("loader/ballInDetectorPort", 0);
+		public static final int ballOutDetectorPort = getInt("loader/ballOutDetectorPort", 1);
+		public static final int solenoidPort = getInt("loader/solenoidPort", 2);
+	}
+
+	/**
+	 * Shooter parameters.
+	 * 
+	 * A single shooter wheel powered by three motors.
+	 */
+	public static class shooter {
+		public static final boolean present = getBoolean("shooter/present", false);
+		public static final int[] canIds = getIntArray("shooter/shooterCanIDs", new int[] { 30, 31, 32 });;
+		public static final PIDF pidf = getPIDF("shooter/", new PIDF(0.7, 0.0, 0.0, 0.08));
+		public static final int solenoidPort = getInt("shooter/solenoidPort", 3);
+	}
+
+	/**
+	 * PDP parameters
+	 * 
+	 * The motor controller wrappers also monitor current, so this is normally off.
+	 */
+	public static class pdp {
+		public static final boolean present = getBoolean("pdp/present", false);
+		public static final int canId = getInt("pdp/canID", 62);
+		public static final boolean monitor = getBoolean("pdp/monitor", false); // by default we do NOT monitor the PDP
+		public static final int[] channelsToMonitor = getIntArray("pdp/channels", new int[0]); // by default we do NOT monitor any channels
+	}
+
+	/**
+	 * PCM parameters
+	 * 
+	 * Pneumatic control module controls intake, the climber brake, buddy climb and
+	 * the shooter hood.
+	 */
+	public static class pcm {
+		public static final boolean present = getBoolean("pcm/present", false);
+		public static final int canId = getInt("pcm/canID", 61);
+	}
+
+	/**
+	 * Vision parameters
+	 * 
+	 * A jevois camera connected via USB for detecting the vision target on the
+	 * goal.
+	 */
+	public static class vision {
+		public static final boolean present = getBoolean("vision/present", false);
+		public static final double hMin = getDouble("vision/hsvFilter/h/min", 40.0);
+		public static final double hMax = getDouble("vision/hsvFilter/h/max", 100.0);
+		public static final double sMin = getDouble("vision/hsvFilter/s/min", 20.0);
+		public static final double sMax = getDouble("vision/hsvFilter/s/max", 225.0);
+		public static final double vMin = getDouble("vision/hsvFilter/v/min", 40.0);
+		public static final double vMax = getDouble("vision/hsvFilter/v/max", 255.0);
+	}
+
+	/**
+	 * Buddy climb
+	 * 
+	 * Not currently used or read from the config file.
+	 */
+	public static class buddyClimb {
+		public static final boolean present = getBoolean("buddyClimb/present", false);
+		public static final int solenoidPort = getInt("buddyClimb/solenoidPort", 7);
+	}
+
+	/**
+	 * LED strip
+	 * 
+	 * Used to indicate the state of the robot (balls count, shoot count, issues).
+	 */
+	public static class ledStrip {
+		public static final boolean present = getBoolean("ledStrip/present", false);
+		public static final int pwmPort = getInt("ledStrip/pwmPort", 0);
+		public static final int numLEDs = getInt("ledStrip/numLEDs", 30);
+	}
+
+	public static final boolean doCharting = getBoolean("charting/enabled", true);
+
+
+
+	// Only implementation from here onwards.
+
+	private final static ConfigReader reader = new ConfigReader();
+
+	/**
+	 * Needs to be called after the config is loaded to write out an example config
+	 * file and to print out details about the config file.
+	 */
+	public static void finishLoadingConfig() {
+		reader.finishLoadingConfig();
+	}
+
+	protected static String getMotorControllerType(final String parameterName, final String defaultValue) {
+		return reader.getMotorControllerType(parameterName, defaultValue);
+	}
+
+	protected static int getInt(final String key, final int defaultValue) {
+		return reader.getInt(key, defaultValue);
+	}
+
+	protected static double getDouble(final String key, final double defaultValue) {
+		return reader.getDouble(key, defaultValue);
+	}
+
+	protected static PIDF getPIDF(final String prefix, final PIDF pidf) {
+		return reader.getPIDF(prefix, pidf);
+	}
+
+	protected static boolean getBoolean(final String key, final boolean defaultValue) {
+		return reader.getBoolean(key, defaultValue);
+	}
+
+	protected static String getString(final String key, final String defaultValue) {
+		return reader.getString(key, defaultValue);
+	}
+
+	protected static int[] getIntArray(final String key, final int[] defaultValue) {
+		return reader.getIntArray(key, defaultValue);
+	}
+}