Igneous

java.lang.Object
- ccre.igneous.Igneous

Direct Known Subclasses:

IgneousCore
```
public class Igneous
extends java.lang.Object
```
The main class to access Igneous channels.

Author:

skeggsc

Field Summary

Fields
Modifier and Type	Field and Description
`static EventInput`	`constantPeriodic` Constant time periodic.
`static EventInput`	`duringAuto` Produced during autonomous mode.
`static EventInput`	`duringDisabled` Produced while the robot is disabled.
`static EventInput`	`duringTele` Produced during teleop mode.
`static EventInput`	`duringTest` Produced during testing mode.
`static EventInput`	`globalPeriodic` Produced during every mode if the driver station is attached.
`static IJoystickWithPOV`	`joystick1` Joystick 1 on the Driver Station.
`static IJoystickWithPOV`	`joystick2` Joystick 2 on the Driver Station.
`static IJoystickWithPOV`	`joystick3` Joystick 3 on the Driver Station.
`static IJoystickWithPOV`	`joystick4` Joystick 4 on the Driver Station.
`static IJoystickWithPOV`	`joystick5` Joystick 5 on the Driver Station.
`static IJoystickWithPOV`	`joystick6` Joystick 6 on the Driver Station.
`static IgneousLauncher`	`launcher` The IgneousLauncher providing access to the robot.
`static boolean`	`MOTOR_FORWARD` Signifies that the motor should be directly outputted without negation.
`static boolean`	`MOTOR_REVERSE` Signifies that the motor should be outputted after negating the value.
`static float`	`NO_RAMPING` Signifies that no ramping should be applied to this motor.
`static int`	`POWER_CHANNEL_3V3` The 3.3V rail power channel.
`static int`	`POWER_CHANNEL_5V` The 5V rail power channel.
`static int`	`POWER_CHANNEL_6V` The 6V rail power channel.
`static int`	`POWER_CHANNEL_BATTERY` The battery power channel.
`static EventInput`	`startAuto` Produced when the robot enters autonomous mode.
`static EventInput`	`startDisabled` Produced when the robot enters disabled mode.
`static EventInput`	`startTele` Produced when the robot enters teleop mode.
`static EventInput`	`startTest` Produced when the robot enters testing mode.

Method Summary

All Methods Static Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`static FloatInputPoll`	`getBatteryVoltage()` Get a reference to the analog input that reads the current battery voltage, scaled to represent the real battery voltage.
`static FloatInputPoll`	`getChannelCurrent(int powerChannel)` Reads the current from a specified power reading channel.
`static BooleanInputPoll`	`getChannelEnabled(int powerChannel)` Checks if the specified power reading channel is enabled.
`static FloatInputPoll`	`getChannelVoltage(int powerChannel)` Reads the voltage from a specified power reading channel.
`static ControlBindingDataSource`	`getControlBindingDataSource()` Get a ControlBindingDataSource for the six Joysticks.
`static ControlBindingDataSource`	`getControlBindingDataSource(java.lang.String... names)` This is similar to `getControlBindingDataSource()` but lets you give better names to your Joysticks.
`static BooleanInputPoll`	`getIsAutonomous()` Get a boolean input that checks if the robot is currently in autonomous, as opposed to teleop and testing.
`static BooleanInputPoll`	`getIsDisabled()` Get a boolean input that checks if the robot is currently disabled.
`static BooleanInputPoll`	`getIsFMS()` Get a boolean input that checks if the robot is currently connected to the FMS, as opposed to being off the playing field.
`static BooleanInputPoll`	`getIsTeleop()` Get a boolean input that checks if the robot is currently in teleop mode, as opposed to testing and autonomous.
`static BooleanInputPoll`	`getIsTest()` Get a boolean input that checks if the robot is currently in testing mode, as opposed to teleop and autonomous.
`static IJoystick`	`getKinectJoystick(boolean isRightArm)` Get an IJoystick for the specified Kinect virtual joystick.
`static FloatInputPoll`	`getPCMCompressorCurrent()` Reads the current draw of the PCM compressor.
`static BooleanInputPoll`	`getPCMCompressorRunning()` Reads the current status of the PCM compressor enable output.
`static BooleanInputPoll`	`getPCMPressureSwitch()` Reads the current status of the PCM pressure switch.
`static FloatInputPoll`	`getPDPChannelCurrent(int channel)` Reads the current draw of the specified PDP channel.
`static FloatInputPoll`	`getPDPVoltage()` Reads the voltage of the PDP.
`static boolean`	`isRoboRIO()` Checks if this platform is a roboRIO.
`static FloatInputPoll`	`makeAccelerometerAxis(int port, double sensitivity, double zeropoint)` Deprecated. This is literally a subtraction and a division.
`static FloatInputPoll`	`makeAnalogInput_ValueBased(int id, int averageBits)` Deprecated. makeAnalogInput should be used directly because it gives more useful volts instead of a raw value.
`static FloatInputPoll`	`makeAnalogInput(int id)` Create a reference to an analog input on the specified port.
`static FloatInputPoll`	`makeAnalogInput(int id, int averageBits)` Create a reference to an analog input on the specified port with the specified number of average bits.
`static ExtendedMotor`	`makeCANJaguar(int deviceNumber)` ** WARNING **: THIS API IS NOT YET FINALIZED.
`static ExtendedMotor`	`makeCANTalon(int deviceNumber)` ** WARNING **: THIS API IS NOT YET FINALIZED.
`static ControlBindingCreator`	`makeControlBindingCreator(java.lang.String name)` Get a ControlBindingCreator that the user can bind, over Cluck, to any Joystick inputs.
`static ControlBindingCreator`	`makeControlBindingCreator(java.lang.String name, boolean bypassEmulation)` Get a ControlBindingCreator that the user can bind, over Cluck, to any Joystick inputs.
`static BooleanInputPoll`	`makeDigitalInput(int id)` Create a reference to a digital input on the specified port.
`static BooleanInput`	`makeDigitalInputByInterrupt(int id)` Create a reference to a digital input on the specified port, as a BooleanInput (not a BooleanInputPoll) that updates by using FPGA interrupts or an equivalent.
`static BooleanOutput`	`makeDigitalOutput(int id)` Create a reference to a digital output on the specified port.
`static BooleanOutput`	`makeDSBooleanReadout(java.lang.String prefix, int line)` Create an output that will display the current value on the driver station's LCD.
`static void`	`makeDSBooleanReadout(java.lang.String prefix, int line, BooleanInputPoll value, EventInput when)` Display the current value of the specified BooleanInputPoll on the driver station's LCD, whenever the specified event is triggered.
`static FloatOutput`	`makeDSFloatReadout(java.lang.String prefix, int line)` Create an output that will display the current value on the driver station's LCD.
`static void`	`makeDSFloatReadout(java.lang.String prefix, int line, FloatInputPoll value, EventInput when)` Display the current value of the specified FloatInputPoll on the driver station's LCD, whenever the specified event is triggered.
`static FloatInputPoll`	`makeEncoder(int aChannel, int bChannel, boolean reverse)` Create a reference to an Encoder on the specified ports with the specified number of average bits.
`static FloatInputPoll`	`makeEncoder(int aChannel, int bChannel, boolean reverse, EventInput resetWhen)` Create a reference to an Encoder on the specified ports with the specified number of average bits.
`static BooleanOutput`	`makeForwardRelay(int channel)` Create a reference to the Forward side of the relay on the specified channel - this side can be turned on and off.
`static FloatInputPoll`	`makeGyro(int port, double sensitivity)` Create a reference to a Gyro on the specified port with the specified sensitivity.
`static FloatInputPoll`	`makeGyro(int port, double sensitivity, EventInput evt)` Create a reference to a Gyro on the specified port with the specified sensitivity.
`static FloatOutput`	`makeJaguarMotor(int id, boolean negate, float ramping)` Create a reference to a Jaguar speed controller on the specified PWM port and motor reversal, with a specified ramping rate.
`static BooleanOutput`	`makeReverseRelay(int channel)` Create a reference to the Reverse side of the relay on the specified channel - this side can be turned on and off.
`static SerialIO`	`makeRS232_MXP(int baudRate, java.lang.String deviceName)` Open the roboRIO's MXP-based serial port.
`static SerialIO`	`makeRS232_Onboard(int baudRate, java.lang.String deviceName)` Open the onboard serial port of the robot.
`static SerialIO`	`makeRS232_USB(int baudRate, java.lang.String deviceName)` Open a USB-attached serial port on the roboRIO.
`static FloatOutput`	`makeServo(int id, float minInput, float maxInput)` Create a reference to a servo controller for the specified port and minimum and maximum values.
`static BooleanOutput`	`makeSolenoid(int id)` Create a reference to a solenoid on the specified port and the default module.
`static BooleanOutput`	`makeSolenoid(int module, int id)` Create a reference to a solenoid on the specified port and module.
`static FloatOutput`	`makeTalonMotor(int id, boolean negate, float ramping)` Create a reference to a Talon speed controller on the specified PWM port and motor reversal, with a specified ramping rate.
`static FloatOutput`	`makeVictorMotor(int id, boolean negate, float ramping)` Create a reference to a Victor speed controller on the specified PWM port and motor reversal, with a specified ramping rate.
`static void`	`registerAutonomous(InstinctModule module)` Register the specified InstinctModule as an autonomous mode.
`static void`	`sendDSUpdate(java.lang.String value, int line)` Send the specified string to the specified line of the driver station.
`static void`	`useCompressor(int pressureSwitchChannel, int compressorRelayChannel)` Activate the compressor on the given pressure switch channel and compressor relay channel.
`static void`	`useCustomCompressor(BooleanInputPoll shouldDisable, int compressorRelayChannel)` Activate the compressor on the given pressure switch input and compressor relay channel.
`static BooleanOutput`	`usePCMCompressor()` Get control of the PCM-attached compressor.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - MOTOR_FORWARD
```
public static final boolean MOTOR_FORWARD
```
    Signifies that the motor should be directly outputted without negation.
    
    See Also:
    
    Constant Field Values
  - MOTOR_REVERSE
```
public static final boolean MOTOR_REVERSE
```
    Signifies that the motor should be outputted after negating the value.
    
    See Also:
    
    Constant Field Values
  - NO_RAMPING
```
public static final float NO_RAMPING
```
    Signifies that no ramping should be applied to this motor.
    
    See Also:
    
    Constant Field Values
  - POWER_CHANNEL_BATTERY
```
public static final int POWER_CHANNEL_BATTERY
```
    The battery power channel. Reading this voltage is the only power channel that exists on the cRIO.
    
    See Also:
    
    Constant Field Values
  - POWER_CHANNEL_3V3
```
public static final int POWER_CHANNEL_3V3
```
    The 3.3V rail power channel.
    
    See Also:
    
    Constant Field Values
  - POWER_CHANNEL_5V
```
public static final int POWER_CHANNEL_5V
```
    The 5V rail power channel.
    
    See Also:
    
    Constant Field Values
  - POWER_CHANNEL_6V
```
public static final int POWER_CHANNEL_6V
```
    The 6V rail power channel.
    
    See Also:
    
    Constant Field Values
  - launcher
```
public static final IgneousLauncher launcher
```
    The IgneousLauncher providing access to the robot.
  - joystick1
```
public static final IJoystickWithPOV joystick1
```
    Joystick 1 on the Driver Station.
  - joystick2
```
public static final IJoystickWithPOV joystick2
```
    Joystick 2 on the Driver Station.
  - joystick3
```
public static final IJoystickWithPOV joystick3
```
    Joystick 3 on the Driver Station.
  - joystick4
```
public static final IJoystickWithPOV joystick4
```
    Joystick 4 on the Driver Station.
  - joystick5
```
public static final IJoystickWithPOV joystick5
```
    Joystick 5 on the Driver Station. Not available on cRIO.
  - joystick6
```
public static final IJoystickWithPOV joystick6
```
    Joystick 6 on the Driver Station. Not available on cRIO.
  - globalPeriodic
```
public static final EventInput globalPeriodic
```
    Produced during every mode if the driver station is attached.
  - constantPeriodic
```
public static final EventInput constantPeriodic
```
    Constant time periodic. Should pulse every 10 ms, as accurately as possible.
  - startAuto
```
public static final EventInput startAuto
```
    Produced when the robot enters autonomous mode.
  - duringAuto
```
public static final EventInput duringAuto
```
    Produced during autonomous mode.
  - startTele
```
public static final EventInput startTele
```
    Produced when the robot enters teleop mode.
  - duringTele
```
public static final EventInput duringTele
```
    Produced during teleop mode.
  - startTest
```
public static final EventInput startTest
```
    Produced when the robot enters testing mode.
  - duringTest
```
public static final EventInput duringTest
```
    Produced during testing mode.
  - startDisabled
```
public static final EventInput startDisabled
```
    Produced when the robot enters disabled mode.
  - duringDisabled
```
public static final EventInput duringDisabled
```
    Produced while the robot is disabled.
- Method Detail
  - getKinectJoystick
```
public static final IJoystick getKinectJoystick(boolean isRightArm)
```
    Get an IJoystick for the specified Kinect virtual joystick. Joysticks on the driver station are accessed through the variables joystick1...joystick4.
    
    Parameters:
    
    isRightArm - If the right arm joystick should be used instead of the left. (6 instead of 5 if you're used to the old system.)
    
    Returns:
    
    the IJoystick.
  - makeJaguarMotor
```
public static FloatOutput makeJaguarMotor(int id,
                                          boolean negate,
                                          float ramping)
```
    Create a reference to a Jaguar speed controller on the specified PWM port and motor reversal, with a specified ramping rate. If the ramping rate is zero, then no ramping is applied. Don't use this if you don't know what you're doing! Otherwise, the ramping rate is the maximum difference allowed per 10 milliseconds (constantPeriodic). (So a rate of 0.1f means that you need 200 milliseconds to go from -1.0 to 1.0.)
    
    Parameters:
    
    id - the motor port ID, from 1 to 10, inclusive.
    
    negate - MOTOR_FORWARD if the motor direction should be unmodified, MOTOR_REVERSE if the motor direction should be reversed.
    
    ramping - the ramping rate.
    
    Returns:
    
    the output that will output to the specified motor.
    
    See Also:
    
    MOTOR_FORWARD, MOTOR_REVERSE
  - makeVictorMotor
```
public static FloatOutput makeVictorMotor(int id,
                                          boolean negate,
                                          float ramping)
```
    Create a reference to a Victor speed controller on the specified PWM port and motor reversal, with a specified ramping rate. If the ramping rate is zero, then no ramping is applied. Don't use this if you don't know what you're doing! Otherwise, the ramping rate is the maximum difference allowed per 10 milliseconds (constantPeriodic). (So a rate of 0.1f means that you need 200 milliseconds to go from -1.0 to 1.0.)
    
    Parameters:
    
    id - the motor port ID, from 1 to 10, inclusive.
    
    negate - MOTOR_FORWARD if the motor direction should be unmodified, MOTOR_REVERSE if the motor direction should be reversed.
    
    ramping - the ramping rate.
    
    Returns:
    
    the output that will output to the specified motor.
    
    See Also:
    
    MOTOR_FORWARD, MOTOR_REVERSE
  - makeTalonMotor
```
public static FloatOutput makeTalonMotor(int id,
                                         boolean negate,
                                         float ramping)
```
    Create a reference to a Talon speed controller on the specified PWM port and motor reversal, with a specified ramping rate. If the ramping rate is zero, then no ramping is applied. Don't use this if you don't know what you're doing! Otherwise, the ramping rate is the maximum difference allowed per 10 milliseconds (constantPeriodic). (So a rate of 0.1f means that you need 200 milliseconds to go from -1.0 to 1.0.)
    
    Parameters:
    
    id - the motor port ID, from 1 to 10, inclusive.
    
    negate - MOTOR_FORWARD if the motor direction should be unmodified, MOTOR_REVERSE if the motor direction should be reversed.
    
    ramping - the ramping rate.
    
    Returns:
    
    the output that will output to the specified motor.
    
    See Also:
    
    MOTOR_FORWARD, MOTOR_REVERSE
  - makeCANJaguar
```
public static ExtendedMotor makeCANJaguar(int deviceNumber)
```
    **** WARNING ****: THIS API IS NOT YET FINALIZED. Future changes may break your code! Create a reference to a CAN Jaguar speed controller with the specified CAN device number. This may, of course, fail, if the Jaguar cannot be found.
    
    Parameters:
    
    deviceNumber - the device number to connect to.
    
    Returns:
    
    the ExtendedMotor representing this output.
  - makeCANTalon
```
public static ExtendedMotor makeCANTalon(int deviceNumber)
```
    **** WARNING ****: THIS API IS NOT YET FINALIZED. Future changes may break your code! Create a reference to a CAN Talon speed controller with the specified CAN device number. This may, of course, fail, if the Talon cannot be found. This is not supported on the cRIO!
    
    Parameters:
    
    deviceNumber - the device number to connect to.
    
    Returns:
    
    the ExtendedMotor representing this output.
  - makeSolenoid
```
public static BooleanOutput makeSolenoid(int id)
```
    Create a reference to a solenoid on the specified port and the default module.
    
    Parameters:
    
    id - the port of the solenoid.
    
    Returns:
    
    the output that will control the solenoid.
  - makeSolenoid
```
public static BooleanOutput makeSolenoid(int module,
                                         int id)
```
    Create a reference to a solenoid on the specified port and module.
    
    Parameters:
    
    module - the module of the solenoid (PCM on roboRIO)
    
    id - the port of the solenoid.
    
    Returns:
    
    the output that will control the solenoid.
  - makeDigitalOutput
```
public static BooleanOutput makeDigitalOutput(int id)
```
    Create a reference to a digital output on the specified port.
    
    Parameters:
    
    id - the port of the digital output.
    
    Returns:
    
    the output that will control the digital output.
  - getBatteryVoltage
```
public static FloatInputPoll getBatteryVoltage()
```
    Get a reference to the analog input that reads the current battery voltage, scaled to represent the real battery voltage.
    
    Returns:
    
    The current battery voltage.
  - makeAnalogInput
```
public static FloatInputPoll makeAnalogInput(int id)
```
    Create a reference to an analog input on the specified port.
    
    Parameters:
    
    id - the port number.
    
    Returns:
    
    the analog input, reporting in voltage.
  - makeAnalogInput
```
public static FloatInputPoll makeAnalogInput(int id,
                                             int averageBits)
```
    Create a reference to an analog input on the specified port with the specified number of average bits.
    
    Parameters:
    
    id - the port number.
    
    averageBits - the number of averaging bits.
    
    Returns:
    
    the analog input, reporting in voltage.
  - makeAnalogInput_ValueBased
```
@Deprecated
public static FloatInputPoll makeAnalogInput_ValueBased(int id,
                                                                    int averageBits)
```
    Deprecated. makeAnalogInput should be used directly because it gives more useful volts instead of a raw value.
    
    Create a reference to an analog input's raw value on the specified port with the specified number of average bits.
    
    Parameters:
    
    id - the port number.
    
    averageBits - the number of averaging bits.
    
    Returns:
    
    the analog input, reporting in uncalibrated units.
  - makeDigitalInput
```
public static BooleanInputPoll makeDigitalInput(int id)
```
    Create a reference to a digital input on the specified port.
    
    Parameters:
    
    id - the port number.
    
    Returns:
    
    the digital input.
  - makeDigitalInputByInterrupt
```
public static BooleanInput makeDigitalInputByInterrupt(int id)
```
    Create a reference to a digital input on the specified port, as a BooleanInput (not a BooleanInputPoll) that updates by using FPGA interrupts or an equivalent. Warning: many systems have a limit on the maximum number of interrupts available - use sparingly!
    
    Parameters:
    
    id - the port number.
    
    Returns:
    
    the digital input.
  - makeServo
```
public static FloatOutput makeServo(int id,
                                    float minInput,
                                    float maxInput)
```
    Create a reference to a servo controller for the specified port and minimum and maximum values.
    
    Parameters:
    
    id - the port number.
    
    minInput - the value on the output that should correspond to the servo's minimum position.
    
    maxInput - the value on the output that should correspond to the servo's maximum position.
    
    Returns:
    
    the FloatOutput that controls the servo.
  - makeDSFloatReadout
```
public static FloatOutput makeDSFloatReadout(java.lang.String prefix,
                                             int line)
```
    Create an output that will display the current value on the driver station's LCD.
    
    Parameters:
    
    prefix - the prefix, or label, of the output. this is prepended to the value.
    
    line - the line to display the value on, from 1 to 6.
    
    Returns:
    
    the output that will write to the LCD.
  - makeDSBooleanReadout
```
public static BooleanOutput makeDSBooleanReadout(java.lang.String prefix,
                                                 int line)
```
    Create an output that will display the current value on the driver station's LCD.
    
    Parameters:
    
    prefix - the prefix, or label, of the output. this is prepended to the value.
    
    line - the line to display the value on, from 1 to 6.
    
    Returns:
    
    the output that will write to the LCD.
  - makeDSFloatReadout
```
public static void makeDSFloatReadout(java.lang.String prefix,
                                      int line,
                                      FloatInputPoll value,
                                      EventInput when)
```
    Display the current value of the specified FloatInputPoll on the driver station's LCD, whenever the specified event is triggered.
    
    Parameters:
    
    prefix - the prefix, or label, of the output. this is prepended to the value.
    
    line - the line to display the value on, from 1 to 6.
    
    value - the value to display.
    
    when - when to update the output.
  - makeDSBooleanReadout
```
public static void makeDSBooleanReadout(java.lang.String prefix,
                                        int line,
                                        BooleanInputPoll value,
                                        EventInput when)
```
    Display the current value of the specified BooleanInputPoll on the driver station's LCD, whenever the specified event is triggered.
    
    Parameters:
    
    prefix - the prefix, or label, of the output. this is prepended to the value.
    
    line - the line to display the value on, from 1 to 6.
    
    value - the value to display.
    
    when - when to update the output.
  - sendDSUpdate
```
public static void sendDSUpdate(java.lang.String value,
                                int line)
```
    Send the specified string to the specified line of the driver station.
    
    Parameters:
    
    value - The string to display.
    
    line - The line number (1-6).
  - getIsDisabled
```
public static BooleanInputPoll getIsDisabled()
```
    Get a boolean input that checks if the robot is currently disabled.
    
    Returns:
    
    the input.
  - getIsAutonomous
```
public static BooleanInputPoll getIsAutonomous()
```
    Get a boolean input that checks if the robot is currently in autonomous, as opposed to teleop and testing.
    
    Returns:
    
    the input.
  - getIsTest
```
public static BooleanInputPoll getIsTest()
```
    Get a boolean input that checks if the robot is currently in testing mode, as opposed to teleop and autonomous.
    
    Returns:
    
    the input.
  - getIsTeleop
```
public static BooleanInputPoll getIsTeleop()
```
    Get a boolean input that checks if the robot is currently in teleop mode, as opposed to testing and autonomous.
    
    Returns:
    
    the input.
  - getIsFMS
```
public static BooleanInputPoll getIsFMS()
```
    Get a boolean input that checks if the robot is currently connected to the FMS, as opposed to being off the playing field.
    
    Returns:
    
    the input.
  - useCompressor
```
public static void useCompressor(int pressureSwitchChannel,
                                 int compressorRelayChannel)
```
    Activate the compressor on the given pressure switch channel and compressor relay channel.
    
    Parameters:
    
    pressureSwitchChannel - the channel of the pressure switch digital input.
    
    compressorRelayChannel - the channel of the compressor's relay.
  - usePCMCompressor
```
public static BooleanOutput usePCMCompressor()
```
    Get control of the PCM-attached compressor. This makes sure that the PCM compressor is running the closed loop control.
    
    Returns:
    
    a BooleanOutput that can turn closed loop control on and off.
  - getPCMPressureSwitch
```
public static BooleanInputPoll getPCMPressureSwitch()
```
    Reads the current status of the PCM pressure switch.
    
    Returns:
    
    the pressure switch status.
  - getPCMCompressorRunning
```
public static BooleanInputPoll getPCMCompressorRunning()
```
    Reads the current status of the PCM compressor enable output.
    
    Returns:
    
    the compressor enable output.
  - getPCMCompressorCurrent
```
public static FloatInputPoll getPCMCompressorCurrent()
```
    Reads the current draw of the PCM compressor.
    
    Returns:
    
    the current being used by the compressor.
  - getPDPChannelCurrent
```
public static FloatInputPoll getPDPChannelCurrent(int channel)
```
    Reads the current draw of the specified PDP channel.
    
    Parameters:
    
    channel - the channel to monitor
    
    Returns:
    
    the current being used by the specified channel.
  - getPDPVoltage
```
public static FloatInputPoll getPDPVoltage()
```
    Reads the voltage of the PDP.
    
    Returns:
    
    the voltage being measured by the PDP.
  - getChannelVoltage
```
public static FloatInputPoll getChannelVoltage(int powerChannel)
```
    Reads the voltage from a specified power reading channel.
    
    Parameters:
    
    powerChannel - the power channel to read from.
    
    Returns:
    
    the voltage being measured.
  - getChannelCurrent
```
public static FloatInputPoll getChannelCurrent(int powerChannel)
```
    Reads the current from a specified power reading channel.
    
    Parameters:
    
    powerChannel - the power channel to read from.
    
    Returns:
    
    the current being measured.
  - getChannelEnabled
```
public static BooleanInputPoll getChannelEnabled(int powerChannel)
```
    Checks if the specified power reading channel is enabled.
    
    Parameters:
    
    powerChannel - the power channel to read from.
    
    Returns:
    
    if the channel is enabled.
  - isRoboRIO
```
public static boolean isRoboRIO()
```
    Checks if this platform is a roboRIO.
    
    Returns:
    
    if the platform is a roboRIO.
  - useCustomCompressor
```
public static void useCustomCompressor(BooleanInputPoll shouldDisable,
                                       int compressorRelayChannel)
```
    Activate the compressor on the given pressure switch input and compressor relay channel.
    
    Parameters:
    
    shouldDisable - should the compressor be turned off.
    
    compressorRelayChannel - the channel of the compressor's relay.
  - makeEncoder
```
public static FloatInputPoll makeEncoder(int aChannel,
                                         int bChannel,
                                         boolean reverse,
                                         EventInput resetWhen)
```
    Create a reference to an Encoder on the specified ports with the specified number of average bits.
    
    Parameters:
    
    aChannel - The alpha-channel for the encoder.
    
    bChannel - The beta-channel for the encoder.
    
    reverse - Should the result of the encoder be negated?
    
    resetWhen - If provided, the Encoder's value will be reset when this event is produced.
    
    Returns:
    
    the Encoder, reporting encoder ticks.
  - makeEncoder
```
public static FloatInputPoll makeEncoder(int aChannel,
                                         int bChannel,
                                         boolean reverse)
```
    Create a reference to an Encoder on the specified ports with the specified number of average bits.
    
    Parameters:
    
    aChannel - The alpha-channel for the encoder.
    
    bChannel - The beta-channel for the encoder.
    
    reverse - Should the result of the encoder be negated?
    
    Returns:
    
    the Encoder, reporting encoder ticks.
  - makeForwardRelay
```
public static BooleanOutput makeForwardRelay(int channel)
```
    Create a reference to the Forward side of the relay on the specified channel - this side can be turned on and off.
    
    Parameters:
    
    channel - The relay channel.
    
    Returns:
    
    the output that will modify the forward side of the channel.
  - makeReverseRelay
```
public static BooleanOutput makeReverseRelay(int channel)
```
    Create a reference to the Reverse side of the relay on the specified channel - this side can be turned on and off.
    
    Parameters:
    
    channel - The relay channel.
    
    Returns:
    
    the output that will modify the reverse side of the channel.
  - makeGyro
```
public static FloatInputPoll makeGyro(int port,
                                      double sensitivity,
                                      EventInput evt)
```
    Create a reference to a Gyro on the specified port with the specified sensitivity. This will allow reading the current rotation of the Gyro. This also takes an EventInput, and when this is fired, the Gyro will be reset. Increased sensitivity means a smaller output for the same turn.
    
    Parameters:
    
    port - The Gyro port number.
    
    sensitivity - The sensitivity of the Gyro. This is the number of volts/degree/second sensitivity of the gyro and is used in calculations to allow the code to work with multiple gyros. 0.007 is a good default value.
    
    evt - When to reset the Gyro.
    
    Returns:
    
    The reference to the Gyro's current value.
  - makeGyro
```
public static FloatInputPoll makeGyro(int port,
                                      double sensitivity)
```
    Create a reference to a Gyro on the specified port with the specified sensitivity. This will allow reading the current rotation of the Gyro. Increased sensitivity means a smaller output for the same turn.
    
    Parameters:
    
    port - The Gyro port number.
    
    sensitivity - The sensitivity of the Gyro. This is the number of volts/degree/second sensitivity of the gyro and is used in calculations to allow the code to work with multiple gyros. 0.007 is a good default value.
    
    Returns:
    
    The reference to the Gyro's current value.
  - makeAccelerometerAxis
```
@Deprecated
public static FloatInputPoll makeAccelerometerAxis(int port,
                                                               double sensitivity,
                                                               double zeropoint)
```
    Deprecated. This is literally a subtraction and a division.
    
    Create a reference to a Accelerometer Axis on the specified port, with the specified sensitivity and voltage zero point.
    
    Parameters:
    
    port - The port number to attach to.
    
    sensitivity - The sensitivity of the accelerometer. This varies per model.
    
    zeropoint - The voltage that corresponds to 0 G. This also varies by model.
    
    Returns:
    
    The reference to the axis on the Accelerometer.
  - registerAutonomous
```
public static void registerAutonomous(InstinctModule module)
```
    Register the specified InstinctModule as an autonomous mode. Note that registering multiple autonomous modes probably won't work properly.
    
    Parameters:
    
    module - the InstinctModule to register.
  - makeRS232_Onboard
```
public static SerialIO makeRS232_Onboard(int baudRate,
                                         java.lang.String deviceName)
```
    Open the onboard serial port of the robot.
    
    Parameters:
    
    baudRate - the baud rate of the port.
    
    deviceName - the name of the device the serial port is connected to (used for debugging and the emulator.)
    
    Returns:
    
    a SerialIO interface to the port.
  - makeRS232_MXP
```
public static SerialIO makeRS232_MXP(int baudRate,
                                     java.lang.String deviceName)
```
    Open the roboRIO's MXP-based serial port.
    
    Parameters:
    
    baudRate - the baud rate of the port.
    
    deviceName - the name of the device the serial port is connected to (used for debugging and the emulator.)
    
    Returns:
    
    a SerialIO interface to the port.
  - makeRS232_USB
```
public static SerialIO makeRS232_USB(int baudRate,
                                     java.lang.String deviceName)
```
    Open a USB-attached serial port on the roboRIO.
    
    Parameters:
    
    baudRate - the baud rate of the port.
    
    deviceName - the name of the device the serial port is connected to (used for debugging and the emulator.)
    
    Returns:
    
    a SerialIO interface to the port.
  - getControlBindingDataSource
```
public static ControlBindingDataSource getControlBindingDataSource()
```
    Get a ControlBindingDataSource for the six Joysticks. If on a cRIO, only four Joysticks are available.
    
    Returns:
    
    the data source.
    
    See Also:
    
    if you want to provide your own names, or use a different number of Joysticks., if you just want to bind controls.
  - makeControlBindingCreator
```
public static ControlBindingCreator makeControlBindingCreator(java.lang.String name,
                                                              boolean bypassEmulation)
```
    Get a ControlBindingCreator that the user can bind, over Cluck, to any Joystick inputs. If you're running in the emulator, and bypassEmulation is false, then the Emulator will skip over including Joysticks at all and just show you your control bindings directly. Much easier to work with!
    
    Parameters:
    
    name - the name of the module that this creator is for. For example, "Drive Code".
    
    bypassEmulation - if the emulator shouldn't try to emulate control bindings directly.
    
    Returns:
    
    the ControlBindingCreator that you can make your controls available over.
  - makeControlBindingCreator
```
public static ControlBindingCreator makeControlBindingCreator(java.lang.String name)
```
    Get a ControlBindingCreator that the user can bind, over Cluck, to any Joystick inputs. If you're running in the emulator, then the Emulator will skip over including Joysticks at all and just show you your control bindings directly. Much easier to work with!
    
    Parameters:
    
    name - the name of the module that this creator is for. For example, "Drive Code".
    
    Returns:
    
    the ControlBindingCreator that you can make your controls available over.
    
    See Also:
    
    if you want to choose whether or not the emulator emulates control bindings directly.
  - getControlBindingDataSource
```
public static ControlBindingDataSource getControlBindingDataSource(java.lang.String... names)
```
    This is similar to getControlBindingDataSource() but lets you give better names to your Joysticks. For example, you could say Igneous.getControlBindingDataSource("Drive Joystick", "Copilot Joystick");
    
    Parameters:
    
    names - the names of the Joysticks to attach to, in order.
    
    Returns:
    
    the generated control binding source.

Class Igneous

Field Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

MOTOR_FORWARD

MOTOR_REVERSE

NO_RAMPING

POWER_CHANNEL_BATTERY

POWER_CHANNEL_3V3

POWER_CHANNEL_5V

POWER_CHANNEL_6V

launcher

joystick1

joystick2

joystick3

joystick4

joystick5

joystick6

globalPeriodic

constantPeriodic

startAuto

duringAuto

startTele

duringTele

startTest

duringTest

startDisabled

duringDisabled

Method Detail

getKinectJoystick

makeJaguarMotor

makeVictorMotor

makeTalonMotor

makeCANJaguar

makeCANTalon

makeSolenoid

makeSolenoid

makeDigitalOutput

getBatteryVoltage

makeAnalogInput

makeAnalogInput

makeAnalogInput_ValueBased

makeDigitalInput

makeDigitalInputByInterrupt

makeServo

makeDSFloatReadout

makeDSBooleanReadout

makeDSFloatReadout

makeDSBooleanReadout

sendDSUpdate

getIsDisabled

getIsAutonomous

getIsTest

getIsTeleop

getIsFMS

useCompressor

usePCMCompressor

getPCMPressureSwitch

getPCMCompressorRunning

getPCMCompressorCurrent

getPDPChannelCurrent

getPDPVoltage

getChannelVoltage

getChannelCurrent

getChannelEnabled

isRoboRIO

useCustomCompressor

makeEncoder

makeEncoder

makeForwardRelay

makeReverseRelay

makeGyro

makeGyro

makeAccelerometerAxis

registerAutonomous

makeRS232_Onboard

makeRS232_MXP

makeRS232_USB

getControlBindingDataSource