Issue 95 - Added support for the Spark motor controller

Author: rhauch

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

@@ -58,6 +58,7 @@
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.SPI;
+import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.Ultrasonic;
 import edu.wpi.first.wpilibj.Victor;
@@ -692,6 +693,29 @@ public static TalonSRX talonSRX(int deviceNumber, TalonSRX leader, boolean rever
             talon.reverseOutput(reverse);
             return talonSRX(talon, 0.0d, 0.0d);
         }
+
+        /**
+         * Create a motor driven by a <a href="http://www.revrobotics.com/SPARK">RevRobotics Spark Motor Controller</a> on the
+         * specified channel. The speed output is limited to [-1.0,1.0] inclusive.
+         *
+         * @param channel the channel the controller is connected to
+         * @return a motor on the specified channel
+         */
+        public static Motor spark(int channel) {
+            return spark(channel, SPEED_LIMITER);
+        }
+
+        /**
+         * Create a motor driven by a <a href="http://www.revrobotics.com/SPARK">RevRobotics Spark Motor Controller</a> on the
+         * specified channel, with a custom speed limiting function.
+         *
+         * @param channel the channel the controller is connected to
+         * @param speedLimiter function that will be used to limit the speed (input voltage); may not be null
+         * @return a motor on the specified channel
+         */
+        public static Motor spark(int channel, DoubleToDoubleFunction speedLimiter) {
+            return new HardwareSpark(new Spark(channel), SPEED_LIMITER);
+        }
     }
 
     /**

strongback/src/org/strongback/hardware/HardwareMotor.java

@@ -30,7 +30,7 @@
  * @see Hardware
  * @see edu.wpi.first.wpilibj.SpeedController
  */
-final class HardwareMotor implements Motor {
+class HardwareMotor implements Motor {
 
     private final SpeedController controller;
     private final DoubleToDoubleFunction speedValidator;

strongback/src/org/strongback/hardware/HardwareSpark.java

@@ -0,0 +1,35 @@
+/*
+ * Strongback
+ * Copyright 2017, Strongback and individual contributors by the @authors tag.
+ * See the COPYRIGHT.txt in the distribution for a full listing of individual
+ * contributors.
+ *
+ * Licensed under the MIT License; you may not use this file except in
+ * compliance with the License. You may obtain a copy of the License at
+ * http://opensource.org/licenses/MIT
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.strongback.hardware;
+
+import org.strongback.annotation.Immutable;
+import org.strongback.function.DoubleToDoubleFunction;
+
+import edu.wpi.first.wpilibj.SpeedController;
+
+/**
+ * RevRobotics Spark motor controller.
+ *
+ * @author Randall Hauch
+ */
+@Immutable
+class HardwareSpark extends HardwareMotor {
+
+    HardwareSpark(SpeedController controller, DoubleToDoubleFunction speedValidator ) {
+        super(controller,speedValidator);
+    }
+}