Merge branch 'vision-redesign' of github.com:teamhyper/hyperLib into vision-redesign

Author: James Hagborg

src/main/java/org/usfirst/frc/team69/util/CommandBuilder.java

@@ -65,11 +65,16 @@ public CommandBuilder sequential(Command command) {
      * @param command
      *            The command to add in sequence
      * @param timeout
-     *            The timeout, in seconds
+     *            The timeout, in seconds. if negative, no timeout is used.
      * @return This CommandBuilder object
      */
     public CommandBuilder sequential(Command command, double timeout) {
-        m_cmdGroup.addSequential(command, timeout);
+    	if(timeout >= 0.0) {
+    		m_cmdGroup.addSequential(command, timeout);
+    	} else {
+    		m_cmdGroup.addSequential(command);
+    	}
+        
         return this;
     }
 
@@ -100,11 +105,15 @@ public CommandBuilder parallel(Command command) {
      * @param command
      *            The command to add in parallel
      * @param timeout
-     *            The timeout, in seconds
+     *            The timeout, in seconds. if negative, no timeout is used.
      * @return This CommandBuilder object
      */
     public CommandBuilder parallel(Command command, double timeout) {
-        m_cmdGroup.addParallel(command, timeout);
+    	if(timeout >= 0.0) {
+    		m_cmdGroup.addParallel(command, timeout);
+    	} else {
+    		m_cmdGroup.addParallel(command);
+    	}        
         return this;
     }
 

src/main/java/org/usfirst/frc/team69/util/pid/PrefPIDController.java

@@ -33,6 +33,8 @@ public class PrefPIDController extends PIDController {
     private double m_defP, m_defI, m_defD, m_defF;
     private double m_defTolerance = -1; // -1 indicates no tolerance
     private double m_defMinOutput = -1, m_defMaxOutput = 1;
+    
+    private PIDSource m_source;
 
     private final String m_prefString;
 
@@ -132,6 +134,7 @@ public PrefPIDController(String prefString, double Kp, double Ki, double Kd,
         m_defD = Kd;
         m_defF = Kf;
         m_prefString = prefString;
+        m_source = source;
 
         createKeysIfEmpty();
         updatePreferences();
@@ -231,6 +234,44 @@ public void setOutputRange(double min, double max) {
 
         updatePreferences();
     }
+    /**
+     * Gets the tolerance of the PID
+     * 
+     * @return the tolerance of this PID 
+     */
+    public double getTolerance() {
+    	return m_defTolerance;
+    }
+    
+    /**
+     * Is the system above the given target
+     * 
+     * @param target
+     * 			setpoint to check if the PID system is above
+     * 
+     * @param reverse
+     * 			is the system reversed
+     * 
+     * @return is the system above the given target
+     */
+    public boolean isAbove(double target, boolean reverse) {
+    	return (reverse ? m_source.pidGet() <= target+m_defTolerance : m_source.pidGet() >= target-m_defTolerance);
+    }
+    /**
+     * Is the system below the given target
+     * 
+     * @param target
+     * 			setpoint to check if the PID system is below
+     * 
+     * @param reverse
+     * 			is the system reversed
+     * 
+     * @return is the system below the given target
+     */
+    public boolean isBelow(double target, boolean reverse) {
+    	return (reverse ? m_source.pidGet() >= target-m_defTolerance : m_source.pidGet() <= target+m_defTolerance);
+    }
+    
 
     private void updatePreferences() {
         Preferences pref = Preferences.getInstance();

src/main/java/org/usfirst/frc/team69/util/port/Port.java

@@ -23,7 +23,7 @@
      *
      */
     public enum Type {
-        PWM, DIO, ANALOG, RELAY, PCM, CAN
+        PWM, DIO, ANALOG, RELAY, PCM, CAN, USB
     }
 
     /**