Enable follower mode for Talons

Author: jhh

build.gradle

@@ -6,7 +6,7 @@ plugins {
     id 'net.ltgt.apt-idea' version '0.15'
 }
 
-version = '18.1.6'
+version = '18.1.7'
 
 repositories {
     jcenter()

src/main/java/org/strykeforce/thirdcoast/telemetry/tct/talon/config/ConfigMenuModule.java

@@ -45,6 +45,11 @@ public static Menu configMenu(
   @Named("TALON_CONFIG")
   public abstract Command selectOperatingModeCommand(SelectOperatingModeCommand command);
 
+  @Binds
+  @IntoSet
+  @Named("TALON_CONFIG")
+  public abstract Command followCommand(FollowCommand command);
+
   @Binds
   @IntoSet
   @Named("TALON_CONFIG")

src/main/java/org/strykeforce/thirdcoast/telemetry/tct/talon/config/FollowCommand.java

@@ -0,0 +1,84 @@
+package org.strykeforce.thirdcoast.telemetry.tct.talon.config;
+
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import java.util.Arrays;
+import java.util.List;
+import javax.inject.Inject;
+import org.jline.reader.EndOfFileException;
+import org.jline.reader.LineReader;
+import org.jline.reader.UserInterruptException;
+import org.strykeforce.thirdcoast.telemetry.tct.Messages;
+import org.strykeforce.thirdcoast.telemetry.tct.talon.TalonSet;
+
+public class FollowCommand extends AbstractTalonConfigCommand {
+
+  public static final String NAME = "Set Talon Follower";
+
+  @Inject
+  public FollowCommand(LineReader reader, TalonSet talonSet) {
+    super(NAME, reader, talonSet);
+  }
+
+  @Override
+  public void perform() {
+    int[] values = getFollowerMasterPair();
+    if (values == null) {
+      return;
+    }
+    try {
+      TalonSRX follower = talonSet.get(values[0]).orElseThrow(IllegalArgumentException::new);
+      TalonSRX master = talonSet.get(values[1]).orElseThrow(IllegalArgumentException::new);
+      follower.follow(master);
+    } catch (IllegalArgumentException e) {
+      terminal
+          .writer()
+          .println(Messages.bold("\nOne or both Talons missing: " + Arrays.toString(values)));
+    }
+  }
+
+  private int[] getFollowerMasterPair() {
+    terminal.writer().println(Messages.bold("\nenter <follower>,<master> TalonSRX ids"));
+    int[] values = null;
+    while (values == null) {
+      String line;
+      try {
+        line = reader.readLine(prompt()).trim();
+      } catch (EndOfFileException | UserInterruptException e) {
+        break;
+      }
+
+      if (line.isEmpty()) {
+        logger.info("{}: no value entered", name());
+        break;
+      }
+
+      List<String> entries = Arrays.asList(line.split(","));
+      int[] ints = new int[2];
+      try {
+        if (entries.size() > 0) {
+          ints[0] = Integer.valueOf(entries.get(0));
+        } else {
+          help();
+          continue;
+        }
+        if (entries.size() > 1) {
+          ints[1] = Integer.valueOf(entries.get(1));
+        } else {
+          help();
+          continue;
+        }
+      } catch (NumberFormatException nfe) {
+        help();
+        continue;
+      }
+      values = ints;
+    }
+    return values;
+  }
+
+  private void help() {
+    terminal
+        .writer()
+        .println(Messages.boldRed("please enter two TalonSRX ids separated by a commma"));
+  }
+}

src/main/resources/org/strykeforce/thirdcoast/telemetry/tct/menu.toml

@@ -19,6 +19,7 @@ TALON = [
 
 TALON_CONFIG = [
   "org.strykeforce.thirdcoast.telemetry.tct.talon.config.SelectOperatingModeCommand",
+  "org.strykeforce.thirdcoast.telemetry.tct.talon.config.FollowCommand",
   "org.strykeforce.thirdcoast.telemetry.tct.talon.config.ClosedLoopConfigCommand",
   "org.strykeforce.thirdcoast.telemetry.tct.talon.config.OutputConfigCommand",
   "org.strykeforce.thirdcoast.telemetry.tct.talon.config.EncoderConfigCommand",

tct.iml

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<module external.linked.project.id="tct" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="GRADLE" external.system.module.group="" external.system.module.version="18.1.6" type="JAVA_MODULE" version="4">
+<module external.linked.project.id="tct" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="GRADLE" external.system.module.group="" external.system.module.version="18.1.7" type="JAVA_MODULE" version="4">
   <component name="NewModuleRootManager">
     <output url="file://$MODULE_DIR$/out/production/classes" />
     <output-test url="file://$MODULE_DIR$/out/test/classes" />