Merge pull request #66 from strykeforce/autonswitch

Add auton switch reader

Author: jhh

build.gradle

@@ -2,13 +2,13 @@ plugins {
     id "java"
     id "idea"
     id "maven-publish"
-    id "org.jetbrains.kotlin.jvm" version "1.3.70"
+    id "org.jetbrains.kotlin.jvm" version "1.3.61"
     id "org.jetbrains.kotlin.kapt" version "1.3.61"
-    id "edu.wpi.first.GradleRIO" version "2020.3.2"
+    id "edu.wpi.first.GradleRIO" version "2020.1.2"
 }
 
 group = 'org.strykeforce'
-version = '20.3.2'
+version = '20.4.1'
 
 sourceCompatibility = JavaVersion.VERSION_11
 targetCompatibility = JavaVersion.VERSION_11
@@ -58,10 +58,6 @@ java {
   withSourcesJar()
 }
 
-test {
-    useJUnitPlatform()
-}
-
 idea {
     module {
       downloadJavadoc = true

src/main/java/org/strykeforce/thirdcoast/util/AutonSwitch.java

@@ -0,0 +1,47 @@
+package org.strykeforce.thirdcoast.util;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class AutonSwitch {
+
+    private final List<DigitalInput> digitalInputs;
+
+    /**
+     * Construct with the specified digital inputs.
+     *
+     * @param digitalInputs - in order from least to most significant bits.
+     */
+    public AutonSwitch(List<DigitalInput> digitalInputs) {
+        this.digitalInputs = digitalInputs;
+    }
+
+    /**
+     * Construct with digital inputs starting with DIO channel 0
+     *
+     * @param bits - number of digital inputs
+     */
+    public AutonSwitch(int bits) {
+        List<DigitalInput> digitalInputs = new ArrayList<>(bits);
+        for (int i = 0; i < bits; i++) {
+            digitalInputs.add(new DigitalInput(i));
+        }
+        this.digitalInputs = digitalInputs;
+    }
+
+    /**
+     * Read switch value.
+     *
+     * @return numeric value of switch
+     */
+    public int position() {
+        int val = 0;
+        for (int i = digitalInputs.size(); i-- > 0; ) {
+            val = val << 1;
+            val = (val & 0xFE) | (digitalInputs.get(i).get() ? 0 : 1);
+        }
+        return val;
+    }
+}