Servo driver branch (#1)

* - added ServoDriver

* - added a functional implementation of diozero and pi4j for servo hats

* - got the servo controller to work

* - finished RPiBotLib v1.1.0

build.gradle

@@ -21,7 +21,7 @@ allprojects {
 
     group = 'com.github.Ghozti'
 
-    version = 'v1.0.0'
+    version = 'v1.1.0'
 
     ext {
         appName = "RPiBotLib"
@@ -37,6 +37,7 @@ allprojects {
         mavenLocal()
         mavenCentral()
         google()
+        maven { url 'https://jitpack.io' }
         maven { url "https://oss.sonatype.org/content/repositories/snapshots/" }
         maven { url "https://oss.sonatype.org/content/repositories/releases/" }
     }
@@ -53,6 +54,7 @@ project(":desktop") {
         implementation 'com.pi4j:pi4j-core:2.1.1'
         implementation 'com.pi4j:pi4j-plugin-raspberrypi:2.1.1'
         implementation 'com.pi4j:pi4j-plugin-pigpio:2.1.1'
+        implementation group: 'com.diozero', name: 'diozero-core', version: '1.3.4'
         api "com.badlogicgames.gdx:gdx-backend-lwjgl3:$gdxVersion"
         api "com.badlogicgames.gdx:gdx-platform:$gdxVersion:natives-desktop"
         api "com.badlogicgames.gdx:gdx-box2d-platform:$gdxVersion:natives-desktop"
@@ -76,6 +78,7 @@ project(":core") {
         implementation 'com.pi4j:pi4j-core:2.1.1'
         implementation 'com.pi4j:pi4j-plugin-raspberrypi:2.1.1'
         implementation 'com.pi4j:pi4j-plugin-pigpio:2.1.1'
+        implementation group: 'com.diozero', name: 'diozero-core', version: '1.3.4'
         api "com.badlogicgames.gdx:gdx:$gdxVersion"
         api "com.badlogicgames.gdx:gdx-box2d:$gdxVersion"
         api "com.badlogicgames.gdx-controllers:gdx-controllers-core:$gdxControllersVersion"

core/src/Robot/Robot.java

@@ -1,10 +1,12 @@
 package Robot;
 
+import com.pi4j.context.Context;
 import pibotlib.lib.addons.TimedRobotBase;
-import pibotlib.lib.gamecontrollers.LocalXboxController;
 
 public class Robot extends TimedRobotBase {
 
+    Context context;
+
     public Robot(){
 
     }

core/src/pibotlib/lib/addons/hats/ServoDriver.java

@@ -0,0 +1,82 @@
+package pibotlib.lib.addons.hats;
+
+import java.util.ArrayList;
+import com.diozero.api.I2CConstants;
+import com.diozero.api.ServoDevice;
+import com.diozero.api.ServoTrim;
+import com.diozero.devices.PCA9685;
+
+public class ServoDriver {
+
+    private int maxServos = 16;
+    private PCA9685 pca9685;
+    private ArrayList<ServoDevice> servos = new ArrayList<>();
+
+    public ServoDriver(int constant, int address, int pwmFrequency){
+        try {
+            pca9685 = new PCA9685(constant,address,pwmFrequency);
+        }catch (Exception e){
+            System.out.println("Servo device instantiation failed");
+            e.printStackTrace();
+        }
+    }
+
+    public ServoDriver(){
+        try {
+            pca9685 = new PCA9685(I2CConstants.CONTROLLER_1,0x40,50);
+        }catch (Exception e){
+            System.out.println("Servo device instantiation failed");
+            e.printStackTrace();
+        }
+    }
+
+    public void addServo(int gpio, ServoTrim trim){
+        if (servos.size() >= maxServos){
+            System.out.println("servo limit is 12");
+            return;
+        }else {
+            try {
+                servos.add(ServoDevice.newBuilder(gpio).setDeviceFactory(pca9685).setTrim(trim).build());
+            }catch (Exception e){
+                System.out.println("Servo init failed");
+                e.printStackTrace();
+            }
+        }
+    }
+
+    public void addAllServos(ServoTrim trim){
+        if (servos.size() >= 12){
+            System.out.println("servo limit is 12");
+            return;
+        }else {
+            try {
+                for (int i = 0; i < maxServos; i++){
+                    servos.add(ServoDevice.newBuilder(i).setDeviceFactory(pca9685).setTrim(trim).build());
+                }
+            }catch (Exception e){
+                System.out.println("Servo init failed");
+                e.printStackTrace();
+            }
+        }
+    }
+
+    public ServoDevice getServo(int ID){
+        return servos.get(ID);
+    }
+
+    public void setServoMin(int ID){
+        servos.get(ID).min();
+    }
+
+    public void setServoMid(int ID){
+        servos.get(ID).mid();
+    }
+
+    public void setServoMax(int ID){
+        servos.get(ID).max();
+    }
+
+    public void setServoAngle(int ID, float angle){
+        servos.get(ID).setAngle(angle);
+    }
+}

core/src/pibotlib/lib/constants/Constants.java

@@ -6,7 +6,7 @@
 public class Constants {
 
     public static class LibConstants {
-        public final static String LIB_VERSION = "1.0.0";
+        public final static String LIB_VERSION = "1.1.0";
     }
 
     public static class Graphical {

core/src/pibotlib/lib/gamecontrollers/LocalXboxController.java

@@ -60,4 +60,20 @@ public synchronized boolean getX(){
     public synchronized boolean getY(){
         return controller.getButton(controller.getMapping().buttonY);
     }
+
+    /**
+     *returns a boolean if the D pad up button is pressed*/
+    public synchronized boolean getDPadUp(){return controller.getButton(controller.getMapping().buttonDpadUp);}
+
+    /**
+     *returns a boolean if the D pad down button is pressed*/
+    public synchronized boolean getDPadDown(){return controller.getButton(controller.getMapping().buttonDpadDown);}
+
+    /**
+     *returns a boolean if the D pad left button is pressed*/
+    public synchronized boolean getDPadLeft(){return controller.getButton(controller.getMapping().buttonDpadLeft);}
+
+    /**
+     *returns a boolean if the D pad right button is pressed*/
+    public synchronized boolean getDPadRight(){return controller.getButton(controller.getMapping().buttonDpadRight);}
 }