Create code for getting values and template for getting the rest

src/main/java/com/team766/orin/GetOrinRawValue.java

@@ -0,0 +1,95 @@
+package com.team766.orin;
+import edu.wpi.first.networktables.BooleanEntry;
+import edu.wpi.first.networktables.BooleanTopic;
+import edu.wpi.first.networktables.DoubleArrayEntry;
+import edu.wpi.first.networktables.DoubleArrayTopic;
+import edu.wpi.first.networktables.DoubleEntry;
+import edu.wpi.first.networktables.DoubleTopic;
+import edu.wpi.first.networktables.IntegerArrayEntry;
+import edu.wpi.first.networktables.IntegerArrayTopic;
+import edu.wpi.first.networktables.IntegerEntry;
+import edu.wpi.first.networktables.IntegerTopic;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.StringEntry;
+import edu.wpi.first.networktables.StringTopic;
+
+/*
+ * This class is used to get raw values from the NetworkTable. We can send values on the Orin to NetworkTables and get them easily here.
+ * One important caveat of the NetworkTables code is that it doesn't throw exceptions when a value is not found.
+ * Instead, it asks for a default value to return. This is a problem because we can't know if the value is not found or if the value is the default value.
+ * Thus, numbers were chosen as default values that aren't really plausible to be sent by the Orin.
+ * For example, it is not likley that the Orin will send Integer.MIN_VALUE as a value. In this case, an exception is thrown.
+ * 
+ * @author Max Spier, 9/28/2024
+ */
+public class GetOrinRawValue {
+
+	private static NetworkTableInstance inst = NetworkTableInstance.getDefault();
+	private static NetworkTable table = inst.getTable("/SmartDashboard");
+
+	public static int getInt(String key) throws ValueNotFoundOnTableError {
+		IntegerTopic topic = table.getIntegerTopic(key);
+		IntegerEntry value = topic.getEntry(Integer.MIN_VALUE);
+		if (value.get() == Integer.MIN_VALUE) {
+			throw new ValueNotFoundOnTableError(key);
+		}
+		return (int) value.get();
+	}
+
+	public static double getDouble(String key) throws ValueNotFoundOnTableError {
+		DoubleTopic topic = table.getDoubleTopic(key);
+		DoubleEntry value = topic.getEntry(Double.NEGATIVE_INFINITY);
+		if (value.get() == Double.NEGATIVE_INFINITY) {
+			throw new ValueNotFoundOnTableError(key);
+		}
+		return value.get();
+	}
+
+	/*
+	 * Be careful to know that the boolean value is valid. If the value is not found, the default value is returned and no exception is thrown.
+	 * This is because true/false are the only two possible values for a boolean - if one were to be the default it would be hard to know if the value was not found or if the value was the default.
+	 */
+	public static boolean getBoolean(String key) {
+		BooleanTopic topic = table.getBooleanTopic(key);
+		BooleanEntry value = topic.getEntry(false);
+		return value.get();
+	}
+
+	public static String getString(String key) throws ValueNotFoundOnTableError {
+		StringTopic topic = table.getStringTopic(key);
+		StringEntry value = topic.getEntry("Team 766 is such a great team and they will go to worlds every year because they are such a great team!!!");
+		if (value.get().equals("Team 766 is such a great team and they will go to worlds every year because they are such a great team!!!")) {
+			throw new ValueNotFoundOnTableError(key);
+		}
+		return value.get();
+	}
+
+	public static int[] getIntArray(String key) throws ValueNotFoundOnTableError {
+		IntegerArrayTopic topic = table.getIntegerArrayTopic(key);
+		long[] arr = new long[1];
+		arr[0] = Integer.MIN_VALUE;
+		IntegerArrayEntry values = topic.getEntry(arr);
+		if (values.get()[0] == Integer.MIN_VALUE && values.get().length == 1) {
+			throw new ValueNotFoundOnTableError(key);
+		}
+
+		int[] toReturn = new int[values.get().length];
+		for (int i = 0; i < values.get().length; i++) {
+			toReturn[i] = (int) values.get()[i];
+		}
+		return toReturn;
+	}
+
+	public static double[] getDoubleArray(String key) throws ValueNotFoundOnTableError {
+		DoubleArrayTopic topic = table.getDoubleArrayTopic(key);
+		double[] arr = new double[1];
+		arr[0] = Double.NEGATIVE_INFINITY;
+		DoubleArrayEntry values = topic.getEntry(arr);
+		if (values.get()[0] == Double.NEGATIVE_INFINITY && values.get().length == 1) {
+			throw new ValueNotFoundOnTableError(key);
+		}
+
+		return values.get();
+	}
+}

src/main/java/com/team766/orin/ValueNotFoundOnTableError.java

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+package com.team766.orin;
+
+public class ValueNotFoundOnTableError extends Exception {
+	public ValueNotFoundOnTableError(String key) {
+		super("Value not found on table: " + key);
+	}
+}