Elevator Motion Profiling / PID Ramping

[Tom Bottiglieri]

A bit of a follow up:

I talked this weekend at CVR with Joe Hershberger, who develops the RoboRIO side of the FRC stack. There is a construct in the HAL called a Notifier which uses the FPGA to generate interrupts at specific period. The CPP version of WPILib has support for this, but the java version is missing a JNI wrapper for this. Currently all timing based stuff (including the bundled PIDController) is being doing using Thread.sleep.

So, it seems possible to get decent timing in Java, but someone is going to have to get the Notifier built into the JNI and working. Has anyone managed to get the allwpilib repo java stuff built? The documentation isn't incredibly helpful.