The document summarizes new features for the FRC Java programming software for 2011, including: 1. A new SmartDashboard class for conveniently logging diagnostic info to a remote display. 2. New motor safety classes that allow motors to automatically shut off if PWM signals stop, to improve safety. 3. Enhanced access to the driver station Cypress module for reading inputs like accelerometers. 4. A new ADXL345_I2C class for reading accelerometer data over I2C. 5. New image processing classes and capabilities. 6. Miscellaneous package and class changes.

1. New Features for <br />FRC Java Programming <br />(Report on Java Beta Software 2011)<br />Andrew MerrillSoftware Mentor, FRC Team 1540Computer Science Teacher, Catlin Gabel School<br />Smart Dashboard<br />New class SmartDashboard<br />Convenient way to log diagnostic info to a remote display<br />New Java client that runs on desktop/laptop computer<br />Client program automatically displays logged fields without needing configuration<br />Example:<br />SmartDashboard.init();SmartDashboard.log(quot;
Disabledquot;
, quot;
System Statequot;
);SmartDashboard.log(leftDrive.get(), quot;
Left Drivequot;
);SmartDashboard.log(rightDrive.get(), quot;
Right Drivequot;
);SmartDashboard.log(rollerAvg, quot;
Roller Avg. Valuequot;
);SmartDashboard.log(basket.hasBall(), quot;
Ball in Robotquot;
);<br /> INCLUDEPICTURE quot;
Macintosh HD:Users:bob:Dropbox:Documents:WebSites:OregonFIRST:Events:FIRSTFare:FIRSTFare2010:documents-export-2011-10-16.zip Folder:../../../AppData/Local/Temp/moz-screenshot.jpgquot;
MERGEFORMATINET Safe Motors<br />New interface MotorSafety, new classes SafePWM and MotorSafetyHelper<br />A safe motor shuts itself off if you stop sending it PWM signals<br />You configure how long the motor waits until shutoff<br />Motor starts working again when you send it a new PWM signal<br />Motors controlled by the RobotDrive class are automatically quot;
safequot;
<br />Other motors are not quot;
safequot;
by default<br />Example of making a quot;
safequot;
Jaguar controlled motor:<br /> Jaguar driveMotor = new Jaguar(1); driveMotor.setSafetyEnabled(true); driveMotor.setExpiration(5);Driver Station Enhanced IO<br />New class DriverStationEnhancedIO<br />More access to the Cypress add-on module on the driver station<br />Example of using the DriverStationEnhancedIO class:<br /> DriverStationEnhancedIO dseio = DriverStation.getInstance().getEnhancedIO(); double accelX = dseio.getAcceleration(dseio.tAccelChannel.kAccelX); double slider = dseio.getTouchSlider(); dseio.setLED(1, true);Accelerometer over I2C<br />New class ADXL345_I2C<br />Provides access to the ADXL 345 Accelerometer over the I2C interface<br />Previously, accelerometer access was via analog inputs<br />Example code:<br /> ADXL345_I2C accelerometer = new ADXL345_I2C(1, ADXL345_I2C.DataFormat_Range.k4G); double ax = accelerometer.getAcceleration(ADXL345_I2C.Axes.kX);New Image Processing Capabilities<br />The package edu.wpi.first.wpilibj.image has new classes:<br />CurveOptions<br />EllipseDescriptor<br />EllipseMatch<br />RegionOfInterest<br />ShapeDetectionOptions<br />The MonoImage class has a new detectEllipses method<br />Miscellaneous Changes<br />The package com.sun.spot.ota has been removed<br />but the com.sun.spot.ota.VxWorks class was moved to the com.ni.rio package<br />The package com.sun.cldc.io was added<br />it contains only the ConnectionBaseInterface interface<br />The package com.sun.cldc.jna has two new classes:<br />BlockingFunction and TaskExecutor<br />The package com.sun.squawk has four new classes:<br />CallbackManager, CrossIsolateThread, DoBlock, ResourceFile<br />The package com.sun.squawk.io.j2me.multicast has been renamed<br />The new name is com.sun.squawk.io.j2me.multicastoutput <br />Two interfaces from com.sun.squawk.microedition.io were moved <br />ServerSocketConnection, SocketConnection are now in javax.microedition.io<br />The package com.sun.squawk.pragma has been added<br />The package com.sun.squawk.security.verifier has been removed<br />The package con.sun.squawk.util has a new SquawkHashtable<br />