add code from nerdherd to Robot.java to verify that it works alone

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Robot.java

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 0aad2a670a5b60c7e76d0fd051b78be9afdb6e38..4240b38ca009f825235d08efb4679c08384eb111 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
@@ -8,7 +9,9 @@ import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.I2C.Port;
 import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -23,19 +26,18 @@ public class Robot extends IterativeRobot {
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
+  static I2C Wire = new I2C(Port.kOnboard, 42);
+  Joystick joy = new Joystick(1);
+
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
       positionFourDefense, positionFiveDefense;
 
-  // Gyro stuff
-  public GyroLib gyro;
-
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
     oi = new OI();
-    gyro = new GyroLib(I2C.Port.kOnboard, false);
 
     shooter = new Shooter();
     scaler = new Scaler();
@@ -112,18 +114,16 @@ public class Robot extends IterativeRobot {
     Integer chosenPosition = (Integer) positionChooser.getSelected();
     Integer chosenDefense = 0;
 
-    switch (chosenPosition) {
-    case 1:
+    if (chosenPosition == 1)
       chosenDefense = (Integer) positionOneDefense.getSelected();
-    case 2:
+    else if (chosenPosition == 2)
       chosenDefense = (Integer) positionTwoDefense.getSelected();
-    case 3:
+    else if (chosenPosition == 3)
       chosenDefense = (Integer) positionThreeDefense.getSelected();
-    case 4:
+    else if (chosenPosition == 4)
       chosenDefense = (Integer) positionFourDefense.getSelected();
-    case 5:
+    else if (chosenPosition == 5)
       chosenDefense = (Integer) positionFiveDefense.getSelected();
-    }
 
     System.out.println("Chosen Position: " + chosenPosition);
     System.out.println("Chosen Defense: " + chosenDefense);
@@ -136,17 +136,29 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
-    gyro.start();
-
+    Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
+                                                      // of each match.
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
-    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
+    if (joy.getRawButton(1)) { // Check if the button is pressed
+      String WriteString = "RGB"; // String that is going to transfer; change to
+                                  // whatever the Arduino code has
+      char[] CharArray = WriteString.toCharArray(); // Changes data type
+                                                    // (string) to char array
+      // Char array: array of chars
+      byte[] WriteData = new byte[CharArray.length]; // Makes the char array
+                                                     // able to transfer from
+                                                     // roboRio to Arduino
+      for (int i = 0; i < CharArray.length; i++) { // Repeats for each char in
+                                                   // CharArray
+        WriteData[i] = (byte) CharArray[i]; // Sets the char to byte
+      }
+      Wire.transaction(WriteData, WriteData.length, null, 0); // Finally does
+                                                              // transaction
+    }
   }
 
 }