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 99f66213b193728ddf53e4f1927785d979df62e9..4240b38ca009f825235d08efb4679c08384eb111 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,14 +1,17 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.sensors.Photogate;
+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;
 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;
@@ -23,12 +26,13 @@ public class Robot extends IterativeRobot {
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
-  public static Photogate photogate;
+  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;
+      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
@@ -132,11 +136,29 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+    Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
+                                                      // of each match.
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    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
+    }
   }
 
 }