delete comments to make code readable and change message to 'go' to match Arduino

[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 473ceea020e60b41df523807c6cbcccac22a0fb2..688c1e6312eb1e954033aa0eea351a0adc9e17c1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -8,6 +8,8 @@ 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.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -23,6 +25,8 @@ public class Robot extends IterativeRobot {
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
+  static I2C Wire = new I2C(Port.kOnboard, 42);
+
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
@@ -86,15 +90,15 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
     SmartDashboard.putData("Position Three Defense Chooser",
         positionThreeDefense);
-    SmartDashboard
-        .putData("Position Four Defense Chooser", positionFourDefense);
-    SmartDashboard
-        .putData("Position Five Defense Chooser", positionFiveDefense);
+    SmartDashboard.putData("Position Four Defense Chooser",
+        positionFourDefense);
+    SmartDashboard.putData("Position Five Defense Chooser",
+        positionFiveDefense);
 
-    SmartDashboard
-        .putData("Position Four Defense Chooser", positionFourDefense);
-    SmartDashboard
-        .putData("Position Five Defense Chooser", positionFiveDefense);
+    SmartDashboard.putData("Position Four Defense Chooser",
+        positionFourDefense);
+    SmartDashboard.putData("Position Five Defense Chooser",
+        positionFiveDefense);
 
     shooter = new Shooter();
 
@@ -137,6 +141,13 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    String WriteString = "go";
+    char[] CharArray = WriteString.toCharArray();
+    byte[] WriteData = new byte[CharArray.length];
+    for (int i = 0; i < CharArray.length; i++) {
+      WriteData[i] = (byte) CharArray[i];
+    }
+    Wire.transaction(WriteData, WriteData.length, null, 0);
   }
 
 }