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;
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;
@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
+ 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);
}
}