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

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 473ceea020e60b41df523807c6cbcccac22a0fb2..4240b38ca009f825235d08efb4679c08384eb111 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -8,7 +8,10 @@ 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;
@@ -23,6 +26,9 @@ 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,
@@ -86,15 +92,15 @@ 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 +143,22 @@ public class Robot extends IterativeRobot {
   @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
+    }
   }
 
 }