/** Displays test pattern of all defined characters. */
public void displayTestPattern() {
byte[] byte1 = new byte[10];
Util.consoleLog();
// first reset the transmit array to zeros.
for (int c = 0; c < 10; c++) {
byte1[c] = (byte) (0b00000000) & 0xFF;
}
// put single character data in the array and write to display.
for (int c = 0; c < 9; c++) {
byte1[0] = (byte) (0b0000111100001111);
byte1[2] = charreg[4 * c + 3][0];
byte1[3] = charreg[4 * c + 3][1];
byte1[4] = charreg[4 * c + 2][0];
byte1[5] = charreg[4 * c + 2][1];
byte1[6] = charreg[4 * c + 1][0];
byte1[7] = charreg[4 * c + 1][1];
byte1[8] = charreg[4 * c][0];
byte1[9] = charreg[4 * c][1];
// send the array to the board
i2c.writeBulk(byte1);
Timer.delay(3);
}
}
public void SendString(String writeStr) {
char[] CharArray = writeStr.toCharArray();
byte[] WriteData = new byte[CharArray.length];
for (int i = 0; i < CharArray.length; i++) {
WriteData[i] = (byte) CharArray[i];
}
i2cBus.transaction(WriteData, WriteData.length, null, 0);
}
public double getDegrees() {
double timerDelta = Timer.getFPGATimestamp() - timerStart;
byte[] angle = new byte[1];
gyro.read(0x47, 1, angle);
double rotation = (angle[0] * timerDelta) * 2;
degrees += rotation;
return -degrees;
}
/**
* Enable/Disable character LED blink.
*
* @param blink True to blink.
*/
public void blink(boolean blink) {
byte[] buffer = new byte[1];
Util.consoleLog("%b", blink);
if (blink) buffer[0] = (byte) 0x83;
else buffer[0] = (byte) 0x81;
i2c.writeBulk(buffer);
Timer.delay(.01);
}
/**
* Display a message in the character LEDs.
*
* @param message 4 character message, 0-9 A-Z.
*/
public void display(String message) {
int len, idx = 8;
byte[] byte1 = new byte[10];
message = message.toUpperCase();
Util.consoleLog(message);
// first reset the transmit array to zeros.
for (int c = 0; c < 10; c++) {
byte1[c] = (byte) (0b00000000) & 0xFF;
}
// Set memory address command to location to store characters on revboard.
// Note: this sets max address depending on board automatically wrapping
// around to address of 1st character.
byte1[0] = (byte) (0b0000111100001111);
len = message.length();
if (len > 4) len = 4;
// Process each character in the message. Use char value to index into
// charreg array and set the 2 bytes for each char in output array.
for (int c = 0; c < len; c++) {
char ch = message.charAt(c);
int chidx = ch;
if (chidx >= 65 && chidx <= 90) // Upper case letters.
chidx -= 55;
else if (chidx == 48) // zero.
chidx = 9;
else if (chidx == 32) // space.
chidx = 36;
else if (chidx >= 49 && chidx <= 57) // 1-9.
chidx -= 49;
Util.consoleLog("c=%d i=%d chidx=%d char=%s", c, idx, chidx, ch);
byte1[idx] = charreg[chidx][0];
byte1[idx + 1] = charreg[chidx][1];
idx -= 2;
}
// send the array to the board
i2c.writeBulk(byte1);
}
/*
* reads the arduino and recieves 2 bytes to represent the digital inputs attached to it
* saves the 2 bytes to 'loByte' and 'hiByte'
* return: true if and only if it's successful
*/
public boolean readArduino() {
byte[] buffer = {0, 0};
successful =
!m_I2C.transaction(
null, 0, buffer,
2); // doesn't send anything and recieves 2 bytes of data; successful==true if
// transaction is succesful
DriverStationLCD.getInstance()
.println(DriverStationLCD.Line.kUser1, 1, " ");
DriverStationLCD.getInstance()
.println(DriverStationLCD.Line.kUser2, 1, " ");
DriverStationLCD.getInstance()
.println(DriverStationLCD.Line.kUser1, 1, "success=" + successful);
DriverStationLCD.getInstance()
.println(DriverStationLCD.Line.kUser2, 1, "buffer=" + buffer[1] + ", " + buffer[0]);
DriverStationLCD.getInstance().updateLCD();
hiByte = buffer[1];
loByte = buffer[0];
return successful;
}
private void board_task() {
byte[] osc = new byte[1];
byte[] blink = new byte[1];
byte[] bright = new byte[1];
osc[0] = (byte) 0x21;
blink[0] = (byte) 0x81;
bright[0] = (byte) 0xEF;
_display_board.writeBulk(osc);
_display_board.writeBulk(bright);
_display_board.writeBulk(blink);
STATE mode = STATE.Voltage;
long refresh = 0;
while (_do_things) {
update();
if ((System.currentTimeMillis() - refresh) > _timeout) {
mode = STATE.Voltage;
}
boolean update_refresh = true;
if (getAOnRisingEdge()) {
if (mode == STATE.Position) {
pos = (pos + 1) % _positions.length; // just display current position on first press
}
mode = STATE.Position;
// System.out.println("pos");
} else if (getBOnRisingEdge()) {
if (mode == STATE.Obstacle) {
obs = (obs + 1) % _obstacles.length;
}
mode = STATE.Obstacle; // display current obstacle on first press
// System.out.println("obs");
} else {
update_refresh = false;
}
if (pos == 0) {
obs = 0;
}
if (pos > 0 && obs == 0) {
obs++;
}
if (update_refresh) {
refresh = System.currentTimeMillis();
}
if (mode == STATE.Position) {
_display_board.writeBulk(output_pos(_positions[pos]));
} else if (mode == STATE.Obstacle) {
_display_board.writeBulk(output_obs(_obstacles[obs]));
} else {
_display_board.writeBulk(output_voltage());
}
try {
Thread.sleep(40); // wait a while because people can't read that
// fast
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
/** This function is called periodically during operator control */
public void teleopPeriodic() {
// Commented and stuff
// If it's wrong then uhh
// My bad fam.
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
}
if (joy.getRawButton(2)) {
String WriteString = "RGB";
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);
}
if (joy.getRawButton(3)) {
String WriteString = "RGB";
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);
}
if (joy.getRawButton(4)) {
String WriteString = "RGB";
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);
}
// if (joy.getRawButton(5)) {
// String WriteString = "RGB";
// 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);
// }
// if (joy.getRawButton(6)) {
// String WriteString = "RGB";
// 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);
// }
// if (joy.getRawButton(7)) {
// String WriteString = "RGB";
// 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);
// }
}
public RevDigitBoard() {
Util.consoleLog();
// Load the character registry.
charreg[0][0] = (byte) 0b00000110;
charreg[0][1] = (byte) 0b00000000; // 1
charreg[1][0] = (byte) 0b11011011;
charreg[1][1] = (byte) 0b00000000; // 2
charreg[2][0] = (byte) 0b11001111;
charreg[2][1] = (byte) 0b00000000; // 3
charreg[3][0] = (byte) 0b11100110;
charreg[3][1] = (byte) 0b00000000; // 4
charreg[4][0] = (byte) 0b11101101;
charreg[4][1] = (byte) 0b00000000; // 5
charreg[5][0] = (byte) 0b11111101;
charreg[5][1] = (byte) 0b00000000; // 6
charreg[6][0] = (byte) 0b00000111;
charreg[6][1] = (byte) 0b00000000; // 7
charreg[7][0] = (byte) 0b11111111;
charreg[7][1] = (byte) 0b00000000; // 8
charreg[8][0] = (byte) 0b11101111;
charreg[8][1] = (byte) 0b00000000; // 9
charreg[9][0] = (byte) 0b00111111;
charreg[9][1] = (byte) 0b00000000; // 0
charreg[10][0] = (byte) 0b11110111;
charreg[10][1] = (byte) 0b00000000; // A
charreg[11][0] = (byte) 0b10001111;
charreg[11][1] = (byte) 0b00010010; // B
charreg[12][0] = (byte) 0b00111001;
charreg[12][1] = (byte) 0b00000000; // C
charreg[13][0] = (byte) 0b00001111;
charreg[13][1] = (byte) 0b00010010; // D
charreg[14][0] = (byte) 0b11111001;
charreg[14][1] = (byte) 0b00000000; // E
charreg[15][0] = (byte) 0b11110001;
charreg[15][1] = (byte) 0b00000000; // F
charreg[16][0] = (byte) 0b10111101;
charreg[16][1] = (byte) 0b00000000; // G
charreg[17][0] = (byte) 0b11110110;
charreg[17][1] = (byte) 0b00000000; // H
charreg[18][0] = (byte) 0b00001001;
charreg[18][1] = (byte) 0b00010010; // I
charreg[19][0] = (byte) 0b00011110;
charreg[19][1] = (byte) 0b00000000; // J
charreg[20][0] = (byte) 0b01110000;
charreg[20][1] = (byte) 0b00001100; // K
charreg[21][0] = (byte) 0b00111000;
charreg[21][1] = (byte) 0b00000000; // L
charreg[22][0] = (byte) 0b00110110;
charreg[22][1] = (byte) 0b00000101; // M
charreg[23][0] = (byte) 0b00110110;
charreg[23][1] = (byte) 0b00001001; // N
charreg[24][0] = (byte) 0b00111111;
charreg[24][1] = (byte) 0b00000000; // O
charreg[25][0] = (byte) 0b11110011;
charreg[25][1] = (byte) 0b00000000; // P
charreg[26][0] = (byte) 0b00111111;
charreg[26][1] = (byte) 0b00001000; // Q
charreg[27][0] = (byte) 0b11110011;
charreg[27][1] = (byte) 0b00001000; // R
charreg[28][0] = (byte) 0b10001101;
charreg[28][1] = (byte) 0b00000001; // S
charreg[29][0] = (byte) 0b00000001;
charreg[29][1] = (byte) 0b00010010; // T
charreg[30][0] = (byte) 0b00111110;
charreg[30][1] = (byte) 0b00000000; // U
charreg[31][0] = (byte) 0b00110000;
charreg[31][1] = (byte) 0b00100100; // V
charreg[32][0] = (byte) 0b00110110;
charreg[32][1] = (byte) 0b00101000; // W
charreg[33][0] = (byte) 0b00000000;
charreg[33][1] = (byte) 0b00101101; // X
charreg[34][0] = (byte) 0b00000000;
charreg[34][1] = (byte) 0b00010101; // Y
charreg[35][0] = (byte) 0b00001001;
charreg[35][1] = (byte) 0b00100100; // Z
charreg[36][0] = (byte) 0b00000000;
charreg[36][1] = (byte) 0b00000000; // Space
// set up the board - turn on, set blinking and brightness
byte[] osc = new byte[1];
byte[] blink = new byte[1];
byte[] bright = new byte[1];
osc[0] = (byte) 0x21;
blink[0] = (byte) 0x81;
bright[0] = (byte) 0xEF;
i2c.writeBulk(osc);
Timer.delay(.01);
i2c.writeBulk(bright);
Timer.delay(.01);
i2c.writeBulk(blink);
Timer.delay(.01);
display("");
}
public I2CGyro() {
gyro.write(0x6B, 0x03); // Power
gyro.write(0x1A, 0x18); // Basic Config
gyro.write(0x1B, 0x00); // Gyro Config
}
public void SendStateChange(char state) {
i2cBus.write(0x02, state);
}
