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);
}
/*
* 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;
}
/** 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);
// }
}