REVDigitBoard.java

package org.usfirst.frc.team3216.robot; // might need to change this number

import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.I2C.Port;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.AnalogInput;

import java.util.*;

public class REVDigitBoard {
	/*
	 * DOCUMENTATION::
	 * 
	 * REVDigitBoard() : constructor
	 * void display(String str) : displays the first four characters of the string (only alpha (converted to uppercase), numbers, and spaces)
	 * void display(double batt) : displays a decimal number (like battery voltage) in the form of 12.34 (ten-one-decimal-tenth-hundredth)
	 * void clear() : clears the display
	 * boolean getButtonA() : button A on the board
	 * boolean getButtonB() : button B on the board
	 * double getPot() : potentiometer value
	 */
	
	I2C i2c;
	DigitalInput buttonA, buttonB;
	AnalogInput pot;
	
	byte[][] charreg;
	Map charmap;
	
	REVDigitBoard() {
		i2c = new I2C(Port.kMXP, 0x70);
		buttonA = new DigitalInput(19);
		buttonB = new DigitalInput(20);
		pot = new AnalogInput(3);
		
		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);
		
		charreg = new byte[37][2]; //charreg is short for character registry
		charmap = new HashMap<Character, Integer>(); 
		
		charreg[0][0] = (byte)0b00111111; charreg[9][1] = (byte)0b00000000; //0
		charmap.put('0',0);
		charreg[1][0] = (byte)0b00000110; charreg[0][1] = (byte)0b00000000; //1
		charmap.put('1',1);
	 	charreg[2][0] = (byte)0b11011011; charreg[1][1] = (byte)0b00000000; //2
		charmap.put('2',2);
	 	charreg[3][0] = (byte)0b11001111; charreg[2][1] = (byte)0b00000000; //3
		charmap.put('3',3);
	 	charreg[4][0] = (byte)0b11100110; charreg[3][1] = (byte)0b00000000; //4
		charmap.put('4',4);
	 	charreg[5][0] = (byte)0b11101101; charreg[4][1] = (byte)0b00000000; //5
		charmap.put('5',5);
	 	charreg[6][0] = (byte)0b11111101; charreg[5][1] = (byte)0b00000000; //6
		charmap.put('6',6);
	 	charreg[7][0] = (byte)0b00000111; charreg[6][1] = (byte)0b00000000; //7
		charmap.put('7',7);
	 	charreg[8][0] = (byte)0b11111111; charreg[7][1] = (byte)0b00000000; //8
		charmap.put('8',8);
	 	charreg[9][0] = (byte)0b11101111; charreg[8][1] = (byte)0b00000000; //9
		charmap.put('9',9);

	 	charreg[10][0] = (byte)0b11110111; charreg[10][1] = (byte)0b00000000; //A
		charmap.put('A',10);
	 	charreg[11][0] = (byte)0b10001111; charreg[11][1] = (byte)0b00010010; //B
		charmap.put('B',11);
	 	charreg[12][0] = (byte)0b00111001; charreg[12][1] = (byte)0b00000000; //C
		charmap.put('C',12);
	 	charreg[13][0] = (byte)0b00001111; charreg[13][1] = (byte)0b00010010; //D
		charmap.put('D',13);
	 	charreg[14][0] = (byte)0b11111001; charreg[14][1] = (byte)0b00000000; //E
		charmap.put('E',14);
	 	charreg[15][0] = (byte)0b11110001; charreg[15][1] = (byte)0b00000000; //F
		charmap.put('F',15);
	 	charreg[16][0] = (byte)0b10111101; charreg[16][1] = (byte)0b00000000; //G
		charmap.put('G',16);
	 	charreg[17][0] = (byte)0b11110110; charreg[17][1] = (byte)0b00000000; //H
		charmap.put('H',17);
	 	charreg[18][0] = (byte)0b00001001; charreg[18][1] = (byte)0b00010010; //I
		charmap.put('I',18);
	 	charreg[19][0] = (byte)0b00011110; charreg[19][1] = (byte)0b00000000; //J
		charmap.put('J',19);
	 	charreg[20][0] = (byte)0b01110000; charreg[20][1] = (byte)0b00001100; //K
		charmap.put('K',20);
	 	charreg[21][0] = (byte)0b00111000; charreg[21][1] = (byte)0b00000000; //L
		charmap.put('L',21);
	 	charreg[22][0] = (byte)0b00110110; charreg[22][1] = (byte)0b00000101; //M
		charmap.put('M',22);
	 	charreg[23][0] = (byte)0b00110110; charreg[23][1] = (byte)0b00001001; //N
		charmap.put('N',23);
	 	charreg[24][0] = (byte)0b00111111; charreg[24][1] = (byte)0b00000000; //O
		charmap.put('O',24);
	 	charreg[25][0] = (byte)0b11110011; charreg[25][1] = (byte)0b00000000; //P
		charmap.put('P',25);
	 	charreg[26][0] = (byte)0b00111111; charreg[26][1] = (byte)0b00001000; //Q
		charmap.put('Q',26);
	 	charreg[27][0] = (byte)0b11110011; charreg[27][1] = (byte)0b00001000; //R
		charmap.put('R',27);
	 	charreg[28][0] = (byte)0b10001101; charreg[28][1] = (byte)0b00000001; //S
		charmap.put('S',28);
	 	charreg[29][0] = (byte)0b00000001; charreg[29][1] = (byte)0b00010010; //T
		charmap.put('T',29);
	 	charreg[30][0] = (byte)0b00111110; charreg[30][1] = (byte)0b00000000; //U
		charmap.put('U',30);
	 	charreg[31][0] = (byte)0b00110000; charreg[31][1] = (byte)0b00100100; //V
		charmap.put('V',31);
	 	charreg[32][0] = (byte)0b00110110; charreg[32][1] = (byte)0b00101000; //W
		charmap.put('W',32);
	 	charreg[33][0] = (byte)0b00000000; charreg[33][1] = (byte)0b00101101; //X
		charmap.put('X',33);
	 	charreg[34][0] = (byte)0b00000000; charreg[34][1] = (byte)0b00010101; //Y
		charmap.put('Y',34);
	 	charreg[35][0] = (byte)0b00001001; charreg[35][1] = (byte)0b00100100; //Z
		charmap.put('Z',35);
		charreg[36][0] = (byte)0b00000000; charreg[36][1] = (byte)0b00000000; //space
		charmap.put(' ',36);
	}
	
	void display(String str) { // only displays first 4 chars
		int[] charz = new int[4];
		// uppercase and map it
		str = repeat(' ',Math.max(0, 4-str.length())) + str.toUpperCase(); // pad it to 4 chars
		
		for (int i = 0; i < 4; i++) {
			Integer g = (int) charmap.get(str.charAt(i));
			if (g == null) {
				g = 36;
			}
			charz[i] = g;
		}
		this._display(charz);
	}
	
	void display(double batt) { // optimized for battery voltage, needs a double like 12.34
		int[] charz = {36,36,36,36};
		// idk how to decimal point
		int ten = (int)(batt/10);
		int one = (int)(batt%10);
		int tenth = (int)((batt*10)%10);
		int hundredth = (int)((batt*100)%10);
		
		if (ten != 0) charz[0] = ten;
		charz[1] = one;
		charz[2] = tenth;
		charz[3] = hundredth;
		
		this._display(charz);
	}
	
	 void clear() {
		 int[] charz = {36,36,36,36}; // whyy java
		 this._display(charz);
	 }
	 
	 boolean getButtonA() {
		 return buttonA.get();
	 }
	 boolean getButtonB() {
		 return buttonB.get();
	 }
	 double getPot() {
		 return pot.getVoltage();
	 }
	
////// not supposed to be publicly used..
	
	void _display(int[] charz) {
		byte[] byte1 = new byte[10];
		byte1[0] = (byte)(0b0000111100001111);
 		byte1[2] = charreg[charz[3]][0];
 		byte1[3] = charreg[charz[3]][1];
 		byte1[4] = charreg[charz[2]][0];
 		byte1[5] = charreg[charz[2]][1];
 		byte1[6] = charreg[charz[1]][0];
 		byte1[7] = charreg[charz[1]][1];
 		byte1[8] = charreg[charz[0]][0];
 		byte1[9] = charreg[charz[0]][1];
 		//send the array to the board
 		i2c.writeBulk(byte1);
 		Timer.delay(0.01);
	}
	
	String repeat(char c, int n) {
	    char[] arr = new char[n];
	    Arrays.fill(arr, c);
	    return new String(arr);
	}
	
}