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AutoHandler.java
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AutoHandler.java
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package lib;
import java.util.ArrayList;
import edu.wpi.first.wpilibj.DigitalInput;
public class AutoHandler {
private ArrayList<DigitalInput> switches;
public AutoHandler(int[] _ports) {
switches = new ArrayList<DigitalInput>();
for (int port : _ports) {
switches.add(new DigitalInput(port));
}
}
/**
* Convert a decimal number into a binary
*
* @param dec
* A decimal number
* @return null
*/
@SuppressWarnings("unused")
@Deprecated
private static int[] toBinary(int dec) {
return null;
}
/**
* Convert binary number to decimal
*
* @param bin
* An array of ints representing a binary number
* @return the binary number
*/
private static int toDecimal(int[] bin) {
int sum = 0;
for (int i = bin.length - 1; i >= 0; i--) {
sum += bin[i] * Math.pow(2, i);
}
return sum;
}
public int getSelected() {
int[] bin = new int[switches.size()];
int i = 0;
// Parse switches
for (DigitalInput toggle : switches) {
if (!toggle.get()) {
bin[i] = 1;
} else {
bin[i] = 0;
}
i++;
}
// convert to num
return toDecimal(bin);
}
}