rs232 configuration

untested code for arduino and rangefinder over rs-232, requires

2019robot/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2019.1.1"
+    id "edu.wpi.first.GradleRIO" version "2019.2.1"
 }
 
 def ROBOT_MAIN_CLASS = "org.usfirst.frc4388.robot.Main"
@@ -50,7 +50,7 @@ dependencies {
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
     testCompile 'junit:junit:4.12'
-    compile pathfinder()
+    //compile pathfinder()
 }
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')

2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java

@@ -34,7 +34,8 @@ public class Robot extends IterativeRobot
  
     public static final Arm arm = new Arm();
     public static final Climber climber = new Climber();
-    public static final Pnumatics pnumatics = new Pnumatics();
+	public static final Pnumatics pnumatics = new Pnumatics();
+	public static final Rangefinder rangefinder = new Rangefinder();
 	public static final long periodMS = 10;
 	public static final ControlLooper controlLoop = new ControlLooper("Main control loop", periodMS);
 

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/LaserToDash.java

@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.usfirst.frc4388.robot.commands;
+
+import org.usfirst.frc4388.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class LaserToDash extends Command {
+  public LaserToDash() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+    requires(Robot.rangefinder);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+    
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    SmartDashboard.putNumber("Laser Raw Out", Robot.rangefinder.getDistance());
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Rangefinder.java

@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.usfirst.frc4388.robot.subsystems;
+
+import org.usfirst.frc4388.robot.Constants;
+import org.usfirst.frc4388.robot.commands.LaserToDash;
+
+import edu.wpi.first.wpilibj.SerialPort;
+import edu.wpi.first.wpilibj.SerialPort.Port;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * Add your docs here.
+ */
+public class Rangefinder extends Subsystem {
+  // Put methods for controlling this subsystem
+  // here. Call these from Commands.
+  private SerialPort laser1 = new SerialPort(9600, Port.kOnboard);
+
+  @Override
+  public void initDefaultCommand() {
+    // Set the default command for a subsystem here.
+    // setDefaultCommand(new MySpecialCommand());
+    setDefaultCommand(new LaserToDash());
+  }
+  public double getDistance(){
+    return Double.valueOf(laser1.readString());
+  }
+}