[ktrobotcreator]

Hi Chief Delphi Community!

For a separate robotics competition (The Sparkfun Autonomous Vehicle Competition, if you were wondering) we are using the FRC control system. For the competition we have to autonomously navigate a course and race other robots around a parking lot, and we aim to do so by using GPS. We have a working GPS chip on an Arduino system that can output to a serial port, and so we would like to use the one on the cRIO to get the data. We have verified the chip can output the correct data using other software, but when we try to read it from the code, we get a bunch of nonsense. The baud rate is correct, so we don't know why we are getting this data. Any help is appreciated! Thanks!

-Katy

 
package edu.wpi.first.wpilibj.templates;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.SerialPort;
import edu.wpi.first.wpilibj.visa.VisaException;

public class RobotTemplate extends IterativeRobot {
    
    SerialPort gps;
    
    int dataCount;
        
    public void robotInit() {
        try {
            gps = new SerialPort(9600);
            this.gps.disableTermination();
        }
        catch (Exception e) {
            System.out.println("something went wrong, " + e.getMessage());
        }
    }
    
    public void autonomousInit() {
        dataCount = 0;
        
        try {
            gps.reset();
        } catch (VisaException ex) {}
    }
    
    public void autonomousPeriodic() {
        
        try {
            System.out.println("DC " + dataCount + " " + gps.readString());
        } catch (VisaException ex) {}
        
        dataCount ++; //this is just to make sure our output is updating
    }   
}