Robot.java

package org.usfirst.frc.team469.robot;
import com.ctre.CANTalon;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;

public class Robot extends IterativeRobot {
  	/** our test talon */
	CANTalon _tal = new CANTalon(0);
	/* our test gamepad */
	Joystick _joy = new Joystick(0);	
	/** save buttons each loop */
	boolean [] _btnsLast = {false,false,false,false,false,false,false,false,false,false};
	/** desired brake mode, init value assigned here */
	boolean _brake = true;
	/** c'tor Select the brake mode to start with. */
	public Robot() {
		_tal.enableBrakeMode(_brake); 			/* override brake setting programmatically */
		System.out.println("brake:" + _brake);	/* instrument to console */
	}
    /** Every loop, flip brake mode if button1 when is pressed. */
	public void commonloop() {
		/* get buttons */
		boolean [] btns= new boolean [_btnsLast.length];
		for(int i=1;i<_btnsLast.length;++i)
			btns[i] = _joy.getRawButton(i);
	
		/* flip brake when btn1 is pressed */
		if(btns[1] && !_btnsLast[1]) {
			_brake = !_brake;
			_tal.enableBrakeMode(_brake); 			/* override brake setting programmatically */
			System.out.println("brake:" + _brake); 	/* instrument to console */
		}		
	
		/* save buttons states for on-press detection */
		for(int i=1;i<10;++i)
			_btnsLast[i] = btns[i];
    }
	public void disabledPeriodic() {
		commonloop(); /* just call a "common" loop */
	}
	public void teleopPeriodic() {
		commonloop(); /* just call a "common" loop */
	}
}