Fixed issue w/change in sense of return values from WPILib I2C Write …

…and Read methods.
kauailabs · Mar 3, 2017 · 73aa4ea · 73aa4ea
1 parent d34b079
commit 73aa4ea
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_I2C.java b/roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_I2C.java
@@ -32,12 +32,12 @@ public void enableLogging(boolean enable) {
 
     @Override
     public boolean write(byte address, byte value ) {
-    	boolean success;
+    	boolean aborted;
     	synchronized(this){
-	        success = port.write(address | 0x80, value);
+	        aborted = port.write(address | 0x80, value);
     	}
-        if ( !success && trace ) System.out.println("navX-MXP I2C Write Error");
-        return success;
+        if ( aborted && trace ) System.out.println("navX-MXP I2C Write Error");
+        return !aborted;
     }
 
     final static int MAX_WPILIB_I2C_READ_BYTES = 127;
@@ -49,15 +49,15 @@ public boolean read(byte first_address, byte[] buffer) {
         while ( len > 0 ) {
             int read_len = (len > MAX_WPILIB_I2C_READ_BYTES) ? MAX_WPILIB_I2C_READ_BYTES : len;
             byte[] read_buffer = new byte[read_len];      
-            boolean write_ok;
-            boolean read_ok = false;
+            boolean write_aborted;
+            boolean read_aborted = true;
             synchronized(this){
-            	write_ok = port.write(first_address + buffer_offset, read_len);
-            	if ( write_ok ) {
-            		read_ok = port.readOnly(read_buffer, read_len);
+            	write_aborted = port.write(first_address + buffer_offset, read_len);
+            	if ( !write_aborted ) {
+            		read_aborted = port.readOnly(read_buffer, read_len);
             	}
             }
-            if ( write_ok && read_ok ) {                
+            if ( !write_aborted && !read_aborted ) {                
                 System.arraycopy(read_buffer, 0,  buffer, buffer_offset, read_len);
                 buffer_offset += read_len;
                 len -= read_len;