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CAN.h

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+#pragma once
+#include <stdint.h>

CANAPI.h

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+#pragma once
+#include <stdint.h>
+#include "CANAPITypes.h"
+#include "hal/Types.h"
+
+
+HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer 1, int32_t 0, HAL_CANDeviceType 1);
+
+void HAL_CleanCan(Hal_CANHandle TalonSRX);
+
+void RepeatedRead(){
+
+while (HAL_ReadCANPacketTimeout() = error){
+
+void HAL_ReadCANPacketNew(HAL_CANHandle HAL_m_Encoder1Handle, int32_t 0, uint8_t* 8, 
+int32_t* 1, uint64_t* recievedTimestamp, int32_t* status)
+
+}
+
+else {
+
+void HAL_ReadCANPacketTimeout(HAL_CANHandle HAL_m_Encoder1Handle, int32_t 0, 
+uint8_t* 8, int32_t* 1, uint64_t* recievedTimestamp, int32_t 1000, int32_t* status);
+
+}
+
+}
+
+
+
+
+
+
+
+

CANAPITypes.h

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+#pragma once
+#include <stdint.h>
+#include "hal/Types.h"
+#include <frc/TimedRobot.h>
+
+class CAN : public frc::TimedRobot {
+
+HAL_ENUM(HAL_DeviceType) {
+HAL_CAN_Dev_kTalonSRX = 1;
+HAL_CAN_Dev_kVictorSPX = 2;
+HAL_CAN_Dev_kEncoder1 = 3;
+HAL_CAN_Dev_kEncoder2 = 4;
+};
+
+
+HAL_ENUM(HAL_CANMaunfacturer) {
+HAL_CAN_Man_kTeamUse = 1;
+};
+
+}

Robot.cpp

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <iostream>
+
+#include <frc/smartdashboard/SmartDashboard.h>
+
+void Robot::RobotInit() {
+  m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
+  m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);
+  frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want ran during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() {}
+
+/**
+ * This autonomous (along with the chooser code above) shows how to select
+ * between different autonomous modes using the dashboard. The sendable chooser
+ * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
+ * remove all of the chooser code and uncomment the GetString line to get the
+ * auto name from the text box below the Gyro.
+ *
+ * You can add additional auto modes by adding additional comparisons to the
+ * if-else structure below with additional strings. If using the SendableChooser
+ * make sure to add them to the chooser code above as well.
+ */
+void Robot::AutonomousInit() {
+  m_autoSelected = m_chooser.GetSelected();
+  // m_autoSelected = SmartDashboard::GetString("Auto Selector",
+  //     kAutoNameDefault);
+  std::cout << "Auto selected: " << m_autoSelected << std::endl;
+
+  if (m_autoSelected == kAutoNameCustom) {
+    // Custom Auto goes here
+  } else {
+    // Default Auto goes here
+  }
+}
+
+void Robot::AutonomousPeriodic() {
+  if (m_autoSelected == kAutoNameCustom) {
+    // Custom Auto goes here
+  } else {
+    // Default Auto goes here
+  }
+}
+
+void Robot::TeleopInit() {}
+
+void Robot::TeleopPeriodic() {}
+
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif

Robot.h

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <frc/TimedRobot.h>
+#include <frc/smartdashboard/SendableChooser.h>
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestPeriodic() override;
+
+ private:
+  frc::SendableChooser<std::string> m_chooser;
+  const std::string kAutoNameDefault = "Default";
+  const std::string kAutoNameCustom = "My Auto";
+  std::string m_autoSelected;
+};

Types.h

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+#pragma once
+#include <stdint.h>
+#define HAL_kInvalidHandle 0
+
+typedef int32_t HAL_Handle;
+typedef HAL_Handle HAL_TalonSRXHandle;
+typedef HAL_Handle HAL_VictorSPXHandle;
+typedef HAL_Handle HAL_m_Encoder1Handle;
+typedef HAL_Handle HAL_m_Encoder2Handle;
+typedef HAL_Handle HAL_AnalogInputHandle;
+typedef HAL_Handle HAL_CANHandle;
+typedef int32_t HAL_Bool;
+
+
+#ifdef __cplusplus
+#define HAL_ENUM(name) enum name : int32_t
+#else
+#define HAL_ENUM(name)  
+    typedef int32_t name; 
+    enum name
+    #endif