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LED lights turn on when buttons A and B on gamepad two are pressed(pr…
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…ess x at the same time)
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@abirarun
abirarun committed Oct 13, 2024
1 parent 0284f75 commit e471a27
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Showing 3 changed files with 102 additions and 18 deletions.
33 changes: 30 additions & 3 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ColorSensorTeleOp.java
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Original file line number Diff line number Diff line change
@@ -1,14 +1,17 @@
package org.firstinspires.ftc.teamcode;

import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import static org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit.INCH;

import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
import com.qualcomm.robotcore.hardware.HardwareMap;


@TeleOp
public class ColorSensorTeleOp
Expand Down Expand Up @@ -56,7 +59,8 @@ public void runOpMode() throws InterruptedException {
double red = ribbit.red();
double blue = ribbit.blue();
double green = ribbit.green();

if(gamepad2.y)
display(1);
if (blue - green > 100 && blue - red > 100) {
telemetry.addLine("blue");
}
Expand Down Expand Up @@ -84,6 +88,26 @@ public void runOpMode() throws InterruptedException {
backRight.setPower(0);
}

public void display (double color){
StraferHardware hardware = new StraferHardware(hardwareMap);
RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class,"lights");
ColorSensor ribbit = hardwareMap.get(ColorSensor.class, "ribbit");
double red = ribbit.red();
double blue = ribbit.blue();
double green = ribbit.green();
boolean yellow = (green - blue > 100 && green - red > 100 && red >= 350);

if (red<0){
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
}
if(blue<0){
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
if(yellow){
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
}
}

public void Rumble() {
StraferHardware hardware = new StraferHardware(hardwareMap);
ColorSensor ribbit = hardwareMap.get(ColorSensor.class, "colorSensor");
Expand All @@ -99,8 +123,11 @@ public void Rumble() {
gamepad1.rumbleBlips(1);
}



}
}

}


//end class.
83 changes: 70 additions & 13 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/FieldCentricBlue.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

import static org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit.INCH;

import android.annotation.SuppressLint;
import android.media.MediaPlayer;
import android.util.Size;

Expand Down Expand Up @@ -44,11 +45,12 @@
public class FieldCentricBlue
extends LinearOpMode {
private static final boolean USE_WEBCAM = true;
private Position cameraPosition = new Position(DistanceUnit.INCH,
private final Position cameraPosition = new Position(DistanceUnit.INCH,
5, 7, 0, 0);
private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES,
private final YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES,
0, -90, 0, 0);
//this is all copy-pasted from AprilTagYummy

private AprilTagProcessor aprilTag;
private VisionPortal visionPortal;
private CRServo con_servo;
Expand All @@ -61,13 +63,13 @@ public void runOpMode() throws InterruptedException {
initAprilTag();

StraferHardware hardware = new StraferHardware(hardwareMap);
ColorSensor ribbit = hardwareMap.get(ColorSensor.class, "ribbit");
navxMicro = hardwareMap.get(NavxMicroNavigationSensor.class, "gyro");
gyro = (IntegratingGyroscope) navxMicro;

RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class,"lights");

DistanceSensor sensor = hardwareMap.get(DistanceSensor.class, "distance");
// ColorSensor ribbit = hardwareMap.get(ColorSensor.class, "colorSensor");
telemetry.log().add("Gyro Calibrating. Do Not Move!");

// Wait until the gyro calibration is complete
Expand Down Expand Up @@ -96,16 +98,35 @@ public void runOpMode() throws InterruptedException {
while (opModeIsActive()) {
telemetryAprilTag();
telemetry.update();

double red = ribbit.red();
double blue = ribbit.blue();
double green = ribbit.green();
telemetry.addData("blue",blue);
telemetry.addData("red",red);
telemetry.addData("green",green);
}
// this is the gamepad controls for the driving. good luck
double y = gamepad1.left_stick_y; // Remember, Y stick value is reversed
double x = gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
double rx = gamepad1.right_stick_x;
double red = ribbit.red();
double blue = ribbit.blue();
double green = ribbit.green();
telemetry.addData("blue",blue);
telemetry.addData("red",red);
telemetry.addData("green",green);
// double MAX_POS = 1.0;
Orientation angles = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.RADIANS);
double botheading = angles.firstAngle;


if (blue - green > 100 && blue - red > 100) {
telemetry.addLine("blue");
}
if (red - blue > 100 && red - green > 100) {
telemetry.addLine("red");
}
if (green - blue > 100 && green - red > 100 && red >= 350) {
telemetry.addLine("yellow");
//Rotate the movement direction counter to the bot's rotation.
double rotX = x * Math.cos(-botheading) + y * Math.sin(-botheading);
double rotY = x * Math.sin(-botheading) - y * Math.cos(-botheading);
Expand All @@ -127,6 +148,7 @@ public void runOpMode() throws InterruptedException {
hardware.frontRight.setPower(frontRightPower / 2);
hardware.backRight.setPower(backRightPower / 2);


double color= 15;
distance = sensor.getDistance(INCH);
// telemetry.addData("distance", distance);
Expand Down Expand Up @@ -165,6 +187,9 @@ public void runOpMode() throws InterruptedException {
if (gamepad2.x){
blinkin(1);
}
if (gamepad2.y){
display(1);
}
//Rumble();
//gamepad controls here.
idle();
Expand Down Expand Up @@ -202,6 +227,7 @@ private void initAprilTag() {
visionPortal = builder.build();

}
@SuppressLint("DefaultLocale")
private void telemetryAprilTag() {

List<AprilTagDetection> currentDetections = aprilTag.getDetections();
Expand Down Expand Up @@ -231,6 +257,7 @@ private void telemetryAprilTag() {

}

@SuppressLint("DefaultLocale")
String formatRate(float rate) {
return String.format("%.3f", rate);
}
Expand All @@ -239,10 +266,11 @@ String formatAngle(AngleUnit angleUnit, double angle) {
return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
}

@SuppressLint("DefaultLocale")
String formatDegrees(double degrees) {
return String.format("%.1f", AngleUnit.DEGREES.normalize(degrees));
}
/////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

public void turn(double target) {
StraferHardware hardware = new StraferHardware(hardwareMap);
Expand Down Expand Up @@ -297,7 +325,7 @@ public void turn(double target) {

}
}
////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void crservo(double deltaAngle){
con_servo=hardwareMap.crservo.get("intakeServo");
waitForStart();
Expand All @@ -315,7 +343,7 @@ public void crservo(double deltaAngle){
telemetry.update();
}
}
//////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void turn2(double deltaAngle) {
//turn to an angle accurately.
ElapsedTime timer = new ElapsedTime();
Expand Down Expand Up @@ -363,7 +391,7 @@ public void turn2(double deltaAngle) {
}
}

/////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void handservo(double deltaAngle) {
//hand teleop controls :}
StraferHardware hardware = new StraferHardware(hardwareMap);
Expand All @@ -376,7 +404,7 @@ public void handservo(double deltaAngle) {
}
}

//////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void straightline(double power, double distance, double heading) {
//drives in a straight line from robots current orientation
ElapsedTime timer = new ElapsedTime();
Expand Down Expand Up @@ -421,10 +449,11 @@ public void straightline(double power, double distance, double heading) {


}
////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

public void Rumble() {
StraferHardware hardware = new StraferHardware(hardwareMap);
ColorSensor ribbit = hardwareMap.get(ColorSensor.class, "colorSensor");
ColorSensor ribbit = hardwareMap.get(ColorSensor.class, "ribbit");
double red = ribbit.red();
double blue = ribbit.blue();
double green = ribbit.green();
Expand All @@ -439,7 +468,7 @@ public void Rumble() {


}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void blinkin (double color){
StraferHardware hardware = new StraferHardware(hardwareMap);
RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class,"lights");
Expand All @@ -449,6 +478,34 @@ public void blinkin (double color){
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);

}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void display (double color){
StraferHardware hardware = new StraferHardware(hardwareMap);
RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class,"lights");
ColorSensor ribbit = hardwareMap.get(ColorSensor.class, "ribbit");
double red = ribbit.red();
double blue = ribbit.blue();
double green = ribbit.green();
boolean yellow = ((green - blue) > 100) && ((green - red) > 100) && (red >= 350);
if (blue - green > 100 && blue - red > 100) {
telemetry.addLine("blue");
}
if (red - blue > 100 && red - green > 100) {
telemetry.addLine("red");
}
if (green - blue > 100 && green - red > 100 && red >= 350) {
telemetry.addLine("yellow");
}
if (red<0){
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
}
if(blue<0){
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
if(yellow){
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
}
}
}


Expand Down
4 changes: 2 additions & 2 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/StraferHardware.java
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Original file line number Diff line number Diff line change
Expand Up @@ -61,8 +61,8 @@ public StraferHardware(HardwareMap map) {
@HardwareName("Webcam 1")
public CameraName Webcam1;

//@HardwareName("ribbit")
//public ColorSensor colorSensor;
@HardwareName("ribbit")
public ColorSensor colorSensor;
// public Servo hand;

}
Expand Down

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