168 lines
6.8 KiB
Java
168 lines
6.8 KiB
Java
/* Copyright (c) 2017 FIRST. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted (subject to the limitations in the disclaimer below) provided that
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* the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright notice, this list
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* of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright notice, this
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* list of conditions and the following disclaimer in the documentation and/or
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* other materials provided with the distribution.
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*
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* Neither the name of FIRST nor the names of its contributors may be used to endorse or
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* promote products derived from this software without specific prior written permission.
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*
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* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.firstinspires.ftc.robotcontroller.external.samples;
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import android.app.Activity;
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import android.graphics.Color;
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import android.view.View;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.ColorSensor;
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import com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
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import com.qualcomm.robotcore.hardware.DigitalChannel;
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/*
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*
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* This is an example LinearOpMode that shows how to use
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* the Adafruit RGB Sensor. It assumes that the I2C
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* cable for the sensor is connected to an I2C port on the
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* Core Device Interface Module.
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*
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* It also assuems that the LED pin of the sensor is connected
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* to the digital signal pin of a digital port on the
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* Core Device Interface Module.
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*
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* You can use the digital port to turn the sensor's onboard
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* LED on or off.
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*
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* The op mode assumes that the Core Device Interface Module
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* is configured with a name of "dim" and that the Adafruit color sensor
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* is configured as an I2C device with a name of "sensor_color".
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*
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* It also assumes that the LED pin of the RGB sensor
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* is connected to the signal pin of digital port #5 (zero indexed)
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* of the Core Device Interface Module.
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*
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* You can use the X button on gamepad1 to toggle the LED on and off.
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
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*/
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@TeleOp(name = "Sensor: AdafruitRGB", group = "Sensor")
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@Disabled // Comment this out to add to the opmode list
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public class SensorAdafruitRGB extends LinearOpMode {
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ColorSensor sensorRGB;
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DeviceInterfaceModule cdim;
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// we assume that the LED pin of the RGB sensor is connected to
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// digital port 5 (zero indexed).
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static final int LED_CHANNEL = 5;
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@Override
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public void runOpMode() {
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// hsvValues is an array that will hold the hue, saturation, and value information.
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float hsvValues[] = {0F,0F,0F};
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// values is a reference to the hsvValues array.
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final float values[] = hsvValues;
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// get a reference to the RelativeLayout so we can change the background
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// color of the Robot Controller app to match the hue detected by the RGB sensor.
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int relativeLayoutId = hardwareMap.appContext.getResources().getIdentifier("RelativeLayout", "id", hardwareMap.appContext.getPackageName());
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final View relativeLayout = ((Activity) hardwareMap.appContext).findViewById(relativeLayoutId);
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// bPrevState and bCurrState represent the previous and current state of the button.
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boolean bPrevState = false;
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boolean bCurrState = false;
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// bLedOn represents the state of the LED.
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boolean bLedOn = true;
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// get a reference to our DeviceInterfaceModule object.
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cdim = hardwareMap.deviceInterfaceModule.get("dim");
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// set the digital channel to output mode.
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// remember, the Adafruit sensor is actually two devices.
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// It's an I2C sensor and it's also an LED that can be turned on or off.
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cdim.setDigitalChannelMode(LED_CHANNEL, DigitalChannel.Mode.OUTPUT);
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// get a reference to our ColorSensor object.
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sensorRGB = hardwareMap.colorSensor.get("sensor_color");
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// turn the LED on in the beginning, just so user will know that the sensor is active.
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cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
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// wait for the start button to be pressed.
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waitForStart();
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// loop and read the RGB data.
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// Note we use opModeIsActive() as our loop condition because it is an interruptible method.
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while (opModeIsActive()) {
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// check the status of the x button on gamepad.
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bCurrState = gamepad1.x;
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// check for button-press state transitions.
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if ((bCurrState == true) && (bCurrState != bPrevState)) {
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// button is transitioning to a pressed state. Toggle the LED.
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bLedOn = !bLedOn;
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cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
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}
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// update previous state variable.
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bPrevState = bCurrState;
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// convert the RGB values to HSV values.
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Color.RGBToHSV((sensorRGB.red() * 255) / 800, (sensorRGB.green() * 255) / 800, (sensorRGB.blue() * 255) / 800, hsvValues);
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// send the info back to driver station using telemetry function.
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telemetry.addData("LED", bLedOn ? "On" : "Off");
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telemetry.addData("Clear", sensorRGB.alpha());
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telemetry.addData("Red ", sensorRGB.red());
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telemetry.addData("Green", sensorRGB.green());
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telemetry.addData("Blue ", sensorRGB.blue());
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telemetry.addData("Hue", hsvValues[0]);
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// change the background color to match the color detected by the RGB sensor.
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// pass a reference to the hue, saturation, and value array as an argument
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// to the HSVToColor method.
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relativeLayout.post(new Runnable() {
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public void run() {
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relativeLayout.setBackgroundColor(Color.HSVToColor(0xff, values));
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}
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});
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telemetry.update();
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}
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// Set the panel back to the default color
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relativeLayout.post(new Runnable() {
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public void run() {
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relativeLayout.setBackgroundColor(Color.WHITE);
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}
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});
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}
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}
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