104 lines
4.3 KiB
Java
104 lines
4.3 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 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.DeviceInterfaceModule;
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import com.qualcomm.robotcore.util.ElapsedTime;
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/**
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* This OpMode illustrates using the Device Interface Module as a signalling device.
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* The code is structured as a LinearOpMode
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*
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* This code assumes a DIM name "dim".
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*
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* There are many examples where the robot might like to signal the driver, without requiring them
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* to look at the driver station. This might be something like a "ball in hopper" condition or a
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* "ready to shoot" condition.
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*
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* The DIM has two user settable indicator LEDs (one red one blue). These can be controlled
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* directly from your program.
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*
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* Use Android Studios 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 = "Concept: DIM As Indicator", group = "Concept")
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@Disabled
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public class ConceptDIMAsIndicator extends LinearOpMode {
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static final int BLUE_LED = 0; // Blue LED channel on DIM
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static final int RED_LED = 1; // Red LED Channel on DIM
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// Create timer to toggle LEDs
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private ElapsedTime runtime = new ElapsedTime();
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// Define class members
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DeviceInterfaceModule dim;
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@Override
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public void runOpMode() {
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// Connect to motor (Assume standard left wheel)
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// Change the text in quotes to match any motor name on your robot.
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dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");
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// Toggle LEDs while Waiting for the start button
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telemetry.addData(">", "Press Play to test LEDs." );
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telemetry.update();
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while (!isStarted()) {
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// Determine if we are on an odd or even second
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boolean even = (((int)(runtime.time()) & 0x01) == 0);
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dim.setLED(RED_LED, even); // Red for even
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dim.setLED(BLUE_LED, !even); // Blue for odd
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idle();
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}
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// Running now
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telemetry.addData(">", "Press X for Blue, B for Red." );
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telemetry.update();
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// Now just use red and blue buttons to set red and blue LEDs
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while(opModeIsActive()){
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dim.setLED(BLUE_LED, gamepad1.x);
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dim.setLED(RED_LED, gamepad1.b);
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idle();
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}
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// Turn off LEDs;
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dim.setLED(BLUE_LED, false);
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dim.setLED(RED_LED, false);
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telemetry.addData(">", "Done");
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telemetry.update();
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}
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}
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