108 lines
4.9 KiB
Java
108 lines
4.9 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.hardware.DigitalChannel;
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/*
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* This is an example LinearOpMode that shows how to use the digital inputs and outputs on the
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* the Modern Robotics Device Interface Module. In addition, it shows how to use the Red and Blue LED
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*
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* This op mode assumes that there is a Device Interface Module attached, named 'dim'.
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* On this DIM there is a digital input named 'digin' and an output named 'digout'
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*
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* To fully exercise this sample, connect pin 3 of the digin connector to pin 3 of the digout.
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* Note: Pin 1 is indicated by the black stripe, so pin 3 is at the opposite end.
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*
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* The X button on the gamepad will be used to activate the digital output pin.
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* The Red/Blue LED will be used to indicate the state of the digital input pin.
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* Blue = false (0V), Red = true (5V)
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* If the two pins are linked, the gamepad will change the LED color.
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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: DIM DIO", group = "Sensor")
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@Disabled
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public class SensorDIO extends LinearOpMode {
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final int BLUE_LED_CHANNEL = 0;
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final int RED_LED_CHANNEL = 1;
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@Override
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public void runOpMode() {
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boolean inputPin; // Input State
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boolean outputPin; // Output State
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DeviceInterfaceModule dim; // Device Object
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DigitalChannel digIn; // Device Object
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DigitalChannel digOut; // Device Object
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// get a reference to a Modern Robotics DIM, and IO channels.
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dim = hardwareMap.get(DeviceInterfaceModule.class, "dim"); // Use generic form of device mapping
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digIn = hardwareMap.get(DigitalChannel.class, "digin"); // Use generic form of device mapping
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digOut = hardwareMap.get(DigitalChannel.class, "digout"); // Use generic form of device mapping
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digIn.setMode(DigitalChannel.Mode.INPUT); // Set the direction of each channel
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digOut.setMode(DigitalChannel.Mode.OUTPUT);
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// wait for the start button to be pressed.
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telemetry.addData(">", "Press play, and then user X button to set DigOut");
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telemetry.update();
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waitForStart();
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while (opModeIsActive()) {
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outputPin = gamepad1.x ; // Set the output pin based on x button
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digOut.setState(outputPin);
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inputPin = digIn.getState(); // Read the input pin
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// Display input pin state on LEDs
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if (inputPin) {
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dim.setLED(RED_LED_CHANNEL, true);
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dim.setLED(BLUE_LED_CHANNEL, false);
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}
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else {
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dim.setLED(RED_LED_CHANNEL, false);
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dim.setLED(BLUE_LED_CHANNEL, true);
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}
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telemetry.addData("Output", outputPin );
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telemetry.addData("Input", inputPin );
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telemetry.addData("LED", inputPin ? "Red" : "Blue" );
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telemetry.update();
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}
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}
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}
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