140 lines
5.5 KiB
Java
140 lines
5.5 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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/*
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*
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* This is an example LinearOpMode that shows how to use
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* a Modern Robotics Color Sensor.
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*
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* The op mode assumes that the color sensor
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* is configured with a name of "sensor_color".
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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: MR Color", group = "Sensor")
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@Disabled
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public class SensorMRColor extends LinearOpMode {
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ColorSensor colorSensor; // Hardware Device Object
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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 ColorSensor object.
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colorSensor = hardwareMap.get(ColorSensor.class, "sensor_color");
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// Set the LED in the beginning
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colorSensor.enableLed(bLedOn);
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// wait for the start button to be pressed.
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waitForStart();
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// while the op mode is active, 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 either gamepad.
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bCurrState = gamepad1.x;
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// check for button state transitions.
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if (bCurrState && (bCurrState != bPrevState)) {
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// button is transitioning to a pressed state. So Toggle LED
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bLedOn = !bLedOn;
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colorSensor.enableLed(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(colorSensor.red() * 8, colorSensor.green() * 8, colorSensor.blue() * 8, 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", colorSensor.alpha());
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telemetry.addData("Red ", colorSensor.red());
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telemetry.addData("Green", colorSensor.green());
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telemetry.addData("Blue ", colorSensor.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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