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91 changes: 91 additions & 0 deletions
91
.../main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDigitalTouch.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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| /* Copyright (c) 2017 FIRST. | ||
| All rights reserved. | ||
| Redistribution and use in source and binary forms, with or without modification, | ||
| are permitted (subject to the limitations in the disclaimer below) provided that | ||
| the following conditions are met: | ||
| Redistributions of source code must retain the above copyright notice, this list | ||
| of conditions and the following disclaimer. | ||
| Redistributions in binary form must reproduce the above copyright notice, this | ||
| list of conditions and the following disclaimer in the documentation and/or | ||
| other materials provided with the distribution. | ||
| Neither the name of Qualcomm Technologies Inc nor the names of its contributors | ||
| may be used to endorse or promote products derived from this software without | ||
| specific prior written permission. | ||
| NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS | ||
| LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, | ||
| THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE | ||
| FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ | ||
|
|
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| package org.firstinspires.ftc.robotcontroller.external.samples; | ||
|
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| import com.qualcomm.robotcore.eventloop.opmode.Autonomous; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.qualcomm.robotcore.hardware.DigitalChannel; | ||
|
|
||
| /* | ||
| * This is an example LinearOpMode that shows how to use | ||
| * a REV Robotics Touch Sensor. | ||
| * | ||
| * It assumes that the touch sensor is configured with a name of "digitalTouch". | ||
| * | ||
| * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. | ||
| * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list. | ||
| */ | ||
| @Autonomous(name = "Sensor: Digital touch", group = "Sensor") | ||
| @Disabled | ||
| public class SensorDigitalTouch extends LinearOpMode { | ||
| /** | ||
| * The REV Robotics Touch Sensor | ||
| * is treated as a digital channel. It is HIGH if the button is unpressed. | ||
| * It pulls LOW if the button is pressed. | ||
| * | ||
| * Also, when you connect a REV Robotics Touch Sensor to the digital I/O port on the | ||
| * Expansion Hub using a 4-wire JST cable, the second pin gets connected to the Touch Sensor. | ||
| * The lower (first) pin stays unconnected.* | ||
| */ | ||
|
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| DigitalChannel digitalTouch; // Hardware Device Object | ||
|
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| @Override | ||
| public void runOpMode() { | ||
|
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| // get a reference to our digitalTouch object. | ||
| digitalTouch = hardwareMap.get(DigitalChannel.class, "digitalTouch"); | ||
|
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| // set the digital channel to input. | ||
| digitalTouch.setMode(DigitalChannel.Mode.INPUT); | ||
|
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| // wait for the start button to be pressed. | ||
| waitForStart(); | ||
|
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| // while the op mode is active, loop and read the light levels. | ||
| // Note we use opModeIsActive() as our loop condition because it is an interruptible method. | ||
| while (opModeIsActive()) { | ||
|
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| // send the info back to driver station using telemetry function. | ||
| // if the digital channel returns true it's HIGH and the button is unpressed. | ||
| if (digitalTouch.getState() == true) { | ||
| telemetry.addData("Digital Touch", "Is Not Pressed"); | ||
| } else { | ||
| telemetry.addData("Digital Touch", "Is Pressed"); | ||
| } | ||
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| telemetry.update(); | ||
| } | ||
| } | ||
| } |
143 changes: 143 additions & 0 deletions
143
...n/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorREVColorDistance.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,143 @@ | ||
| /* Copyright (c) 2017 FIRST. | ||
| All rights reserved. | ||
| Redistribution and use in source and binary forms, with or without modification, | ||
| are permitted (subject to the limitations in the disclaimer below) provided that | ||
| the following conditions are met: | ||
| Redistributions of source code must retain the above copyright notice, this list | ||
| of conditions and the following disclaimer. | ||
| Redistributions in binary form must reproduce the above copyright notice, this | ||
| list of conditions and the following disclaimer in the documentation and/or | ||
| other materials provided with the distribution. | ||
| Neither the name of Qualcomm Technologies Inc nor the names of its contributors | ||
| may be used to endorse or promote products derived from this software without | ||
| specific prior written permission. | ||
| NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS | ||
| LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, | ||
| THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE | ||
| FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ | ||
|
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| package org.firstinspires.ftc.robotcontroller.external.samples; | ||
|
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| import android.app.Activity; | ||
| import android.graphics.Color; | ||
| import android.view.View; | ||
|
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| import com.qualcomm.ftcrobotcontroller.R; | ||
| import com.qualcomm.hardware.lynx.LynxI2cColorRangeSensor; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Autonomous; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.hardware.ColorSensor; | ||
| import com.qualcomm.robotcore.hardware.DeviceInterfaceModule; | ||
| import com.qualcomm.robotcore.hardware.DigitalChannelController; | ||
| import com.qualcomm.robotcore.hardware.DistanceSensor; | ||
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| import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; | ||
|
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| import java.util.Locale; | ||
|
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| /* | ||
| * This is an example LinearOpMode that shows how to use | ||
| * the REV Robotics Color-Distance Sensor. | ||
| * | ||
| * It assumes the sensor is configured with the name "sensorColorDistance". | ||
| * | ||
| * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. | ||
| * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list. | ||
| */ | ||
| @Autonomous(name = "Sensor: REVColorDistance", group = "Sensor") | ||
| @Disabled // Comment this out to add to the opmode list | ||
| public class SensorREVColorDistance extends LinearOpMode { | ||
|
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||
| /** | ||
| * Note that the REV Robotics Color-Distance incorporates two sensors into one device. | ||
| * It has a light/distance (range) sensor. It also has an RGB color sensor. | ||
| * The light/distance sensor saturates at around 2" (5cm). This means that targets that are 2" | ||
| * or closer will display the same value for distance/light detected. | ||
| * | ||
| * Although you configure a single REV Robotics Color-Distance sensor in your configuration file, | ||
| * you can treat the sensor as two separate sensors that share the same name in your op mode. | ||
| * | ||
| * In this example, we represent the detected color by a hue, saturation, and value color | ||
| * model (see https://en.wikipedia.org/wiki/HSL_and_HSV). We change the background | ||
| * color of the screen to match the detected color. | ||
| * | ||
| * In this example, we also use the distance sensor to display the distance | ||
| * to the target object. Note that the distance sensor saturates at around 2" (5 cm). | ||
| * | ||
| */ | ||
| ColorSensor sensorColor; | ||
| DistanceSensor sensorDistance; | ||
|
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| @Override | ||
| public void runOpMode() { | ||
|
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| // get a reference to the color sensor. | ||
| sensorColor = hardwareMap.get(ColorSensor.class, "sensorColorDistance"); | ||
|
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| // get a reference to the distance sensor that shares the same name. | ||
| sensorDistance = hardwareMap.get(DistanceSensor.class, "sensorColorDistance"); | ||
|
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| // hsvValues is an array that will hold the hue, saturation, and value information. | ||
| float hsvValues[] = {0F, 0F, 0F}; | ||
|
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| // values is a reference to the hsvValues array. | ||
| final float values[] = hsvValues; | ||
|
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| // sometimes it helps to multiply the raw RGB values with a scale factor | ||
| // to amplify/attentuate the measured values. | ||
| final double SCALE_FACTOR = 255; | ||
|
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| // get a reference to the RelativeLayout so we can change the background | ||
| // color of the Robot Controller app to match the hue detected by the RGB sensor. | ||
| final View relativeLayout = ((Activity) hardwareMap.appContext).findViewById(R.id.RelativeLayout); | ||
|
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| // wait for the start button to be pressed. | ||
| waitForStart(); | ||
|
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| // loop and read the RGB and distance data. | ||
| // Note we use opModeIsActive() as our loop condition because it is an interruptible method. | ||
| while (opModeIsActive()) { | ||
| // convert the RGB values to HSV values. | ||
| // multiply by the SCALE_FACTOR. | ||
| // then cast it back to int (SCALE_FACTOR is a double) | ||
| Color.RGBToHSV((int) (sensorColor.red() * SCALE_FACTOR), | ||
| (int) (sensorColor.green() * SCALE_FACTOR), | ||
| (int) (sensorColor.blue() * SCALE_FACTOR), | ||
| hsvValues); | ||
|
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| // send the info back to driver station using telemetry function. | ||
| telemetry.addData("Distance (cm)", | ||
| String.format(Locale.US, "%.02f", sensorDistance.getDistance(DistanceUnit.CM))); | ||
| telemetry.addData("Alpha", sensorColor.alpha()); | ||
| telemetry.addData("Red ", sensorColor.red()); | ||
| telemetry.addData("Green", sensorColor.green()); | ||
| telemetry.addData("Blue ", sensorColor.blue()); | ||
| telemetry.addData("Hue", hsvValues[0]); | ||
|
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| // change the background color to match the color detected by the RGB sensor. | ||
| // pass a reference to the hue, saturation, and value array as an argument | ||
| // to the HSVToColor method. | ||
| relativeLayout.post(new Runnable() { | ||
| public void run() { | ||
| relativeLayout.setBackgroundColor(Color.HSVToColor(0xff, values)); | ||
| } | ||
| }); | ||
|
|
||
| telemetry.update(); | ||
| } | ||
| } | ||
| } |
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