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color test

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This commit is contained in:
DanTheMan-byte
2025-11-06 22:27:02 -06:00
parent bb821d9108
commit 03d72af8d2
2 changed files with 54 additions and 23 deletions
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12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorSensorTest.java
View File

@@ -23,12 +23,12 @@ public class ColorSensorTest extends LinearOpMode{
if (isStopRequested()) return;
while (opModeIsActive()){
TELE.addData("Green1:", robot.pin0.getState());
TELE.addData("Purple1:", robot.pin1.getState());
TELE.addData("Green2:", robot.pin2.getState());
TELE.addData("Purple2:", robot.pin3.getState());
TELE.addData("Green3:", robot.pin4.getState());
TELE.addData("Purple3:", robot.pin5.getState());
TELE.addData("Green1:", robot.pin1.getState());
TELE.addData("Purple1:", robot.pin0.getState());
TELE.addData("Green2:", robot.pin3.getState());
TELE.addData("Purple2:", robot.pin2.getState());
TELE.addData("Green3:", robot.pin5.getState());
TELE.addData("Purple3:", robot.pin4.getState());
TELE.update();
}

65
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/ConfigureColorRangefinder.java
View File

@@ -1,25 +1,41 @@
package org.firstinspires.ftc.teamcode.utils;
import com.acmerobotics.dashboard.config.Config;
import com.bylazar.configurables.annotations.Configurable;
import com.qualcomm.hardware.rev.RevColorSensorV3;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
@Config
@Autonomous
@TeleOp
public class ConfigureColorRangefinder extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "color"));
waitForStart();
/* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
pin0 --> purple
pin1 --> green */
crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 0 / 360.0 * 255, 360 / 360.0 * 255); // purple
crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 40); // 10mm or closer requirement
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 110 / 360.0 * 255, 140 / 360.0 * 255); // green
crf.setLedBrightness(2);
/*
Using this example configuration, you can detect all three sample colors based on which pin is reading true:
both --> yellow
only pin0 --> blue
only pin1 --> red
neither --> no object
*/
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 80 / 360.0 * 255, 140 / 360.0 * 255); // green
crf.setPin1Saturation(175, 255);
crf.setPin1Value(100,200);
crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 40); // 20mm or closer requirement
crf.setPin0Digital(ColorRangefinder.DigitalMode.DISTANCE, 0, 40); // purple
crf.setLedBrightness(0);
waitForStart();
stop();
}
}
@@ -28,9 +44,12 @@ public class ConfigureColorRangefinder extends LinearOpMode {
* Online documentation: <a href="https://docs.brushlandlabs.com">...</a>
*/
class ColorRangefinder {
public static int LED_VALUE = 15;
public final RevColorSensorV3 emulator;
private final I2cDeviceSynchSimple i2c;
public ColorRangefinder(RevColorSensorV3 emulator) {
this.emulator = emulator;
this.i2c = emulator.getDeviceClient();
this.i2c.enableWriteCoalescing(true);
}
@@ -53,6 +72,22 @@ class ColorRangefinder {
setDigital(PinNum.PIN1, digitalMode, lowerBound, higherBound);
}
public void setPin0Saturation(double lowerBound, double higherBound) {
setDigital(PinNum.PIN0, DigitalMode.SATURATION, lowerBound, higherBound);
}
public void setPin1Saturation(double lowerBound, double higherBound) {
setDigital(PinNum.PIN1, DigitalMode.SATURATION, lowerBound, higherBound);
}
// Optional: Easy methods for value/brightness thresholding
public void setPin0Value(double lowerBound, double higherBound) {
setDigital(PinNum.PIN0, DigitalMode.VALUE, lowerBound, higherBound);
}
public void setPin1Value(double lowerBound, double higherBound) {
setDigital(PinNum.PIN1, DigitalMode.VALUE, lowerBound, higherBound);
}
/**
* Sets the maximum distance (in millimeters) within which an object must be located for Pin 0's thresholds to trigger.
* This is most useful when we want to know if an object is both close and the correct color.
@@ -74,18 +109,13 @@ class ColorRangefinder {
* This is useful if we want to threshold red; instead of having two thresholds we would invert
* the color and look for blue.
*/
public void setPin0InvertHue() {
setPin0DigitalMaxDistance(DigitalMode.HSV, 200);
}
/**
* Invert the hue value before thresholding it, meaning that the colors become their opposite.
* This is useful if we want to threshold red; instead of having two thresholds we would invert
* the color and look for blue.
*/
public void setPin1InvertHue() {
setPin1DigitalMaxDistance(DigitalMode.HSV, 200);
}
/**
* The denominator is what the raw sensor readings will be divided by before being scaled to 12-bit analog.
@@ -152,7 +182,7 @@ class ColorRangefinder {
if (lowerBound == higherBound) {
lo = (int) lowerBound;
hi = (int) higherBound;
} else if (digitalMode.value <= DigitalMode.HSV.value) { // color value 0-255
} else if (digitalMode.value <= DigitalMode.VALUE.value) { // HSV/HUE/SATURATION/VALUE color range
lo = (int) Math.round(lowerBound / 255.0 * 65535);
hi = (int) Math.round(higherBound / 255.0 * 65535);
} else { // distance in mm
@@ -205,7 +235,7 @@ class ColorRangefinder {
}
public enum DigitalMode {
RED(1), BLUE(2), GREEN(3), ALPHA(4), HSV(5), DISTANCE(6);
RED(1), BLUE(2), GREEN(3), ALPHA(4), HSV(5), DISTANCE(6), SATURATION(7), VALUE(8);
public final byte value;
DigitalMode(int value) {
@@ -222,3 +252,4 @@ class ColorRangefinder {
}
}
}