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here you go keshav

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This commit is contained in:
DanTheMan-byte
2025-11-30 16:42:45 -06:00
parent a869d4b7a0
commit d32033a015
5 changed files with 93 additions and 37 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Color.java Normal file
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@@ -0,0 +1,4 @@
package org.firstinspires.ftc.teamcode.constants;
public class Color {
}

57
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ActiveColorSensorTest.java
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@@ -58,58 +58,73 @@ public class ActiveColorSensorTest extends LinearOpMode {
robot.intake.setPower(1);
// Reset the counters after 1 second of not reading a ball.
final double ColorCounterResetDelay = 1.0;
// Number of times the loop needs to run before deciding on a color.
final int ColorCounterTotalMinCount = 20;
// If the color sensor reads a color this percentage of time
// out of the total, declare the color.
// Usage: (Color Count)/(Total Count) > ColorCounterThreshold
final double ColorCounterThreshold = 0.65;
if (robot.pin1.getState()){
if (robot.pin0.getState()){
b1Purple += 1;
purpleStamp1 = getRuntime();
b1Purple ++;
}
b1Total += 1;
b1Total++;
totalStamp1 = getRuntime();
}
if (getRuntime() - totalStamp1 > 1){
if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
// Too Much time has passed without detecting ball
b1 = "none";
b1Total = 1;
b1Purple = 1;
}else if (b1Total > 10 && getRuntime() - purpleStamp1 > 2){
b1 = "Green";
}else if (b1Purple > 10){
}else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
// Enough Time has passed and we met the threshold
b1 = "Purple";
}else if (b1Total > ColorCounterTotalMinCount) {
// Enough Time passed WITHOUT meeting the threshold
b1 = "Green";
}
if (robot.pin3.getState()){
if (robot.pin2.getState()){
b2Purple += 1;
purpleStamp2 = getRuntime();
b2Purple ++;
}
b2Total += 1;
b2Total++;
totalStamp2 = getRuntime();
}
if (getRuntime() - totalStamp2 > 1){
if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
// Too Much time has passed without detecting ball
b2 = "none";
b2Total = 1;
b2Purple = 1;
}else if (b2Total > 10 && getRuntime() - purpleStamp2 > 2){
b2 = "Green";
}else if (b2Purple > 10){
}else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
// Enough Time has passed and we met the threshold
b2 = "Purple";
}else if (b2Total > ColorCounterTotalMinCount) {
// Enough Time passed WITHOUT meeting the threshold
b2 = "Green";
}
if (robot.pin5.getState()){
if (robot.pin4.getState()){
b3Purple += 1;
purpleStamp3 = getRuntime();
b3Purple ++;
}
b3Total += 1;
b3Total++;
totalStamp3 = getRuntime();
}
if (getRuntime() - totalStamp3 > 1){
if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
// Too Much time has passed without detecting ball
b3 = "none";
b3Total = 1;
b3Purple = 1;
}else if (b3Total > 10 && getRuntime() - purpleStamp3 > 2){
b3 = "Green";
}else if (b3Purple > 10){
}else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
// Enough Time has passed and we met the threshold
b3 = "Purple";
}else if (b3Total > ColorCounterTotalMinCount) {
// Enough Time passed WITHOUT meeting the threshold
b3 = "Green";
}
TELE.addData("Green1:", robot.pin1.getState());

40
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorSensorTest.java
View File

@@ -6,6 +6,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.utils.Robot;
@TeleOp
@@ -23,17 +24,40 @@ public class ColorSensorTest extends LinearOpMode{
if (isStopRequested()) return;
while (opModeIsActive()) {
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.addData("Hello Keshav (analog)", robot.analogInput.getVoltage());
TELE.addData("Hello again (analog2)", robot.analogInput2.getVoltage());
// ----- COLOR 1 -----
double green1 = robot.color1.getNormalizedColors().green;
double blue1 = robot.color1.getNormalizedColors().blue;
double red1 = robot.color1.getNormalizedColors().red;
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
// ----- COLOR 2 -----
double green2 = robot.color2.getNormalizedColors().green;
double blue2 = robot.color2.getNormalizedColors().blue;
double red2 = robot.color2.getNormalizedColors().red;
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
// ----- COLOR 3 -----
double green3 = robot.color3.getNormalizedColors().green;
double blue3 = robot.color3.getNormalizedColors().blue;
double red3 = robot.color3.getNormalizedColors().red;
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
TELE.update();
}
}
}

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/ConfigureColorRangefinder.java
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@@ -11,7 +11,7 @@ public class ConfigureColorRangefinder extends LinearOpMode {
public static int LED_Brightness = 50;
public static int lowerGreen = 120;
public static int lowerGreen = 110;
public static int higherGreen = 150;
@@ -22,10 +22,10 @@ public class ConfigureColorRangefinder extends LinearOpMode {
/* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
pin0 --> purple
pin1 --> green */
crf.setPin0Analog(ColorRangefinder.AnalogMode.GREEN); // green
// crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, higherGreen / 360.0 * 255, 360 / 360.0 * 255); // purple
// crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 0, lowerGreen/360.0 * 255);
// crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 40); // 10mm or closer requirement
crf.setPin1Digital(ColorRangefinder.DigitalMode.DISTANCE, 0, 40); // green
crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, higherGreen / 360.0 * 255, 360 / 360.0 * 255); // purple
crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 0, lowerGreen/360.0 * 255);
crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 40); // 10mm or closer requirement
crf.setLedBrightness(LED_Brightness);
}

13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
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@@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.utils;
import com.qualcomm.hardware.rev.RevColorSensorV3;
import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -7,6 +8,7 @@ import com.qualcomm.robotcore.hardware.DcMotorImplEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.DigitalChannel;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.I2cDevice;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
@@ -77,6 +79,12 @@ public class Robot {
public DcMotorEx shooterEncoder;
public RevColorSensorV3 color1;
public RevColorSensorV3 color2;
public RevColorSensorV3 color3;
public Robot(HardwareMap hardwareMap) {
//Define components w/ hardware map
@@ -150,5 +158,10 @@ public class Robot {
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
}
}