@Override
protected void onNewIntent(Intent intent) {
super.onNewIntent(intent);
if (UsbManager.ACTION_USB_ACCESSORY_ATTACHED.equals(intent.getAction())) {
// a new USB device has been attached
DbgLog.msg("USB Device attached; app restart may be needed");
}
}
public void run() {
try {
DbgLog.msg("Scanning USB bus");
this.f92a.f93a.scannedDevices = this.f92a.f93a.f100d.scanForUsbDevices();
} catch (RobotCoreException e) {
DbgLog.error("Device scan failed");
}
this.f92a.f93a.runOnUiThread(new C00321(this));
}
public void setRightPosition(int primaryCount) {
int start0 = rightMotors.get(0).getCurrentPosition();
int start1 = rightMotors.get(1).getCurrentPosition();
int target0 = start0 + primaryCount;
int target1 = start1 + (int) (primaryCount * (1090.0 / 1124.0));
DbgLog.msg("Setting Rmotor0 to " + target0);
rightMotors.get(0).setTargetPosition(target0);
DbgLog.msg("Setting Rmotor1 to " + target1);
rightMotors.get(1).setTargetPosition(target1);
}
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
this.f97a = this;
setContentView(R.layout.activity_autoconfigure);
this.f103g = new Utility(this);
this.f98b = (Button) findViewById(R.id.configureLegacy);
this.f99c = (Button) findViewById(R.id.configureUSB);
try {
this.f100d = new HardwareDeviceManager(this.f97a, null);
} catch (RobotCoreException e) {
this.f103g.complainToast("Failed to open the Device Manager", this.f97a);
DbgLog.error("Failed to open deviceManager: " + e.toString());
DbgLog.logStacktrace(e);
}
}
public LinearLift(FTCRobot robot, LinearOpMode curOpMode) {
this.robot = robot;
this.curOpMode = curOpMode;
try {
this.liftAngleMotor = curOpMode.hardwareMap.dcMotor.get("liftAngleMotor");
liftAngleMotorAvailable = true;
} catch (Exception e) {
DbgLog.error(String.format("%s . Device skipped", e.getMessage()));
}
try {
this.liftArmLengthMotor = curOpMode.hardwareMap.dcMotor.get("liftArmLengthMotor");
liftArmLengthMotorAvailable = true;
} catch (Exception e) {
DbgLog.error(String.format("%s . Device skipped", e.getMessage()));
}
}
@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
if (resultCode == RESULT_CANCELED) {
return;
}
Serializable extra = null;
if (requestCode == 1) {
extra = data.getSerializableExtra(EditMotorControllerActivity.EDIT_MOTOR_CONTROLLER_CONFIG);
} else if (requestCode == 2) {
extra = data.getSerializableExtra(EditServoControllerActivity.EDIT_SERVO_ACTIVITY);
} else if (requestCode == 3) {
extra = data.getSerializableExtra(EditLegacyModuleControllerActivity.EDIT_LEGACY_CONFIG);
}
if (extra != null) {
ControllerConfiguration newC = (ControllerConfiguration) extra;
scannedDevices.put(newC.getSerialNumber(), newC.configTypeToDeviceType(newC.getType()));
deviceControllers.put(newC.getSerialNumber(), newC);
populateList();
String name = preferredFilename;
// only update the filename if it hasn't already been updated to have "unsaved" in it
if (!name.toLowerCase().contains(Utility.UNSAVED.toLowerCase())) {
name = Utility.UNSAVED + " " + preferredFilename;
utility.saveToPreferences(name, R.string.pref_hardware_config_filename);
preferredFilename = name;
}
} else {
DbgLog.error(
"Received Result with an incorrect request code: " + String.valueOf(requestCode));
}
}
private void m55a(String str) {
this.f103g.writeXML(this.f101e);
try {
this.f103g.writeToFile(str + ".xml");
this.f103g.saveToPreferences(str, R.string.pref_hardware_config_filename);
this.f103g.updateHeader(
str, R.string.pref_hardware_config_filename, R.id.active_filename, R.id.included_header);
Toast.makeText(this.f97a, "AutoConfigure " + str + " Successful", 0).show();
} catch (RobotCoreException e) {
this.f103g.complainToast(e.getMessage(), this.f97a);
DbgLog.error(e.getMessage());
} catch (IOException e2) {
this.f103g.complainToast("Found " + e2.getMessage() + "\n Please fix and re-save", this.f97a);
DbgLog.error(e2.getMessage());
}
}
public void onServiceBind(FtcRobotControllerService service) {
DbgLog.msg("Bound to Ftc Controller Service");
controllerService = service;
updateUI.setControllerService(controllerService);
callback.wifiDirectUpdate(controllerService.getWifiDirectStatus());
callback.robotUpdate(controllerService.getRobotStatus());
requestRobotSetup();
}
public void runOpMode() throws InterruptedException {
this.hardwareMap.logDevices();
this.sensorRGB = (ColorSensor) this.hardwareMap.colorSensor.get("nxt");
this.sensorRGB.enableLed(true);
this.waitOneFullHardwareCycle();
this.waitForStart();
final float[] var1 = new float[] {0.0F, 0.0F, 0.0F};
final View var2 = ((Activity) this.hardwareMap.appContext).findViewById(2131427353);
boolean var3 = false;
while (this.opModeIsActive()) {
boolean var4;
if (!this.gamepad1.x && !this.gamepad2.x) {
var4 = false;
} else {
var4 = true;
}
if (var4 && var4 != var3) {
DbgLog.msg("MY_DEBUG - x button was pressed!");
var3 = var4;
this.sensorRGB.enableLed(true);
} else if (!var4 && var4 != var3) {
DbgLog.msg("MY_DEBUG - x button was released!");
var3 = var4;
this.sensorRGB.enableLed(false);
}
Color.RGBToHSV(this.sensorRGB.red(), this.sensorRGB.green(), this.sensorRGB.blue(), var1);
this.telemetry.addData("Clear", (float) this.sensorRGB.alpha());
this.telemetry.addData("Red ", (float) this.sensorRGB.red());
this.telemetry.addData("Green", (float) this.sensorRGB.green());
this.telemetry.addData("Blue ", (float) this.sensorRGB.blue());
this.telemetry.addData("Hue", var1[0]);
var2.post(
new Runnable() {
public void run() {
var2.setBackgroundColor(Color.HSVToColor(255, var1));
}
});
this.waitOneFullHardwareCycle();
}
}
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_ftc_configuration);
RobotLog.writeLogcatToDisk(this, 1024);
this.context = this;
utility = new Utility(this);
scanButton = (Button) findViewById(R.id.scanButton);
buildInfoButtons();
try {
deviceManager = new ModernRoboticsDeviceManager(context, null);
// deviceManager = new MockDeviceManager(context, null);
} catch (RobotCoreException e) {
utility.complainToast("Failed to open the Device Manager", context);
DbgLog.error("Failed to open deviceManager: " + e.toString());
DbgLog.logStacktrace(e);
}
preferences = PreferenceManager.getDefaultSharedPreferences(this);
}
@Override
public void runOpMode() throws InterruptedException {
// motorRF = hardwareMap.dcMotor.get("motorRF");//sets DcMotors to type of motor
// motorLF = hardwareMap.dcMotor.get("motorLF");
// motorRB = hardwareMap.dcMotor.get("motorRB");
// motorLB = hardwareMap.dcMotor.get("motorLB");
// servoPeople = hardwareMap.servo.get("servoPeople");
// motorLB.setDirection(DcMotor.Direction.REVERSE);//changes left wheels so that they turn
// correctly
// motorLF.setDirection(DcMotor.Direction.REVERSE);
RGB = hardwareMap.colorSensor.get("RGB");
// servo = hardwareMap.servo.get("servo");
// touchSensor = hardwareMap.touchSensor.get("sensor_touch");
// opticalDistanceSensor = hardwareMap.opticalDistanceSensor.get("sensor_distance");
waitForStart();
DbgLog.msg("NUMBERS HERE!!!!!");
DbgLog.msg(RGB.getDeviceName());
DbgLog.msg(RGB.getConnectionInfo());
RGB.enableLed(false);
sleep(1000);
if (RGB.alpha() >= 1 && RGB.alpha() <= 4) DbgLog.msg("BLUE!!!!!!!!!!!");
else DbgLog.msg("I DON'T KNOW!");
sleep(1000);
if (RGB.alpha() >= 9 && RGB.alpha() <= 11) DbgLog.msg("RED!!!!!!!!!!!");
else DbgLog.msg("I DON'T KNOW!");
sleep(1000);
if (RGB.alpha() >= 13) DbgLog.msg("WHITE!!!!!!!!!!!!");
else DbgLog.msg("I DON'T KNOW!");
sleep(1000);
RGB.enableLed(false);
}
public RightClimber(
FTCRobot robot, Servo rightClimber, LinearOpMode curOpMode, boolean allianceIsBlue) {
this.robot = robot;
this.curOpMode = curOpMode;
if (rightClimber != null) {
rightClimberAvailable = true;
this.rightClimber = rightClimber;
this.rightClimber.scaleRange(0.1, 0.47);
this.rightClimber.setPosition(1.0); // 1.0 == 0.47 because of scaleRange() call above
DbgLog.msg(String.format("RightClimber Position = %f", this.rightClimber.getPosition()));
if (allianceIsBlue) {
this.rightClimber.close();
}
}
}
/**
* This method parses the XML of the active configuration file, and calls methods to populate the
* appropriate data structures to the configuration information can be displayed to the user.
*/
private void readFile() {
ReadXMLFileHandler parser = new ReadXMLFileHandler(context);
if (preferredFilename.equalsIgnoreCase(Utility.NO_FILE)) {
// don't try to parse if there's no file
return;
}
InputStream inputStream = null;
try {
inputStream =
new FileInputStream(Utility.CONFIG_FILES_DIR + preferredFilename + Utility.FILE_EXT);
} catch (FileNotFoundException e) {
DbgLog.error("File was not found: " + preferredFilename);
DbgLog.logStacktrace(e);
utility.complainToast("That file was not found: " + preferredFilename, context);
return;
}
ArrayList<ControllerConfiguration> controllerList =
(ArrayList<ControllerConfiguration>) parser.parse(inputStream);
buildHashMap(controllerList);
populateList();
warnIfNoDevices();
}
/**
* Moves right climber servo based on {@code enum rightClimberDirection} value set in {@link
* DriverStation#getNextClimberCmd()}
*
* @param drvrcmd {@link DriverCommand} object with values.
*/
public void applyDSCmd(DriverCommand drvrcmd) {
if (!rightClimberAvailable) {
return;
}
double rightClimberPosition = rightClimber.getPosition();
DbgLog.msg(String.format("RightClimber Position = %f", rightClimberPosition));
switch (drvrcmd.rightClimberCmd.rightClimberStatus) {
case -1:
rightClimber.setPosition(Range.clip(0, 0, 1));
break;
case 1:
rightClimber.setPosition(Range.clip(1, 0, 1));
break;
case 0:
break;
default:
break;
}
}
public void file_delete_button(View v) {
String filenameWExt = getFileName(v, true);
File file = new File(Utility.CONFIG_FILES_DIR + filenameWExt);
if (file.exists()) {
file.delete();
} else {
utility.complainToast("That file does not exist: " + filenameWExt, context);
DbgLog.error("Tried to delete a file that does not exist: " + filenameWExt);
}
fileList = utility.getXMLFiles();
utility.saveToPreferences(Utility.NO_FILE, R.string.pref_hardware_config_filename);
utility.updateHeader(
Utility.NO_FILE,
R.string.pref_hardware_config_filename,
R.id.active_filename,
R.id.included_header);
populate();
}
private FileInputStream fileSetup() {
final String filename =
Utility.CONFIG_FILES_DIR
+ utility.getFilenameFromPrefs(R.string.pref_hardware_config_filename, Utility.NO_FILE)
+ Utility.FILE_EXT;
FileInputStream fis;
try {
fis = new FileInputStream(filename);
} catch (FileNotFoundException e) {
String msg = "Cannot open robot configuration file - " + filename;
utility.complainToast(msg, context);
DbgLog.msg(msg);
utility.saveToPreferences(Utility.NO_FILE, R.string.pref_hardware_config_filename);
fis = null;
}
utility.updateHeader(
Utility.NO_FILE,
R.string.pref_hardware_config_filename,
R.id.active_filename,
R.id.included_header);
return fis;
}
@Override
public void loop() {
// get the values from the gamepads
// note: pushing the stick all the way up returns -1,
// so we need to reverse the values
float leftY = -gamepad1.left_stick_y;
float rightY = -gamepad1.right_stick_y;
leftY = Range.clip(leftY, -1, 1);
rightY = Range.clip(rightY, -1, 1);
// motorLF.setPower(leftY);
motorLR.setPower(leftY);
// motorRF.setPower(rightY);
motorRR.setPower(rightY);
// telemetry.addData("left tgt pwr", "left pwr: " + String.format("%.2f", left));
// telemetry.addData("right tgt pwr", "right pwr: " + String.format("%.2f", right));
if (leftY < 1 && rightY > 0) {
DbgLog.msg("leftY, RightY " + leftY + " " + rightY);
}
}
/**
* Perform any actions that are necessary when the OpMode is enabled.
*
* <p>The system calls this member once when the OpMode is enabled.
*/
@Override
public void init() {
//
// Use the hardwareMap to associate class members to hardware ports.
//
// Note that the names of the devices (i.e. arguments to the get method)
// must match the names specified in the configuration file created by
// the FTC Robot Controller (Settings-->Configure Robot).
//
// The variable below is used to provide telemetry data to a class user.
//
v_warning_generated = false;
v_warning_message = "Can't map; ";
//
// Connect the drive wheel motors.
//
// The direction of the right motor is reversed, so joystick inputs can
// be more generically applied.
//
try {
v_motor_left_drive = hardwareMap.dcMotor.get("left_drive");
} catch (Exception p_exeception) {
m_warning_message("left_drive");
DbgLog.msg(p_exeception.getLocalizedMessage());
v_motor_left_drive = null;
}
try {
v_motor_right_drive = hardwareMap.dcMotor.get("right_drive");
v_motor_right_drive.setDirection(DcMotor.Direction.REVERSE);
} catch (Exception p_exeception) {
m_warning_message("right_drive");
DbgLog.msg(p_exeception.getLocalizedMessage());
v_motor_right_drive = null;
}
//
// Connect the arm motor.
//
try {
v_motor_left_arm = hardwareMap.dcMotor.get("left_arm");
} catch (Exception p_exeception) {
m_warning_message("left_arm");
DbgLog.msg(p_exeception.getLocalizedMessage());
v_motor_left_arm = null;
}
//
// Connect the servo motors.
//
// Indicate the initial position of both the left and right servos. The
// hand should be halfway opened/closed.
//
double l_hand_position = 0.5;
try {
v_servo_left_hand = hardwareMap.servo.get("left_hand");
v_servo_left_hand.setPosition(l_hand_position);
} catch (Exception p_exeception) {
m_warning_message("left_hand");
DbgLog.msg(p_exeception.getLocalizedMessage());
v_servo_left_hand = null;
}
try {
v_servo_right_hand = hardwareMap.servo.get("right_hand");
v_servo_right_hand.setPosition(l_hand_position);
} catch (Exception p_exeception) {
m_warning_message("right_hand");
DbgLog.msg(p_exeception.getLocalizedMessage());
v_servo_right_hand = null;
}
} // init
@Override
public void runOpMode() throws InterruptedException {
// write some device information (connection info, name and type)
// to the log file.
hardwareMap.logDevices();
// get a reference to our ColorSensor object.
sensorRGB = hardwareMap.colorSensor.get("cs");
// bEnabled represents the state of the LED.
boolean bEnabled = true;
// turn the LED on in the beginning, just so user will know that the sensor is active.
sensorRGB.enableLed(true);
// wait one cycle.
waitOneFullHardwareCycle();
// wait for the start button to be pressed.
waitForStart();
// hsvValues is an array that will hold the hue, saturation, and value information.
float hsvValues[] = {0F, 0F, 0F};
// values is a reference to the hsvValues array.
final float values[] = hsvValues;
// 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);
// bPrevState and bCurrState represent the previous and current state of the button.
boolean bPrevState = false;
boolean bCurrState = false;
// while the op mode is active, loop and read the RGB data.
// Note we use opModeIsActive() as our loop condition because it is an interruptible method.
while (opModeIsActive()) {
// check the status of the x button on either gamepad.
bCurrState = gamepad1.x || gamepad2.x;
// check for button state transitions.
if (bCurrState == true && bCurrState != bPrevState) {
// button is transitioning to a pressed state.
// print a debug statement.
DbgLog.msg("MY_DEBUG - x button was pressed!");
// update previous state variable.
bPrevState = bCurrState;
// on button press, enable the LED.
bEnabled = true;
// turn on the LED.
sensorRGB.enableLed(bEnabled);
} else if (bCurrState == false && bCurrState != bPrevState) {
// button is transitioning to a released state.
// print a debug statement.
DbgLog.msg("MY_DEBUG - x button was released!");
// update previous state variable.
bPrevState = bCurrState;
// on button press, enable the LED.
bEnabled = false;
// turn off the LED.
sensorRGB.enableLed(false);
}
// convert the RGB values to HSV values.
Color.RGBToHSV(sensorRGB.red(), sensorRGB.green(), sensorRGB.blue(), hsvValues);
// send the info back to driver station using telemetry function.
telemetry.addData("Clear", sensorRGB.alpha());
telemetry.addData("Red ", sensorRGB.red());
telemetry.addData("Green", sensorRGB.green());
telemetry.addData("Blue ", sensorRGB.blue());
telemetry.addData("Hue", hsvValues[0]);
// 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));
}
});
// wait a hardware cycle before iterating.
waitOneFullHardwareCycle();
}
}
@Override
public void main() throws InterruptedException {
// write some device information (connection info, name and type)
// to the log file.
hardwareMap.logDevices();
// get a reference to our DeviceInterfaceModule object.
cdim = hardwareMap.deviceInterfaceModule.get("dim");
// set the digital channel to output mode.
// remember, the Adafruit sensor is actually two devices.
// It's an I2C sensor and it's also an LED that can be turned on or off.
cdim.setDigitalChannelMode(LED_CHANNEL, DigitalChannelController.Mode.OUTPUT);
// get a reference to our ColorSensor object.
sensorRGB = hardwareMap.colorSensor.get("color");
// bEnabled represents the state of the LED.
boolean bEnabled = true;
// turn the LED on in the beginning, just so user will know that the sensor is active.
cdim.setDigitalChannelState(LED_CHANNEL, bEnabled);
// Set up our dashboard computations
composeDashboard();
// wait for the start button to be pressed.
waitForStart();
// hsvValues is an array that will hold the hue, saturation, and value information.
float hsvValues[] = {0F, 0F, 0F};
// values is a reference to the hsvValues array.
final float values[] = hsvValues;
// 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);
// bPrevState and bCurrState represent the previous and current state of the button.
boolean bPrevState = false;
boolean bCurrState = false;
// while the op mode is active, loop and read the RGB data.
// Note we use opModeIsActive() as our loop condition because it is an interruptible method.
while (opModeIsActive()) {
// check the status of the x button on either gamepad.
bCurrState = gamepad1.x || gamepad2.x;
// check for button state transitions.
if (bCurrState == true && bCurrState != bPrevState) {
// button is transitioning to a pressed state.
// print a debug statement.
DbgLog.msg("MY_DEBUG - x button was pressed!");
// update previous state variable.
bPrevState = bCurrState;
// on button press, enable the LED.
bEnabled = true;
// turn on the LED.
cdim.setDigitalChannelState(LED_CHANNEL, bEnabled);
} else if (bCurrState == false && bCurrState != bPrevState) {
// button is transitioning to a released state.
// print a debug statement.
DbgLog.msg("MY_DEBUG - x button was released!");
// update previous state variable.
bPrevState = bCurrState;
// on button press, enable the LED.
bEnabled = false;
// turn off the LED.
cdim.setDigitalChannelState(LED_CHANNEL, bEnabled);
}
// convert the RGB values to HSV values.
Color.RGBToHSV(
(sensorRGB.red() * 255) / 800,
(sensorRGB.green() * 255) / 800,
(sensorRGB.blue() * 255) / 800,
hsvValues);
this.hue = hsvValues[0];
// 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));
}
});
this.telemetry.update();
this.idle();
}
}