public void shutdownCoreInterfaceDeviceModules() {
for (Entry entry : this.f17h.deviceInterfaceModule.entrySet()) {
String str = (String) entry.getKey();
DeviceInterfaceModule deviceInterfaceModule = (DeviceInterfaceModule) entry.getValue();
DbgLog.msg("Stopping Core Interface Device Module " + str);
deviceInterfaceModule.close();
}
}
public ModernRoboticsI2cGyro(
final DeviceInterfaceModule deviceInterfaceModule, final int physicalPort) {
this.a = 32;
this.b = deviceInterfaceModule;
this.g = physicalPort;
this.c = deviceInterfaceModule.getI2cReadCache(physicalPort);
this.d = deviceInterfaceModule.getI2cReadCacheLock(physicalPort);
this.e = deviceInterfaceModule.getI2cWriteCache(physicalPort);
this.f = deviceInterfaceModule.getI2cWriteCacheLock(physicalPort);
this.h = HeadingMode.HEADING_CARDINAL;
deviceInterfaceModule.enableI2cReadMode(physicalPort, 32, 0, 18);
deviceInterfaceModule.setI2cPortActionFlag(physicalPort);
deviceInterfaceModule.writeI2cCacheToController(physicalPort);
deviceInterfaceModule.registerForI2cPortReadyCallback(
(I2cController.I2cPortReadyCallback) this, physicalPort);
this.transactionQueue = new ConcurrentLinkedQueue<GyroI2cTransaction>();
this.j = new a();
this.i = MeasurementMode.GYRO_NORMAL;
}
@Override
public void runOpMode() {
elapsedTime = new ElapsedTime();
dim = hardwareMap.deviceInterfaceModule.get("dim");
dim.setDigitalChannelMode(GYROSCOPE_SPOT, DigitalChannelController.Mode.OUTPUT);
gyro = hardwareMap.gyroSensor.get("gyro");
dim.setDigitalChannelState(GYROSCOPE_SPOT, true);
motorBL = hardwareMap.dcMotor.get("motorBL");
motorBR = hardwareMap.dcMotor.get("motorBR");
motorFL = hardwareMap.dcMotor.get("motorFL");
elapsedTime.startTime();
motorFR = hardwareMap.dcMotor.get("motorFR");
// color = hardwareMap.colorSensor.get("color");
int distance1 = 5550;
int distance3 = 9700;
double currentAngle = 0.0;
while (motorBL.getCurrentPosition() < distance1) {
startMotors(-1, 1, 1, -1);
getEncoderValues();
}
while (currentAngle < 90.0) {
startMotors(-1, -1, -1, -1);
getEncoderValues();
currentAngle = gyro.getRotation();
}
while (motorBL.getCurrentPosition() < distance3) {
startMotors(-1, 1, 1, -1);
getEncoderValues();
}
getTime();
elapsedTime.reset();
double currentTime = 0.0;
while (currentTime < 5.0) {
getEncoderValues();
getTime();
currentTime = elapsedTime.time();
}
while (motorBL.getCurrentPosition() > 9000) { // 9034
startMotors(1, -1, -1, 1);
getEncoderValues();
}
while (currentAngle > 45.0) {
startMotors(-1, -1, -1, -1);
getEncoderValues();
currentAngle = gyro.getRotation();
}
elapsedTime.reset();
currentTime = 0.0;
while (currentTime < 5.0) {
startMotors(-1, 1, 1, -1);
getEncoderValues();
getTime();
currentTime = elapsedTime.time();
}
stopMotors();
motorBL.close();
motorFL.close();
motorBR.close();
motorFR.close();
}
@Override
public void runOpMode() throws InterruptedException {
// 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;
// bLedOn represents the state of the LED.
boolean bLedOn = true;
// 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");
// turn the LED on in the beginning, just so user will know that the sensor is active.
cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
// wait for the start button to be pressed.
waitForStart();
// 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 gamepad.
bCurrState = gamepad1.x;
// check for button-press state transitions.
if ((bCurrState == true) && (bCurrState != bPrevState)) {
// button is transitioning to a pressed state. Toggle the LED.
bLedOn = !bLedOn;
cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
}
// update previous state variable.
bPrevState = bCurrState;
// convert the RGB values to HSV values.
Color.RGBToHSV(
(sensorRGB.red() * 255) / 800,
(sensorRGB.green() * 255) / 800,
(sensorRGB.blue() * 255) / 800,
hsvValues);
// send the info back to driver station using telemetry function.
telemetry.addData("LED", bLedOn ? "On" : "Off");
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));
}
});
telemetry.update();
idle(); // Always call idle() at the bottom of your while(opModeIsActive()) loop
}
}
@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();
}
}