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color read up and knows sides

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robotics2
2023-10-05 17:12:37 -07:00
parent c3d8dc6b11
commit 9aab8fadf1
1 changed files with 45 additions and 6 deletions
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51
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
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@ -71,6 +71,7 @@ public class Autonomoustest extends LinearOpMode {
private DcMotor backrightDrive = null;
private DcMotor backleftDrive = null;
private ColorSensor colorRight = null;
private ColorSensor colorLeft = null;
@ -100,6 +101,7 @@ public class Autonomoustest extends LinearOpMode {
backleftDrive = hardwareMap.get(DcMotor.class, "Drive back lt");
backrightDrive = hardwareMap.get(DcMotor.class, "Drive back rt");
colorRight = hardwareMap.get(ColorSensor.class, "color right");
colorLeft = hardwareMap.get(ColorSensor.class, "color left");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
@ -119,11 +121,11 @@ public class Autonomoustest extends LinearOpMode {
backleftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Send telemetry message to indicate successful Encoder reset
telemetry.addData("Starting at", "%7d :%7d",
/* telemetry.addData("Starting at", "%7d :%7d",
leftDrive.getCurrentPosition(),
rightDrive.getCurrentPosition(),
backleftDrive.getCurrentPosition(),
backrightDrive.getCurrentPosition());
backrightDrive.getCurrentPosition());*/
telemetry.update();
@ -133,9 +135,31 @@ public class Autonomoustest extends LinearOpMode {
// Step through each leg of the path,
// Note: Reverse movement is obtained by setting a negative distance (not speed)
//driveForward(2);
//driveForward(80);
readColor();
//turnRight(90);
loop();
while(opModeIsActive())
{
int blueleft = readColorLeft();
int blueright = readColorRight();
if (blueleft > 50)
{
//telemetry.addData("color sensor","left");
if(blueleft > blueright)
telemetry.addData("color sensor","left");
}
if (blueright > 50)
{
//telemetry.addData("color sensor", "right");
if(blueleft < blueright)
telemetry.addData("color sensor","right");
}
else
telemetry.addData("position","center");
telemetry.update();
sleep(250);
}
@ -188,12 +212,27 @@ public class Autonomoustest extends LinearOpMode {
double turning_distance = degrees * DEGREE_TOO_DISTANCE;
encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT);
}
public void readColor()
public int readColorRight()
{
telemetry.addData("Clear", colorRight.alpha());
telemetry.addData("Red ", colorRight.red());
telemetry.addData("Green", colorRight.green());
telemetry.addData("Blue ", colorRight.blue());
int bluenumber = colorRight.blue();
return bluenumber;
}
public int readColorLeft()
{
telemetry.addData("Clear Left", colorLeft.alpha());
telemetry.addData("Red left ", colorLeft.red());
telemetry.addData("Green left", colorLeft.green());
telemetry.addData("Blue left", colorLeft.blue());
int bluenumber = colorLeft.blue();
return bluenumber;
}
/*