I did codifying

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsCameraTest.java

@@ -1,78 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import android.util.Size;
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.vision.VisionPortal;
-
-import java.util.Locale;
-
-@TeleOp(name = "DevApp - Camera Test (HDMI)", group = "SCDS Development")
-public class CometBotsCameraTest extends LinearOpMode {
-
-    final boolean USING_WEBCAM = true;
-    final BuiltinCameraDirection INTERNAL_CAM_DIR = BuiltinCameraDirection.FRONT;
-    final int RESOLUTION_WIDTH = 640;
-    final int RESOLUTION_HEIGHT = 480;
-
-    // Internal state
-    boolean lastX;
-    int frameCount;
-    long capReqTime;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        telemetry.speak("Development - Camera Test");
-
-        VisionPortal portal;
-
-        if (USING_WEBCAM)
-        {
-            portal = new VisionPortal.Builder()
-                    .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
-                    .setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
-                    .build();
-        }
-        else
-        {
-            portal = new VisionPortal.Builder()
-                    .setCamera(INTERNAL_CAM_DIR)
-                    .setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
-                    .build();
-        }
-
-        while (!isStopRequested())
-        {
-            boolean x = gamepad1.x;
-
-            if (x && !lastX)
-            {
-                portal.saveNextFrameRaw(String.format(Locale.US, "CameraFrameCapture-%06d", frameCount++));
-                capReqTime = System.currentTimeMillis();
-            }
-
-            lastX = x;
-
-            telemetry.addLine("######## Camera Capture Utility ########");
-            telemetry.addLine(String.format(Locale.US, " > Resolution: %dx%d", RESOLUTION_WIDTH, RESOLUTION_HEIGHT));
-            telemetry.addLine(" > Press X (or Square) to capture a frame");
-            telemetry.addData(" > Camera Status", portal.getCameraState());
-
-            if (capReqTime != 0)
-            {
-                telemetry.addLine("\nCaptured Frame!");
-            }
-
-            if (capReqTime != 0 && System.currentTimeMillis() - capReqTime > 1000)
-            {
-                capReqTime = 0;
-            }
-            telemetry.update();
-        }
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsIMUTest.java

@@ -1,72 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.IMU;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-
-@TeleOp(name = "DevApp - IMU Test", group = "SCDS Development")
-public class CometBotsIMUTest extends LinearOpMode {
-
-    IMU imu;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        // Retrieve and initialize the IMU.
-        // This sample expects the IMU to be in a REV Hub and named "imu".
-        imu = hardwareMap.get(IMU.class, "imu");
-
-        /* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
-         *
-         * Two input parameters are required to fully specify the Orientation.
-         * The first parameter specifies the direction the printed logo on the Hub is pointing.
-         * The second parameter specifies the direction the USB connector on the Hub is pointing.
-         * All directions are relative to the robot, and left/right is as-viewed from behind the robot.
-         */
-
-        /* The next two lines define Hub orientation.
-         * The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
-         *
-         * To Do:  EDIT these two lines to match YOUR mounting configuration.
-         */
-        RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
-        RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
-
-        RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
-
-        // Now initialize the IMU with this mounting orientation
-        // Note: if you choose two conflicting directions, this initialization will cause a code exception.
-        imu.initialize(new IMU.Parameters(orientationOnRobot));
-
-        // Loop and update the dashboard
-        while (!isStopRequested()) {
-
-            telemetry.addData("Hub orientation", "Logo=%s   USB=%s\n ", logoDirection, usbDirection);
-
-            // Check to see if heading reset is requested
-            if (gamepad1.y) {
-                telemetry.addData("Yaw", "Resetting\n");
-                imu.resetYaw();
-            } else {
-                telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
-            }
-
-            // Retrieve Rotational Angles and Velocities
-            YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
-            AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
-
-            telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
-            telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
-            telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
-            telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
-            telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
-            telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
-            telemetry.update();
-        }
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsOpenCVTest.java

@@ -1,44 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.openftc.easyopencv.OpenCvCamera;
-import org.openftc.easyopencv.OpenCvCameraFactory;
-import org.openftc.easyopencv.OpenCvCameraRotation;
-
-@Autonomous(name="DevApp - OpenCV Test", group="SCDS Development")
-public class CometBotsOpenCVTest extends LinearOpMode {
-
-    private OpenCvCamera controlHubCam;  // Use OpenCvCamera class from FTC SDK
-    private static final int CAMERA_WIDTH = 1280; // width  of wanted camera resolution
-    private static final int CAMERA_HEIGHT = 720; // height of wanted camera resolution
-
-    // Calculate the distance using the formula
-    public static final double objectWidthInRealWorldUnits = 3.75;  // Replace with the actual width of the object in real-world units
-    public static final double focalLength = 728;  // Replace with the focal length of the camera in pixels
-
-    private void initOpenCV() {
-
-        // Create an instance of the camera
-        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
-                "cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-
-        // Use OpenCvCameraFactory class from FTC SDK to create camera instance
-        controlHubCam = OpenCvCameraFactory.getInstance().createWebcam(
-                hardwareMap.get(WebcamName.class, "Webcam 1"), cameraMonitorViewId);
-
-        controlHubCam.setPipeline(new YellowBlobDetectionPipeline());
-
-        controlHubCam.openCameraDevice();
-        controlHubCam.startStreaming(CAMERA_WIDTH, CAMERA_HEIGHT, OpenCvCameraRotation.UPRIGHT);
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-
-
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementLibrary.java

@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+public class MovementLibrary {
+
+
+    public static void setDirectionForward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
+        rhw.setDirection(DcMotor.Direction.REVERSE);
+        rlw.setDirection(DcMotor.Direction.FORWARD);
+        lhw.setDirection(DcMotorSimple.Direction.FORWARD);
+        llw.setDirection(DcMotorSimple.Direction.REVERSE);
+    }
+
+    public static void setDirectionBackward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
+        rhw.setDirection(DcMotor.Direction.FORWARD);
+        rlw.setDirection(DcMotor.Direction.REVERSE);
+        lhw.setDirection(DcMotorSimple.Direction.REVERSE);
+        llw.setDirection(DcMotorSimple.Direction.FORWARD);
+    }
+
+    public static void setDirectionLeft (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
+        rhw.setDirection(DcMotor.Direction.REVERSE);
+        rlw.setDirection(DcMotor.Direction.REVERSE);
+        lhw.setDirection(DcMotorSimple.Direction.FORWARD);
+        llw.setDirection(DcMotorSimple.Direction.FORWARD);
+    }
+
+    public static void setDirectionRight (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
+        rhw.setDirection(DcMotor.Direction.FORWARD);
+        rlw.setDirection(DcMotor.Direction.FORWARD);
+        lhw.setDirection(DcMotorSimple.Direction.REVERSE);
+        llw.setDirection(DcMotorSimple.Direction.REVERSE);
+    }
+
+    public static void setSpeed (double speedValue, DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
+        rhw.setPower(speedValue);
+        rlw.setPower(speedValue);
+        lhw.setPower(speedValue);
+        llw.setPower(speedValue);
+    }
+
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Name.java

@@ -0,0 +1,87 @@
+package org.firstinspires.ftc.teamcode;
+
+import static java.lang.Math.round;
+
+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.AnalogSensor;
+import com.qualcomm.robotcore.hardware.ColorSensor;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.DistanceSensor;
+import com.qualcomm.robotcore.hardware.TouchSensor;
+import org.firstinspires.ftc.teamcode.MovementLibrary;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+
+@Autonomous(name="Name")
+public class Name extends LinearOpMode  {
+    private DcMotor rightHandWheel;
+    private DcMotor rightLegWheel;
+    private DcMotor leftHandWheel;
+    private DcMotor leftLegWheel;
+    private TouchSensor touchSensor;
+    private DistanceSensor distanceSensor;
+    private ColorSensor colorSensor;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        rightHandWheel = hardwareMap.get(DcMotor.class,"right hand wheel");
+        rightLegWheel = hardwareMap.get(DcMotor.class,"right leg wheel");
+        leftHandWheel = hardwareMap.get(DcMotor.class, "left hand wheel");
+        leftLegWheel = hardwareMap.get(DcMotor.class, "left leg wheel");
+        touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
+        distanceSensor = hardwareMap.get(DistanceSensor.class , "distancesensor");
+        colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor");
+
+        MovementLibrary.setDirectionForward(rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
+        MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
+
+        // Wait for the game to start (driver presses PLAY)
+        waitForStart();
+
+        while(opModeIsActive()){
+
+       /* telemetry.speak( "Oh see, you see" +
+                "By the dusk's late light" +
+                "What so proudly we rained" +
+                "At the twilight's last gleaming?" +
+                "Whose broad stripes and dark stars" +
+                "Through the perilous fight" +
+                "Under the ramparts we watched" +
+                "Were so gallantly, no, streaming?" +
+                "And the rockets' red glare" +
+                "The bombs contracting in air" +
+                "Gave proof through the night" +
+                "That our flag was not there" +
+                "O say, that star-spangled banner doesn't wave" +
+                "Over the land of the enslaved and the home of the cowardly");*/
+
+            MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
+
+            if(touchSensor.isPressed()) {
+                telemetry.speak("Ouchie that hurt me and my feelings");
+                telemetry.addData("was i triggered", touchSensor.isPressed());
+            }
+
+            double nicerValue = distanceSensor.getDistance(DistanceUnit.INCH);
+
+            telemetry.addData("you are this far (in inches) --> ", "%.2f", nicerValue);
+            telemetry.addData("Red: ", colorSensor.red());
+            telemetry.addData("Green: ", colorSensor.green());
+            telemetry.addData("Blue: ", colorSensor.blue());
+
+            if(colorSensor.green() > 1100 && colorSensor.blue() > 1000) {
+                MovementLibrary.setSpeed(0.4,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
+            } else {
+               MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
+            };
+
+            telemetry.update();
+
+        }
+
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/notes.md

@@ -1,4 +0,0 @@
-https://www.youtube.com/watch?v=aeMWWvteF2U
-
-https://www.youtube.com/watch?v=1xdo8QP6_mI
-

build.dependencies.gradle

@@ -1,7 +1,6 @@
 repositories {
     mavenCentral()
     google() // Needed for androidx
-    maven { url = 'https://maven.brott.dev/' }
 }
 
 dependencies {
@@ -18,6 +17,5 @@ dependencies {
     implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
     runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
-    implementation 'com.acmerobotics.dashboard:dashboard:0.4.15'    // FTC Dashboard
 }