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Removed the fork relationship from FTC SDK so that people can fork this repo without problem if they already had an FTC SDK fork.

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Titan Robotics Club
2024-05-28 17:44:09 -07:00
parent 34a9ce290b
commit 653736be1c
145 changed files with 602787 additions and 20 deletions
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108
TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java Normal file
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/*
* Copyright (c) 2023 Titan Robotics Club (http://www.titanrobotics.com)
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package teamcode.subsystems;
import TrcCommonLib.trclib.TrcDriveBase;
import TrcCommonLib.trclib.TrcRevBlinkin;
import TrcFtcLib.ftclib.FtcRevBlinkin;
/**
* This class encapsulates the REV Blinkin LED controller to provide a priority indicator showing the status of the
* robot.
*/
public class BlinkinLEDs extends FtcRevBlinkin
{
// LED pattern names.
public static final String APRIL_TAG = "AprilTag";
public static final String RED_BLOB = "RedBlob";
public static final String BLUE_BLOB = "BlueBlob";
public static final String TENSOR_FLOW = "TensorFlow";
public static final String DRIVE_ORIENTATION_FIELD = "FieldMode";
public static final String DRIVE_ORIENTATION_ROBOT = "RobotMode";
public static final String DRIVE_ORIENTATION_INVERTED = "InvertedMode";
public static final String OFF_PATTERN = "Off";
/**
* Constructor: Create an instance of the object.
*
* @param instanceName specifies the instance name. This is also the REV Blinkin's hardware name.
*/
public BlinkinLEDs(String instanceName)
{
super(instanceName);
// LED Patterns are sorted in decreasing priority order.
final TrcRevBlinkin.Pattern[] ledPatternPriorities = {
// Highest priority.
new TrcRevBlinkin.Pattern(APRIL_TAG, RevLedPattern.SolidAqua),
new TrcRevBlinkin.Pattern(RED_BLOB, RevLedPattern.SolidRed),
new TrcRevBlinkin.Pattern(BLUE_BLOB, RevLedPattern.SolidBlue),
new TrcRevBlinkin.Pattern(TENSOR_FLOW, RevLedPattern.SolidYellow),
new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_FIELD, RevLedPattern.SolidViolet),
new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_ROBOT, RevLedPattern.SolidWhite),
new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_INVERTED, RevLedPattern.SolidGray),
new TrcRevBlinkin.Pattern(OFF_PATTERN, RevLedPattern.SolidBlack)
// Lowest priority.
};
setPatternPriorities(ledPatternPriorities);
} //BlinkinLEDs
/**
* This method sets the pattern ON for a period of time and turns off automatically afterwards.
*
* @param patternName specifies the name of the LED pattern to turn on.
*/
public void setDetectedPattern(String patternName)
{
setPatternState(patternName, true, 0.5);
} //setDetectedPattern
/**
* This method sets the LED to indicate the drive orientation mode of the robot.
*
* @param orientation specifies the drive orientation mode.
*/
public void setDriveOrientation(TrcDriveBase.DriveOrientation orientation)
{
switch (orientation)
{
case INVERTED:
setPatternState(DRIVE_ORIENTATION_INVERTED, true);
setPatternState(DRIVE_ORIENTATION_ROBOT, false);
setPatternState(DRIVE_ORIENTATION_FIELD, false);
break;
case ROBOT:
setPatternState(DRIVE_ORIENTATION_INVERTED, false);
setPatternState(DRIVE_ORIENTATION_ROBOT, true);
setPatternState(DRIVE_ORIENTATION_FIELD, false);
break;
case FIELD:
setPatternState(DRIVE_ORIENTATION_INVERTED, false);
setPatternState(DRIVE_ORIENTATION_ROBOT, false);
setPatternState(DRIVE_ORIENTATION_FIELD, true);
break;
}
} //setDriveOrientation
} //class BlinkinLEDs