Merge branch 'master' into 4bar_code

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Slides.java

@@ -0,0 +1,36 @@
+package org.firstinspires.ftc.teamcode.ftc16072.Mechanisms;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.ftc16072.Tests.QQTest;
+import org.firstinspires.ftc.teamcode.ftc16072.Tests.TestServo;
+
+import java.util.Arrays;
+import java.util.List;
+
+@Config
+public class Slides extends QQMechanism {
+    public static double SLIDE_BACK_POSITION = 0.125;
+    public static double SLIDE_FRONT_POSITION = 1.0;
+    public static double SLIDE_MIDDLE_POSITION = 0.5;
+
+    Servo slideServo;
+
+    @Override
+    public void init(HardwareMap hwMap) {
+        slideServo = hwMap.get(Servo.class, "slide_movement");
+    }
+
+    public void goToPos(double position){
+        slideServo.setPosition(position);
+    }
+
+    @Override
+    public List<QQTest> getTests() {
+        return Arrays.asList(
+            new TestServo("slide_back", SLIDE_BACK_POSITION, SLIDE_MIDDLE_POSITION, slideServo),
+            new TestServo("slide_front", SLIDE_FRONT_POSITION, SLIDE_MIDDLE_POSITION, slideServo));
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/ColorLocator.java

@@ -0,0 +1,51 @@
+package org.firstinspires.ftc.teamcode.ftc16072.OpModes;
+
+import android.util.Size;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.opencv.ColorBlobLocatorProcessor;
+import org.firstinspires.ftc.vision.opencv.ColorRange;
+import org.firstinspires.ftc.vision.opencv.ImageRegion;
+import org.opencv.core.RotatedRect;
+
+import java.util.List;
+import java.util.Locale;
+
+@Autonomous
+@SuppressWarnings("unused")
+public class ColorLocator extends OpMode {
+    ColorBlobLocatorProcessor colorLocator;
+    public void init(){
+        colorLocator = new ColorBlobLocatorProcessor.Builder()
+                .setTargetColorRange(ColorRange.BLUE)         // use a predefined color match
+                .setContourMode(ColorBlobLocatorProcessor.ContourMode.EXTERNAL_ONLY)    // exclude blobs inside blobs
+                .setRoi(ImageRegion.asUnityCenterCoordinates(-0.5, 0.5, 0.5, -0.5))  // search central 1/4 of camera view
+                .setDrawContours(true)                        // Show contours on the Stream Preview
+                .setBlurSize(5)                               // Smooth the transitions between different colors in image
+                .build();
+        @SuppressWarnings("unused")
+        VisionPortal portal = new VisionPortal.Builder()
+                .addProcessor(colorLocator)
+                .setCameraResolution(new Size(320, 240))
+                .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
+                .build();
+    }
+
+    public void loop (){
+        List<ColorBlobLocatorProcessor.Blob> blobs = colorLocator.getBlobs();
+        ColorBlobLocatorProcessor.Util.filterByArea(50, 2000, blobs);  // filter out very small blobs.
+        telemetry.addLine(" Area Density Aspect  Center");
+        for(ColorBlobLocatorProcessor.Blob b : blobs)
+        {
+            RotatedRect boxFit = b.getBoxFit();
+            telemetry.addLine(String.format(Locale.US, "%5d  %4.2f   %5.2f  (%3d,%3d)",
+                    b.getContourArea(), b.getDensity(), b.getAspectRatio(), (int) boxFit.center.x, (int) boxFit.center.y));
+        }
+
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/ColorSensor.java

@@ -0,0 +1,49 @@
+package org.firstinspires.ftc.teamcode.ftc16072.OpModes;
+
+import android.graphics.Color;
+import android.util.Size;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.opencv.ImageRegion;
+import org.firstinspires.ftc.vision.opencv.PredominantColorProcessor;
+
+import java.util.Locale;
+
+@Autonomous
+@SuppressWarnings("unused")
+public class ColorSensor extends OpMode {
+    PredominantColorProcessor colorSensor;
+    public void init(){
+        colorSensor = new PredominantColorProcessor.Builder()
+                .setRoi(ImageRegion.asUnityCenterCoordinates(0.5, 0.6, 0.6, 0.5))
+                .setSwatches(
+                        PredominantColorProcessor.Swatch.RED,
+                        PredominantColorProcessor.Swatch.BLUE,
+                        PredominantColorProcessor.Swatch.YELLOW,
+                        PredominantColorProcessor.Swatch.BLACK,
+                        PredominantColorProcessor.Swatch.WHITE)
+                .build();
+
+        @SuppressWarnings("unused")
+        VisionPortal portal = new VisionPortal.Builder()
+                .addProcessor(colorSensor)
+                .setCameraResolution(new Size(320, 240))
+                .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
+                .build();
+
+    }
+
+    @Override
+    public void loop(){
+        PredominantColorProcessor.Result result = colorSensor.getAnalysis();
+
+        // Display the Color Sensor result.
+        telemetry.addData("Best Match:", result.closestSwatch);
+        telemetry.addLine(String.format(Locale.US,"R %3d, G %3d, B %3d", Color.red(result.rgb), Color.green(result.rgb), Color.blue(result.rgb)));
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Robot.java

@@ -8,6 +8,7 @@
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.MecanumDrive;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.OpticalTrackingOdometrySensor;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.QQMechanism;
+import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Slides;
 
 import java.util.Arrays;
 import java.util.List;
@@ -19,6 +20,7 @@ public class Robot {
     public OpticalTrackingOdometrySensor otos;
     public Claw claw;
     public DoubleReverse4Bar doubleReverse4Bar;
+    public Slides slides;
     List<QQMechanism> mechanisms;
 
     public Robot() {
@@ -28,12 +30,17 @@ public Robot() {
         claw = new Claw();
         doubleReverse4Bar = new DoubleReverse4Bar();
 
+        slides = new Slides();
+
         mechanisms = Arrays.asList(
                 controlHub,
                 mecanumDrive,
                 otos,
                 claw,
+
                 doubleReverse4Bar);
+                slides);
+
     }
     public void init(HardwareMap hwMap) {
         for (QQMechanism mechanism : mechanisms) {