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limelight test updated

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DanTheMan-byte
2026-01-09 22:20:22 -06:00
parent 0c9e8c3287
commit 37c74fc85f
1 changed files with 57 additions and 49 deletions
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100
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/LimelightTest.java
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@@ -3,66 +3,74 @@ package org.firstinspires.ftc.teamcode.tests;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.variables.HardwareConfig; import java.util.List;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.subsystems.Limelight;
@Autonomous //TODO: fix to get the apriltag that it is reading
@Config @Config
@TeleOp
public class LimelightTest extends LinearOpMode { public class LimelightTest extends LinearOpMode {
public static String MODE = "AT";
public static int pipe = 1;
MultipleTelemetry TELE; MultipleTelemetry TELE;
public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
Robot robot;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
HardwareConfig.USING_LL= true;
robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry()); TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
limelight.pipelineSwitch(pipeline);
Limelight limelight = new Limelight(robot, TELE);
limelight.setMode(MODE);
limelight.setTelemetryOn(true);
waitForStart(); waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
limelight.start();
while (opModeIsActive()){ while (opModeIsActive()){
if (mode == 0){
limelight.setPipeline(pipe); limelight.pipelineSwitch(pipeline);
LLResult result = limelight.getLatestResult();
limelight.setMode(MODE); if (result != null) {
if (result.isValid()) {
limelight.update(); TELE.addData("tx", result.getTx());
TELE.addData("ty", result.getTy());
TELE.update(); TELE.update();
}
}
} else if (mode == 1){
limelight.pipelineSwitch(1);
LLResult result = limelight.getLatestResult();
if (result != null && result.isValid()) {
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
for (LLResultTypes.FiducialResult fiducial : fiducials) {
int id = fiducial.getFiducialId();
TELE.addData("ID", id);
} }
} }
} else if (mode == 2){
limelight.pipelineSwitch(4);
LLResult result = limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
TELE.addData("tx", result.getTx());
TELE.addData("ty", result.getTy());
TELE.update();
}
}
} else if (mode == 3){
limelight.pipelineSwitch(5);
LLResult result = limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
TELE.addData("tx", result.getTx());
TELE.addData("ty", result.getTy());
TELE.update();
}
}
} else {
limelight.pipelineSwitch(0);
}
}
}
} }