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limelight added to code

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This commit is contained in:
DanTheMan-byte
2026-01-04 17:48:49 -06:00
parent d37bc733cf
commit 9c2a86c3e6
4 changed files with 83 additions and 5 deletions
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5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red_V2.java
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@@ -454,10 +454,6 @@ public class Red_V2 extends LinearOpMode {
robot.hood.setPosition(hoodAuto);
double turretPID = servo.setTurrPos(turret_detectRed);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
robot.transferServo.setPosition(transferServo_out);
robot.spin1.setPower(spindexer_intakePos1);
@@ -465,6 +461,7 @@ public class Red_V2 extends LinearOpMode {
aprilTag.update();
TELE.addData("Velocity", velo);
TELE.addData("Turret Pos", servo.getTurrPos());
TELE.update();
}

76
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/LimelightTest.java Normal file
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@@ -0,0 +1,76 @@
package org.firstinspires.ftc.teamcode.tests;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.utils.Robot;
import java.util.List;
public class LimelightTest extends LinearOpMode {
Robot robot;
MultipleTelemetry TELE;
public static int pipeline = 0; //0 is for test; 1, 2, and 3 are for obelisk; 4 is for blue track; 5 is for red track
public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
int obeliskPipe = 1;
@Override
public void runOpMode() throws InterruptedException {
robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
robot.limelight.pipelineSwitch(pipeline);
waitForStart();
if (isStopRequested()) return;
robot.limelight.start();
while (opModeIsActive()){
if (mode == 0){
robot.limelight.pipelineSwitch(pipeline);
LLResult result = robot.limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
TELE.addData("tx", result.getTx());
TELE.addData("ty", result.getTy());
TELE.update();
}
}
} else if (mode == 1){
robot.limelight.pipelineSwitch(obeliskPipe);
LLResult result = robot.limelight.getLatestResult();
if (result != null && result.isValid()){
TELE.addData("ID", obeliskPipe+20);
TELE.update();
} else {
if (obeliskPipe >= 3){
obeliskPipe = 1;
} else {
obeliskPipe++;
}
}
} else if (mode == 2){
robot.limelight.pipelineSwitch(4);
LLResult result = robot.limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
TELE.addData("tx", result.getTx());
TELE.addData("ty", result.getTy());
TELE.update();
}
}
} else if (mode == 3){
robot.limelight.pipelineSwitch(5);
LLResult result = robot.limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
TELE.addData("tx", result.getTx());
TELE.addData("ty", result.getTy());
TELE.update();
}
}
} else {
robot.limelight.pipelineSwitch(0);
}
}
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
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@@ -51,7 +51,7 @@ public class Flywheel {
velo3 = velo2;
velo2 = velo1;
currentPos = shooter1CurPos / 3072;
currentPos = shooter1CurPos / 2048;
stamp = getTimeSeconds(); //getRuntime();
velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
initPos = currentPos;

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
View File

@@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.utils;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.hardware.rev.RevColorSensorV3;
import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.CRServo;
@@ -81,6 +82,8 @@ public class Robot {
public RevColorSensorV3 color3;
public Limelight3A limelight;
public Robot(HardwareMap hardwareMap) {
//Define components w/ hardware map
@@ -163,5 +166,7 @@ public class Robot {
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
limelight = hardwareMap.get(Limelight3A.class,"Limelight");
}
}