here you go keshav

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Color.java

@@ -0,0 +1,4 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+public class Color {
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ActiveColorSensorTest.java

@@ -58,58 +58,73 @@ public class ActiveColorSensorTest extends LinearOpMode {
 
             robot.intake.setPower(1);
 
+            // Reset the counters after 1 second of not reading a ball.
+            final double ColorCounterResetDelay = 1.0;
+            // Number of times the loop needs to run before deciding on a color.
+            final int ColorCounterTotalMinCount = 20;
+            // If the color sensor reads a color this percentage of time
+            // out of the total, declare the color.
+            // Usage: (Color Count)/(Total Count) > ColorCounterThreshold
+            final double ColorCounterThreshold  = 0.65;
+
             if (robot.pin1.getState()){
                 if (robot.pin0.getState()){
-                    b1Purple += 1;
+                    b1Purple ++;
-                    purpleStamp1 = getRuntime();
                 }
-                b1Total += 1;
+                b1Total++;
                 totalStamp1 = getRuntime();
             }
-            if (getRuntime() - totalStamp1 > 1){
+            if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
+                // Too Much time has passed without detecting ball
                 b1 = "none";
                 b1Total = 1;
                 b1Purple = 1;
-            }else if (b1Total > 10 && getRuntime() - purpleStamp1 > 2){
+            }else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
-                b1 = "Green";
+            // Enough Time has passed and we met the threshold
-            }else if (b1Purple > 10){
                 b1 = "Purple";
+            }else if (b1Total > ColorCounterTotalMinCount) {
+            // Enough Time passed WITHOUT meeting the threshold
+                b1 = "Green";
             }
 
             if (robot.pin3.getState()){
                 if (robot.pin2.getState()){
-                    b2Purple += 1;
+                    b2Purple ++;
-                    purpleStamp2 = getRuntime();
                 }
-                b2Total += 1;
+                b2Total++;
                 totalStamp2 = getRuntime();
             }
-            if (getRuntime() - totalStamp2 > 1){
+            if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
+                // Too Much time has passed without detecting ball
                 b2 = "none";
                 b2Total = 1;
                 b2Purple = 1;
-            }else if (b2Total > 10 && getRuntime() - purpleStamp2 > 2){
+            }else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
-                b2 = "Green";
+                // Enough Time has passed and we met the threshold
-            }else if (b2Purple > 10){
                 b2 = "Purple";
+            }else if (b2Total > ColorCounterTotalMinCount) {
+                // Enough Time passed WITHOUT meeting the threshold
+                b2 = "Green";
             }
 
             if (robot.pin5.getState()){
                 if (robot.pin4.getState()){
-                    b3Purple += 1;
+                    b3Purple ++;
-                    purpleStamp3 = getRuntime();
                 }
-                b3Total += 1;
+                b3Total++;
                 totalStamp3 = getRuntime();
             }
-            if (getRuntime() - totalStamp3 > 1){
+            if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
+                // Too Much time has passed without detecting ball
                 b3 = "none";
                 b3Total = 1;
                 b3Purple = 1;
-            }else if (b3Total > 10 && getRuntime() - purpleStamp3 > 2){
+            }else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
-                b3 = "Green";
+                // Enough Time has passed and we met the threshold
-            }else if (b3Purple > 10){
                 b3 = "Purple";
+            }else if (b3Total > ColorCounterTotalMinCount) {
+                // Enough Time passed WITHOUT meeting the threshold
+                b3 = "Green";
             }
 
             TELE.addData("Green1:", robot.pin1.getState());

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorSensorTest.java

@@ -6,34 +6,58 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @TeleOp
 @Config
-public class ColorSensorTest extends LinearOpMode{
+public class ColorSensorTest extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
 
     @Override
-    public void runOpMode() throws InterruptedException{
+    public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
 
         waitForStart();
         if (isStopRequested()) return;
 
-        while (opModeIsActive()){
+        while (opModeIsActive()) {
-            TELE.addData("Green1:", robot.pin1.getState());
+
-            TELE.addData("Purple1:", robot.pin0.getState());
+// ----- COLOR 1 -----
-            TELE.addData("Green2:", robot.pin3.getState());
+            double green1 = robot.color1.getNormalizedColors().green;
-            TELE.addData("Purple2:", robot.pin2.getState());
+            double blue1  = robot.color1.getNormalizedColors().blue;
-            TELE.addData("Green3:", robot.pin5.getState());
+            double red1   = robot.color1.getNormalizedColors().red;
-            TELE.addData("Purple3:", robot.pin4.getState());
+
-            TELE.addData("Hello Keshav (analog)", robot.analogInput.getVoltage());
+            TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
-            TELE.addData("Hello again (analog2)", robot.analogInput2.getVoltage());
+            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
+
+
+// ----- COLOR 2 -----
+            double green2 = robot.color2.getNormalizedColors().green;
+            double blue2  = robot.color2.getNormalizedColors().blue;
+            double red2   = robot.color2.getNormalizedColors().red;
+
+            TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
+            TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
+            TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
+
+
+// ----- COLOR 3 -----
+            double green3 = robot.color3.getNormalizedColors().green;
+            double blue3  = robot.color3.getNormalizedColors().blue;
+            double red3   = robot.color3.getNormalizedColors().red;
+
+            TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
+            TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
+            TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
+
 
             TELE.update();
         }
     }
 
+
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/ConfigureColorRangefinder.java

@@ -11,7 +11,7 @@ public class ConfigureColorRangefinder extends LinearOpMode {
 
     public static int LED_Brightness = 50;
 
-    public static int lowerGreen = 120;
+    public static int lowerGreen = 110;
 
     public static int higherGreen = 150;
 
@@ -22,10 +22,10 @@ public class ConfigureColorRangefinder extends LinearOpMode {
         /* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
             pin0 --> purple
             pin1 --> green */
-        crf.setPin0Analog(ColorRangefinder.AnalogMode.GREEN); // green
+        crf.setPin1Digital(ColorRangefinder.DigitalMode.DISTANCE, 0, 40); // green
-//        crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, higherGreen / 360.0 * 255, 360 / 360.0 * 255); // purple
+        crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, higherGreen / 360.0 * 255, 360 / 360.0 * 255); // purple
-//        crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 0, lowerGreen/360.0 * 255);
+        crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 0, lowerGreen/360.0 * 255);
-//        crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 40); // 10mm or closer requirement
+        crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 40); // 10mm or closer requirement
 
         crf.setLedBrightness(LED_Brightness);
     }

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

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -7,6 +8,7 @@ import com.qualcomm.robotcore.hardware.DcMotorImplEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.DigitalChannel;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.I2cDevice;
 import com.qualcomm.robotcore.hardware.Servo;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
@@ -77,6 +79,12 @@ public class Robot {
 
     public DcMotorEx shooterEncoder;
 
+    public RevColorSensorV3 color1;
+
+    public RevColorSensorV3 color2;
+
+    public RevColorSensorV3 color3;
+
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
@@ -150,5 +158,10 @@ public class Robot {
 
         webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
 
+        color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
+
+        color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
+
+        color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
     }
 }