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

@@ -0,0 +1,61 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DigitalChannel;
+
+@Config
+@TeleOp
+
+@Disabled
+public class ColorSensorTester extends LinearOpMode {
+
+
+    public static String portAName = "pin0";
+
+    public static String portBName = "pin1";
+
+
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+
+        DigitalChannel pinA = hardwareMap.digitalChannel.get(portAName);
+        DigitalChannel pinB = hardwareMap.digitalChannel.get(portBName);
+
+
+
+
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry,
+                FtcDashboard.getInstance().getTelemetry()
+        );
+
+
+
+        waitForStart();
+
+        if(isStopRequested()) return;
+
+        while(opModeIsActive()){
+
+            TELE.addData("pinA", pinA.getState());
+            TELE.addData("pinB", pinB.getState());
+
+            TELE.update();
+
+
+
+
+        }
+
+
+
+    }
+}

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

@@ -0,0 +1,57 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.subsystems.Limelight;
+
+
+@Autonomous
+@Config
+
+public class LimelightTest extends LinearOpMode {
+
+    public static String MODE = "AT";
+    public static int pipe = 1;
+
+
+    MultipleTelemetry TELE;
+
+    Robot robot;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        Limelight limelight = new Limelight(robot, TELE);
+
+        limelight.setMode(MODE);
+
+        limelight.setTelemetryOn(true);
+
+        waitForStart();
+
+        if(isStopRequested()) return;
+
+        while(opModeIsActive()){
+
+            limelight.setPipeline(pipe);
+
+            limelight.setMode(MODE);
+
+            limelight.update();
+
+            TELE.update();
+
+        }
+
+    }
+}

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

@@ -0,0 +1,224 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.qualcomm.hardware.rev.RevColorSensorV3;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
+
+@Disabled
+@TeleOp
+public class ConfigureColorRangefinder extends LinearOpMode {
+    @Override
+    public void runOpMode() throws InterruptedException {
+        ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "Color"));
+        waitForStart();
+        /* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
+            pin0 --> purple
+            pin1 --> green */
+        crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 160 / 360.0 * 255, 190 / 360.0 * 255); // purple
+        crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
+        crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 110 / 360.0 * 255, 140 / 360.0 * 255); // green
+        crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
+    }
+}
+
+/**
+ * Helper class for configuring the Brushland Labs Color Rangefinder.
+ * Online documentation: <a href="https://docs.brushlandlabs.com">...</a>
+ */
+class ColorRangefinder {
+    private final I2cDeviceSynchSimple i2c;
+
+    public ColorRangefinder(RevColorSensorV3 emulator) {
+        this.i2c = emulator.getDeviceClient();
+        this.i2c.enableWriteCoalescing(true);
+    }
+
+    /**
+     * Configure Pin 0 to be in digital mode, and add a threshold.
+     * Multiple thresholds can be added to the same pin by calling this function repeatedly.
+     * For colors, bounds should be from 0-255, and for distance, bounds should be from 0-100 (mm).
+     */
+    public void setPin0Digital(DigitalMode digitalMode, double lowerBound, double higherBound) {
+        setDigital(PinNum.PIN0, digitalMode, lowerBound, higherBound);
+    }
+
+    /**
+     * Configure Pin 1 to be in digital mode, and add a threshold.
+     * Multiple thresholds can be added to the same pin by calling this function repeatedly.
+     * For colors, bounds should be from 0-255, and for distance, bounds should be from 0-100 (mm).
+     */
+    public void setPin1Digital(DigitalMode digitalMode, double lowerBound, double higherBound) {
+        setDigital(PinNum.PIN1, digitalMode, lowerBound, higherBound);
+    }
+
+    /**
+     * Sets the maximum distance (in millimeters) within which an object must be located for Pin 0's thresholds to trigger.
+     * This is most useful when we want to know if an object is both close and the correct color.
+     */
+    public void setPin0DigitalMaxDistance(DigitalMode digitalMode, double mmRequirement) {
+        setPin0Digital(digitalMode, mmRequirement, mmRequirement);
+    }
+
+    /**
+     * Sets the maximum distance (in millimeters) within which an object must be located for Pin 1's thresholds to trigger.
+     * This is most useful when we want to know if an object is both close and the correct color.
+     */
+    public void setPin1DigitalMaxDistance(DigitalMode digitalMode, double mmRequirement) {
+        setPin1Digital(digitalMode, mmRequirement, mmRequirement);
+    }
+
+    /**
+     * Invert the hue value before thresholding it, meaning that the colors become their opposite.
+     * This is useful if we want to threshold red; instead of having two thresholds we would invert
+     * the color and look for blue.
+     */
+    public void setPin0InvertHue() {
+        setPin0DigitalMaxDistance(DigitalMode.HSV, 200);
+    }
+
+    /**
+     * Invert the hue value before thresholding it, meaning that the colors become their opposite.
+     * This is useful if we want to threshold red; instead of having two thresholds we would invert
+     * the color and look for blue.
+     */
+    public void setPin1InvertHue() {
+        setPin1DigitalMaxDistance(DigitalMode.HSV, 200);
+    }
+
+    /**
+     * The denominator is what the raw sensor readings will be divided by before being scaled to 12-bit analog.
+     * For the full range of that channel, leave the denominator as 65535 for colors or 100 for distance.
+     * Smaller values will clip off higher ranges of the data in exchange for higher resolution within a lower range.
+     */
+    public void setPin0Analog(AnalogMode analogMode, int denominator) {
+        byte denom0 = (byte) (denominator & 0xFF);
+        byte denom1 = (byte) ((denominator & 0xFF00) >> 8);
+        i2c.write(PinNum.PIN0.modeAddress, new byte[]{analogMode.value, denom0, denom1});
+    }
+
+    /**
+     * Configure Pin 0 as analog output of one of the six data channels.
+     * To read analog, make sure the physical switch on the sensor is flipped away from the
+     * connector side.
+     */
+    public void setPin0Analog(AnalogMode analogMode) {
+        setPin0Analog(analogMode, analogMode == AnalogMode.DISTANCE ? 100 : 0xFFFF);
+    }
+
+    public float[] getCalibration() {
+        java.nio.ByteBuffer bytes =
+                java.nio.ByteBuffer.wrap(i2c.read(CALIB_A_VAL_0, 16)).order(java.nio.ByteOrder.LITTLE_ENDIAN);
+        return new float[]{bytes.getFloat(), bytes.getFloat(), bytes.getFloat(), bytes.getFloat()};
+    }
+
+    /**
+     * Save a brightness value of the LED to the sensor.
+     *
+     * @param value brightness between 0-255
+     */
+    public void setLedBrightness(int value) {
+        i2c.write8(LED_BRIGHTNESS, value);
+    }
+
+    /**
+     * Change the I2C address at which the sensor will be found. The address can be reset to the
+     * default of 0x52 by holding the reset button.
+     *
+     * @param value new I2C address from 1 to 127
+     */
+    public void setI2cAddress(int value) {
+        i2c.write8(I2C_ADDRESS_REG, value << 1);
+    }
+
+    /**
+     * Read distance via I2C
+     * @return distance in millimeters
+     */
+    public double readDistance() {
+        java.nio.ByteBuffer bytes =
+                java.nio.ByteBuffer.wrap(i2c.read(PS_DISTANCE_0, 4)).order(java.nio.ByteOrder.LITTLE_ENDIAN);
+        return bytes.getFloat();
+    }
+
+    private void setDigital(
+            PinNum pinNum,
+            DigitalMode digitalMode,
+            double lowerBound,
+            double higherBound
+    ) {
+        int lo, hi;
+        if (lowerBound == higherBound) {
+            lo = (int) lowerBound;
+            hi = (int) higherBound;
+        } else if (digitalMode.value <= DigitalMode.HSV.value) { // color value 0-255
+            lo = (int) Math.round(lowerBound / 255.0 * 65535);
+            hi = (int) Math.round(higherBound / 255.0 * 65535);
+        } else { // distance in mm
+            float[] calib = getCalibration();
+            if (lowerBound < .5) hi = 2048;
+            else hi = rawFromDistance(calib[0], calib[1], calib[2], calib[3], lowerBound);
+            lo = rawFromDistance(calib[0], calib[1], calib[2], calib[3], higherBound);
+        }
+
+        byte lo0 = (byte) (lo & 0xFF);
+        byte lo1 = (byte) ((lo & 0xFF00) >> 8);
+        byte hi0 = (byte) (hi & 0xFF);
+        byte hi1 = (byte) ((hi & 0xFF00) >> 8);
+        i2c.write(pinNum.modeAddress, new byte[]{digitalMode.value, lo0, lo1, hi0, hi1});
+        try {
+            Thread.sleep(25);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    private double root(double n, double v) {
+        double val = Math.pow(v, 1.0 / Math.abs(n));
+        if (n < 0) val = 1.0 / val;
+        return val;
+    }
+
+    private int rawFromDistance(float a, float b, float c, float x0, double mm) {
+        return (int) (root(b, (mm - c) / a) + x0);
+    }
+
+    private enum PinNum {
+        PIN0(0x28), PIN1(0x2D);
+
+        private final byte modeAddress;
+
+        PinNum(int modeAddress) {
+            this.modeAddress = (byte) modeAddress;
+        }
+    }
+
+    // other writeable registers
+    private static final byte CALIB_A_VAL_0 = 0x32;
+    private static final byte PS_DISTANCE_0 = 0x42;
+    private static final byte LED_BRIGHTNESS = 0x46;
+    private static final byte I2C_ADDRESS_REG = 0x47;
+
+    public static int invertHue(int hue360) {
+        return ((hue360 - 180) % 360);
+    }
+
+    public enum DigitalMode {
+        RED(1), BLUE(2), GREEN(3), ALPHA(4), HSV(5), DISTANCE(6);
+        public final byte value;
+
+        DigitalMode(int value) {
+            this.value = (byte) value;
+        }
+    }
+
+    public enum AnalogMode {
+        RED(13), BLUE(14), GREEN(15), ALPHA(16), HSV(17), DISTANCE(18);
+        public final byte value;
+
+        AnalogMode(int value) {
+            this.value = (byte) value;
+        }
+    }
+}

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

@@ -1,14 +1,19 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 public class Robot {
 
     //Initialize Public Components
 
+    public Limelight3A limelight3A;
+
     public Robot (HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
 
+        limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
+
     }
 }

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

@@ -0,0 +1,8 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+public interface Subsystem {
+
+    public void update();
+
+
+}

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

@@ -0,0 +1,10 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class Vars {
+
+    public static boolean USING_LL = false;
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/functions/DistanceToTarget.java

@@ -0,0 +1,4 @@
+package org.firstinspires.ftc.teamcode.utils.functions;
+
+public class DistanceToTarget {
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/subsystems/Limelight.java

@@ -0,0 +1,181 @@
+package org.firstinspires.ftc.teamcode.utils.subsystems;
+
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.LLStatus;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+import org.firstinspires.ftc.robotcore.external.navigation.Position;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Subsystem;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+
+public class Limelight implements Subsystem {
+
+    private final Limelight3A limelight;
+    private final MultipleTelemetry telemetry;
+
+    private LLResult result;
+    private LLStatus status;
+
+    private boolean telemetryOn = false;
+    private String mode = "AT";
+
+    // ✅ Internal cached data
+    private Pose3D botpose;
+
+    private double captureLatency = 0.0;
+    private double targetingLatency = 0.0;
+    private double parseLatency = 0.0;
+    private double[] pythonOutput = new double[0];
+
+    private double tx = 0.0;
+    private double txnc = 0.0;
+    private double ty = 0.0;
+    private double tync = 0.0;
+
+    private List<LLResultTypes.BarcodeResult> barcodeResults = new ArrayList<>();
+    private List<LLResultTypes.ClassifierResult> classifierResults = new ArrayList<>();
+    private List<LLResultTypes.DetectorResult> detectorResults = new ArrayList<>();
+    private List<LLResultTypes.FiducialResult> fiducialResults = new ArrayList<>();
+    private List<LLResultTypes.ColorResult> colorResults = new ArrayList<>();
+
+    public Limelight(Robot robot, MultipleTelemetry tele) {
+        this.limelight = robot.limelight3A;
+        this.telemetry = tele;
+        limelight.pipelineSwitch(1);
+
+
+    }
+
+    public void setPipeline(int pipeline) {limelight.pipelineSwitch(pipeline);}
+
+    public void setTelemetryOn(boolean state) { telemetryOn = state; }
+
+    public void setMode(String newMode) { this.mode = newMode; }
+
+    /** ✅ MAIN UPDATE LOOP */
+    @Override
+    public void update() {
+        result = limelight.getLatestResult();
+        status = limelight.getStatus();
+
+        if (result != null && (Objects.equals(status.getPipelineType(), "pipe_python") || result.isValid())){
+            // Refresh all cached values
+            botpose         = result.getBotpose();
+            captureLatency  = result.getCaptureLatency();
+            targetingLatency= result.getTargetingLatency();
+            parseLatency    = result.getParseLatency();
+            pythonOutput    = result.getPythonOutput();
+            tx              = result.getTx();
+            txnc            = result.getTxNC();
+            ty              = result.getTy();
+            tync            = result.getTyNC();
+            barcodeResults  = result.getBarcodeResults();
+            classifierResults = result.getClassifierResults();
+            detectorResults   = result.getDetectorResults();
+            fiducialResults   = result.getFiducialResults();
+            colorResults      = result.getColorResults();
+        }
+
+        if (telemetryOn) telemetryUpdate();
+    }
+
+    /** ✅ Telemetry Output */
+    private void telemetryUpdate() {
+// ✅ Use getters instead of directly accessing 'status' or cached fields
+        telemetry.addData("Name", "%s", getStatus().getName());
+        telemetry.addData("LL", "Temp: %.1fC, CPU: %.1f%%, FPS: %d",
+                getStatus().getTemp(),
+                getStatus().getCpu(),
+                (int) getStatus().getFps());
+        telemetry.addData("Pipeline", "Index: %d, Type: %s",
+                getStatus().getPipelineIndex(),
+                getStatus().getPipelineType());
+        telemetry.addData("ResultNull", result == null);
+        telemetry.addData("ResultValid", result.isValid());
+
+
+
+        if (result != null && result.isValid()) {
+            telemetry.addData("LL Latency", getTotalLatency());
+            telemetry.addData("Capture Latency", getCaptureLatency());
+            telemetry.addData("Targeting Latency", getTargetingLatency());
+            telemetry.addData("Parse Latency", getParseLatency());
+            telemetry.addData("PythonOutput", java.util.Arrays.toString(getPythonOutput()));
+            telemetry.addData("tx", getTx());
+            telemetry.addData("txnc", getTxNC());
+            telemetry.addData("ty", getTy());
+            telemetry.addData("tync", getTyNC());
+            telemetry.addData("Botpose", getBotPose().toString());
+
+
+            if (Objects.equals(mode, "BR"))
+                for (LLResultTypes.BarcodeResult br : getBarcodeResults())
+                    telemetry.addData("Barcode", "Data: %s", br.getData());
+
+            if (Objects.equals(mode, "CL"))
+                for (LLResultTypes.ClassifierResult cr : getClassifierResults())
+                    telemetry.addData("Classifier", "Class: %s, Confidence: %.2f",
+                            cr.getClassName(), cr.getConfidence());
+
+            if (Objects.equals(mode, "DE"))
+                for (LLResultTypes.DetectorResult dr : getDetectorResults())
+                    telemetry.addData("Detector", "Class: %s, Area: %.2f",
+                            dr.getClassName(), dr.getTargetArea());
+
+            if (Objects.equals(mode, "FI"))
+                for (LLResultTypes.FiducialResult fr : getFiducialResults())
+                    telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f",
+                            fr.getFiducialId(), fr.getFamily(),
+                            fr.getTargetXDegrees(), fr.getTargetYDegrees());
+
+            if (Objects.equals(mode, "CO"))
+                for (LLResultTypes.ColorResult cr : getColorResults())
+                    telemetry.addData("Color", "X: %.2f, Y: %.2f",
+                            cr.getTargetXDegrees(), cr.getTargetYDegrees());
+        } else {
+            telemetry.addData("Limelight", "No data available");
+        }
+    }
+
+    // ✅ Getter methods (for use anywhere else in your code)
+
+    public Pose3D getBotPose() {
+        if (botpose == null) {
+            botpose = new Pose3D(
+                    new Position(),
+                    new YawPitchRollAngles(AngleUnit.DEGREES, 0.0, 0.0, 0.0, 0L)
+            );
+        }
+        return botpose;
+    }
+
+    public double getCaptureLatency() { return captureLatency; }
+    public double getTargetingLatency() { return targetingLatency; }
+    public double getTotalLatency() { return captureLatency + targetingLatency; }
+    public double getParseLatency() { return parseLatency; }
+    public double[] getPythonOutput() { return pythonOutput; }
+
+    public double getTx() { return tx; }
+    public double getTxNC() { return txnc; }
+    public double getTy() { return ty; }
+    public double getTyNC() { return tync; }
+
+    public List<LLResultTypes.BarcodeResult> getBarcodeResults() { return barcodeResults; }
+    public List<LLResultTypes.ClassifierResult> getClassifierResults() { return classifierResults; }
+    public List<LLResultTypes.DetectorResult> getDetectorResults() { return detectorResults; }
+    public List<LLResultTypes.FiducialResult> getFiducialResults() { return fiducialResults; }
+    public List<LLResultTypes.ColorResult> getColorResults() { return colorResults; }
+
+    public LLStatus getStatus() { return status; }
+    public LLResult getRawResult() { return result; }
+}