Ball sorting

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorLimelight3A.java

@@ -31,11 +31,11 @@ are permitted (subject to the limitations in the disclaimer below) provided that
 THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 package org.firstinspires.ftc.robotcontroller.external.samples;
-
-import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.LLStatus;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes.FiducialResult; // Try this specific path
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -70,7 +70,7 @@ are permitted (subject to the limitations in the disclaimer below) provided that
 @Disabled
 public class SensorLimelight3A extends LinearOpMode {
 
-    private Limelight3A limelight;
+    public Limelight3A limelight;
 
     @Override
     public void runOpMode() throws InterruptedException
@@ -145,6 +145,7 @@ public void runOpMode() throws InterruptedException
                 List<LLResultTypes.ColorResult> colorResults = result.getColorResults();
                 for (LLResultTypes.ColorResult cr : colorResults) {
                     telemetry.addData("Color", "X: %.2f, Y: %.2f", cr.getTargetXDegrees(), cr.getTargetYDegrees());
+
                 }
             } else {
                 telemetry.addData("Limelight", "No data available");

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CommonControls.java

@@ -10,182 +10,13 @@
  * Class the holds common functions and variable for the 13233 DECODE robot
  */
 public class CommonControls {
-    /**
-     * Front left drive motor
-     */
-    public DcMotor leftFront;
-    /**
-     * Front right drive motor
-     */
-    public DcMotor rightFront;
-    /**
-     * Back left drive motor
-     */
-    public DcMotor leftBack;
-    /**
-     * Right back drive motor
-     */
-    public DcMotor rightBack;
-    public float launchPower = 1.0f;
-    /**
-     * The motor for that controls the ball intake
-     */
-    private DcMotor intake;
-    /**
-     * One of the motors used to shoot the balls
-     */
-    private DcMotor Launcher;
-    /**
-     * One of the motors used to shoot the balls
-     */
-    private DcMotor Launcher2;
-    /**
-     * One of the servos used to carry the balls up the ramp
-     */
-    private CRServo rampServo1;
-    /**
-     * One of the servos used to carry the balls up the ramp
-     */
-    private CRServo rampServo2;
-    private CRServo rampServo3;
-    private CRServo rampServo4;
-
     /**
      * Constructor for the CommonControls class
      *
      * @param hardwareMap The hardware map for the robot
      */
     public CommonControls(HardwareMap hardwareMap) {
-        // Map main Drive Motors
-        leftFront = hardwareMap.get(DcMotor.class, "leftFront");
-        rightFront = hardwareMap.get(DcMotor.class, "rightFront");
-        leftBack = hardwareMap.get(DcMotor.class, "leftBack");
-        rightBack = hardwareMap.get(DcMotor.class, "rightBack");
-
-        // Map Intake Motor
-        intake = hardwareMap.get(DcMotor.class, "intake");
-
-        // Map the launcher Prototype
-        Launcher = hardwareMap.dcMotor.get("Launcher");
-        Launcher2 = hardwareMap.dcMotor.get("Launcher2");
-        rampServo1 = hardwareMap.crservo.get("rampServo1");
-        rampServo2 = hardwareMap.crservo.get("rampServo2");
-        rampServo3 = hardwareMap.crservo.get("rampServo3");
-        rampServo4 = hardwareMap.crservo.get("rampServo4");
-        // Set direction of the main drive motors
-        leftFront.setDirection(DcMotorSimple.Direction.FORWARD);
-        rightFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftBack.setDirection(DcMotorSimple.Direction.FORWARD);
-        rightBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // Set the direction of the intake motor
-        intake.setDirection(DcMotorSimple.Direction.REVERSE);
-    }
-
-
-    // TODO:
-    //        Implement field oriented drive
-
-    /**
-     * Updates all the drive controls based on the current gamepad stick positions
-     *
-     * @param controlLeftStickY Left stick Y setting, up/down
-     * @param controlLeftStickX Left stick X setting, left/right
-     * @param controlRightStick Right Stick setting, controls left right turn
-     * @param speedLimiter      Trigger setting, controls speed of the robot
-     */
-    public void setDrivePower(float controlLeftStickY, float controlLeftStickX,
-                              float controlRightStick, float speedLimiter) {
-        // For readability and flexibility for future control input changes
-        //noinspection UnnecessaryLocalVariable
-        float forward = controlLeftStickY;
-        //noinspection UnnecessaryLocalVariable
-        float strafe = controlLeftStickX;
-        //noinspection UnnecessaryLocalVariable
-        float rotate = controlRightStick;
-        float speed = Math.max(1.0f - speedLimiter, 0.5f);
-
-
-        // Calculate the power for each motor
-        // Remember the direction of the stick is the opposite of what you would expect
-        // up is in the negatives and down is in the positives
-        float frontRightPower = (forward + strafe + rotate) * (speed);
-        float frontLeftPower = (forward - strafe - rotate) * (speed);
-        float backRightPower = (forward - strafe + rotate) * (speed);
-        float backLeftPower = (forward + strafe - rotate) * (speed);
-
-        // Set the power for each of the motors
-        rightFront.setPower(frontRightPower);
-        leftFront.setPower(frontLeftPower);
-        rightBack.setPower(backRightPower);
-        leftBack.setPower(backLeftPower);
-    }
-
-    /**
-     * Updates just the forward and back movement based on controller stick position
-     *
-     * @param controlLeftStickY Left stick Y setting, up/down
-     */
-    public void setDrivePower(float controlLeftStickY) {
-        setDrivePower(controlLeftStickY, 0.0f, 0.0f, 0.0f);
-    }
-
-
-    /**
-     * Sets the power of all of the launch motors depending on the value of launchInput
-     *
-     * @param launchInput Button mapped to launch input
-     */
-    void setLaunchPower(boolean launchInput) {
-        double power = launchInput ? launchPower : 0.0;
-
-        // Set the the power value to the motors
-        Launcher.setPower(power);
-        Launcher2.setPower(-power);
-    }
-
-    /**
-     * Controls the spin direction of the intake wheel based on controller buttons
-     *
-     * @param intakeForwardInput Button mapped to forward input
-     * @param intakeReverseInput Button mapped to reverse input
-     */
-    void setIntakeDirection(boolean intakeForwardInput, boolean intakeReverseInput) {
-        double intakePower = 0;
-        // ^ is the XOR operator, will return true if only one variable is true
-        // If intakeForwardInput OR intakeReverseInput is true then this is true, but not
-        // if both are true, which is why this differs from the || logical or operator
-        if (intakeForwardInput ^ intakeReverseInput) {
-            // This uses an inline-if statement which is useful when assigning values to variables
-            // This says set power = 1 if intakeForwardInput is true, else set it to -1
-            intakePower = intakeForwardInput ? 1 : -1;
-        }
-        rampServo1.setPower(-intakePower);
-        rampServo2.setPower(intakePower);
-        rampServo3.setPower(intakePower);
-        rampServo4.setPower(-intakePower);
-        intake.setPower(intakePower);
-    }
-
-    void setDriveBrake() {
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-    }
-
-    void setDriveFloat() {
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-    }
 
-    void setDriveMotorZeroPowerBehavior(boolean input) {
-        if (input) {
-            setDriveBrake();
-        } else {
-            setDriveFloat();
-        }
     }
+
 }