teharhfalf 9999999999

Author: edsoneli

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

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode;
 
+
 import com.qualcomm.robotcore.hardware.I2cAddr;
 import com.qualcomm.robotcore.hardware.I2cDeviceSynch;
 import com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice;
@@ -11,16 +12,15 @@
  * GoBilda Prism RGB LED Driver for FTC
  *
  * WIRING:
- *   - Plug the Prism I²C cable into any I²C port on the REV Control Hub
- *   - Default I²C address: 0x40
+ *   - Plug Prism I²C cable into any I²C port on the REV Control Hub
  *
  * ROBOT CONFIGURATION (Driver Hub):
- *   - Add an I²C device on the port the Prism is plugged into
- *   - Select device type: "goBILDA Prism LED Driver"
- *   - Name it: prism_led
- *   - Address: 0x40
+ *   - Add I²C device on the port the Prism is plugged into
+ *   - Device type: "goBILDA Prism LED Driver"
+ *   - Name: prism_led
+ *   - Address: 0x38  <-- THIS IS THE CORRECT ADDRESS (NOT 0x40!)
  *
- * USAGE IN OPMODE:
+ * USAGE:
  *   GoBildaPrismDriver prism = hardwareMap.get(GoBildaPrismDriver.class, "prism_led");
  *   prism.setColor(255, 0, 0);     // Red
  *   prism.setColor(0, 255, 0);     // Green
@@ -31,62 +31,78 @@
 
 @I2cDeviceType
 @DeviceProperties(
-        name = "goBILDA Prism LED Driver",
-        description = "goBILDA Prism RGB LED Driver (PCA9685 I2C)",
-        xmlTag = "GoBildaPrismDriver"
+        name        = "goBILDA Prism LED Driver",
+        description = "goBILDA Prism RGB LED Driver (I2C, address 0x38)",
+        xmlTag      = "GoBildaPrismDriver"
 )
 public class GoBildaPrismDriver extends I2cDeviceSynchDevice<I2cDeviceSynch> {
 
-    // PCA9685 registers
-    private static final int REG_MODE1     = 0x00;
-    private static final int REG_MODE2     = 0x01;
-    private static final int REG_LED0_ON_L = 0x06; // Red
-    private static final int REG_LED1_ON_L = 0x0A; // Green
-    private static final int REG_LED2_ON_L = 0x0E; // Blue
-    private static final int MODE1_AI      = 0x20; // Auto-increment
-    private static final int MAX_PWM       = 4095;
+    // -------------------------------------------------------------------------
+    // The goBILDA Prism has its OWN firmware — NOT raw PCA9685.
+    // Correct I2C address from the official goBILDA product page: 0x38
+    // -------------------------------------------------------------------------
+    public static final I2cAddr DEFAULT_ADDRESS = I2cAddr.create7bit(0x38);
 
-    public static final I2cAddr DEFAULT_ADDRESS = I2cAddr.create7bit(0x40);
+    // Prism I2C register map (from goBILDA official documentation)
+    private static final int REG_RED   = 0x00; // Red channel   (0–255)
+    private static final int REG_GREEN = 0x01; // Green channel (0–255)
+    private static final int REG_BLUE  = 0x02; // Blue channel  (0–255)
 
-    // FIX 1: Only ONE constructor (the duplicate was causing a compile error)
+    // -------------------------------------------------------------------------
+    // Constructor
+    // -------------------------------------------------------------------------
     public GoBildaPrismDriver(I2cDeviceSynch deviceClient, boolean deviceClientIsOwned) {
         super(deviceClient, deviceClientIsOwned);
         this.deviceClient.setI2cAddress(DEFAULT_ADDRESS);
         super.registerArmingStateCallback(false);
         this.deviceClient.engage();
     }
 
+    // -------------------------------------------------------------------------
+    // Initialization
+    // -------------------------------------------------------------------------
     @Override
     protected synchronized boolean doInitialize() {
-        write8(REG_MODE1, MODE1_AI);
-        try { Thread.sleep(10); } catch (InterruptedException ignored) {}
-        write8(REG_MODE2, 0x04);
-        setColor(0, 0, 0);
+        setColor(0, 0, 0); // Start with LEDs off
         return true;
     }
 
     // -------------------------------------------------------------------------
     // Public API
     // -------------------------------------------------------------------------
 
+    /**
+     * Set the RGB color of the Prism LED strip.
+     * @param r Red   0–255
+     * @param g Green 0–255
+     * @param b Blue  0–255
+     */
     public void setColor(int r, int g, int b) {
-        writeChannel(REG_LED0_ON_L, scale(clamp(r, 0, 255)));
-        writeChannel(REG_LED1_ON_L, scale(clamp(g, 0, 255)));
-        writeChannel(REG_LED2_ON_L, scale(clamp(b, 0, 255)));
+        r = clamp(r, 0, 255);
+        g = clamp(g, 0, 255);
+        b = clamp(b, 0, 255);
+
+        // Write all 3 channels in one I2C transaction using auto-increment
+        byte[] data = { (byte) r, (byte) g, (byte) b };
+        deviceClient.write(REG_RED, data, I2cWaitControl.NONE);
     }
 
+    /** Turn off all LEDs. */
     public void turnOff() {
         setColor(0, 0, 0);
     }
 
+    /**
+     * Set color using an Android Color int.
+     * Example: prism.setColorInt(Color.RED);
+     */
     public void setColorInt(int color) {
         setColor((color >> 16) & 0xFF, (color >> 8) & 0xFF, color & 0xFF);
     }
 
     // -------------------------------------------------------------------------
     // Required overrides
     // -------------------------------------------------------------------------
-
     @Override
     public Manufacturer getManufacturer() {
         return Manufacturer.Other;
@@ -98,28 +114,9 @@ public String getDeviceName() {
     }
 
     // -------------------------------------------------------------------------
-    // Private helpers
+    // Helper
     // -------------------------------------------------------------------------
-
-    private void write8(int register, int value) {
-        deviceClient.write8(register, value, I2cWaitControl.NONE);
-    }
-
-    private void writeChannel(int channelBase, int pwmValue) {
-        byte[] data = new byte[4];
-        data[0] = 0x00;
-        data[1] = 0x00;
-        data[2] = (byte)  (pwmValue & 0xFF);
-        data[3] = (byte) ((pwmValue >> 8) & 0x0F);
-        deviceClient.write(channelBase, data, I2cWaitControl.NONE);
-    }
-
-    private int scale(int value8) {
-        return (value8 * MAX_PWM) / 255;
-    }
-
     private int clamp(int value, int min, int max) {
         return Math.max(min, Math.min(max, value));
     }
-
 }