Merge remote-tracking branch 'upstream/master' into dependabot/github_actions/actions/checkout-6

Author: MGross21

.gitattributes

@@ -1,2 +1,3 @@
 *.kt diff=kotlin
 *.java diff=java
+FtcRobotController/* linguist-generated=true # Ignore files generated by the FTC SDK in the codebase stats

.gitignore

@@ -17,6 +17,7 @@
 bin/
 gen/
 out/
+*.salive
 #  Uncomment the following line in case you need and you don't have the release build type files in your app
 # release/
 

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

@@ -68,8 +68,8 @@
  * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
  * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
-@TeleOp(name = "Sensor: Color", group = "Sensor")
 @Disabled
+@TeleOp(name = "Sensor: Color", group = "Sensor")
 public class SensorColor extends LinearOpMode {
 
   /** The colorSensor field will contain a reference to our color sensor hardware object */
@@ -121,7 +121,7 @@ protected void runSample() {
     // colors will report at or near 1, and you won't be able to determine what color you are
     // actually looking at. For this reason, it's better to err on the side of a lower gain
     // (but always greater than  or equal to 1).
-    float gain = 2;
+    float gain = 100;
 
     // Once per loop, we will update this hsvValues array. The first element (0) will contain the
     // hue, the second element (1) will contain the saturation, and the third element (2) will
@@ -137,7 +137,7 @@ protected void runSample() {
     // Get a reference to our sensor object. It's recommended to use NormalizedColorSensor over
     // ColorSensor, because NormalizedColorSensor consistently gives values between 0 and 1, while
     // the values you get from ColorSensor are dependent on the specific sensor you're using.
-    colorSensor = hardwareMap.get(NormalizedColorSensor.class, "sensor_color");
+    colorSensor = hardwareMap.get(NormalizedColorSensor.class, "intakeSensor");
 
     // If possible, turn the light on in the beginning (it might already be on anyway,
     // we just make sure it is if we can).
@@ -157,9 +157,9 @@ protected void runSample() {
       // Update the gain value if either of the A or B gamepad buttons is being held
       if (gamepad1.a) {
         // Only increase the gain by a small amount, since this loop will occur multiple times per second.
-        gain += 0.005;
+        gain += 0.5;
       } else if (gamepad1.b && gain > 1) { // A gain of less than 1 will make the values smaller, which is not helpful.
-        gain -= 0.005;
+        gain -= 0.5;
       }
 
       // Show the gain value via telemetry
@@ -196,9 +196,9 @@ protected void runSample() {
       Color.colorToHSV(colors.toColor(), hsvValues);
 
       telemetry.addLine()
-              .addData("Red", "%.3f", colors.red)
-              .addData("Green", "%.3f", colors.green)
-              .addData("Blue", "%.3f", colors.blue);
+              .addData("Red", "%.3f", colors.red * 255)
+              .addData("Green", "%.3f", colors.green * 255)
+              .addData("Blue", "%.3f", colors.blue * 255);
       telemetry.addLine()
               .addData("Hue", "%.3f", hsvValues[0])
               .addData("Saturation", "%.3f", hsvValues[1])

TeamCode/src/main/kotlin/pioneer/Bot.kt

@@ -1,18 +1,25 @@
 package pioneer
 
 import com.qualcomm.robotcore.hardware.HardwareMap
+import pioneer.general.AllianceColor
 import pioneer.hardware.BatteryMonitor
 import pioneer.hardware.Camera
 import pioneer.hardware.Flywheel
 import pioneer.hardware.HardwareComponent
+import pioneer.hardware.Intake
 import pioneer.hardware.LaunchServos
+import pioneer.hardware.Launcher
 import pioneer.hardware.MecanumBase
+import pioneer.hardware.Spindexer
+import pioneer.hardware.Turret
 import pioneer.localization.localizers.Pinpoint
 import pioneer.pathing.follower.Follower
+import pioneer.vision.AprilTag
 
 enum class BotType {
     MECANUM_BOT,
     GOBILDA_STARTER_BOT,
+    COMP_BOT,
     CUSTOM,
 }
 
@@ -30,23 +37,35 @@ class Bot private constructor(
         hardwareComponents.values.forEach { it.init() }
     }
 
+    var allianceColor = AllianceColor.RED
+
     // Property-style access for known components
     val mecanumBase get() = get<MecanumBase>()
     val pinpoint get() = get<Pinpoint>()
     val launchServos get() = get<LaunchServos>()
     val flywheel get() = get<Flywheel>()
+    val turret get() = get<Turret>()
+    val intake get() = get<Intake>()
     val camera get() = get<Camera>()
     val batteryMonitor get() = get<BatteryMonitor>()
+    val spindexer get() = get<Spindexer>()
+    val launcher get() = get<Launcher>()
 
     // Follower is lazily initialized (only if accessed)
     // and will error if localizer or mecanumBase is missing
     val follower: Follower by lazy {
         Follower(
-            localizer = get<Pinpoint>()!!,
-            mecanumBase = get<MecanumBase>()!!,
+            localizer = pinpoint!!,
+            mecanumBase = mecanumBase!!,
         )
     }
 
+    fun updateAll(dt: Double) {
+        hardwareComponents.values.forEach { it.update() }
+        pinpoint?.update(dt)
+        // TODO: Add other update methods (ie. localizer, follower)
+    }
+
     // Companion for builder and fromType
     companion object {
         fun builder() = Builder()
@@ -68,7 +87,19 @@ class Bot private constructor(
                         .add(Pinpoint(hardwareMap))
                         .add(LaunchServos(hardwareMap))
                         .add(Flywheel(hardwareMap))
-                        .add(Camera(hardwareMap, processors = arrayOf(Camera.createAprilTagProcessor())))
+                        .add(Camera(hardwareMap, processors = arrayOf(AprilTag().processor)))
+                        .add(BatteryMonitor(hardwareMap))
+                        .build()
+                BotType.COMP_BOT ->
+                    builder()
+                        .add(MecanumBase(hardwareMap))
+                        .add(Pinpoint(hardwareMap))
+                        .add(Flywheel(hardwareMap))
+                        .add(Intake(hardwareMap))
+                        .add(Turret(hardwareMap))
+                        .add(Spindexer(hardwareMap))
+                        .add(Launcher(hardwareMap))
+                        .add(Camera(hardwareMap, processors = arrayOf(AprilTag().processor)))
                         .add(BatteryMonitor(hardwareMap))
                         .build()
                 BotType.CUSTOM -> throw IllegalArgumentException("Use Bot.builder() to create a custom bot")