Merge pull request #59 from rh-robotics/sadie-implementing-sensors

Implementing Sensors

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/DistanceSensorTest.java

@@ -14,10 +14,9 @@ public class DistanceSensorTest extends OpMode {
     private Hardware robot;
     @Override
     public void init() {
+        telemetry.addData("Distance Sensor", "Initializing");
         robot = new Hardware(hardwareMap, telemetry);
         robot.introduce(new HardwareElement<>(DistanceSensor.class, hardwareMap, "distanceSensor"));
-
-        telemetry.addData("Distance Sensor", "Initializing");
         telemetry.addData("Distance Sensor", "Initialized");
     }
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/TouchSensorTest.java

@@ -1,18 +1,29 @@
 package org.firstinspires.ftc.teamcode.auton;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.TouchSensor;
 
+import org.firstinspires.ftc.teamcode.subsystems.hardware.Hardware;
+import org.firstinspires.ftc.teamcode.subsystems.hardware.HardwareElement;
+
 @Autonomous(name="Touch Sensor Test")
+
 public class TouchSensorTest extends OpMode {
-    TouchSensor touch;
+    private Hardware robot;
+    boolean pressed;
+
     @Override
-    public void init() {}
+    public void init() {
+        telemetry.addData("Touch Sensor", "Initializing");
+        robot = new Hardware(hardwareMap, telemetry);
+        robot.introduce(new HardwareElement<>(TouchSensor.class, hardwareMap, "touchSensor"));
+        telemetry.addData("Touch Sensor", "Initialized");
+    }
 
     @Override
     public void loop() {
-        touch = hardwareMap.touchSensor.get("touchSensor");
-        telemetry.addData("Touch Sensor", touch.isPressed());
+        pressed = robot.<TouchSensor>get("touchSensor").isPressed();
+        telemetry.addData("Touch Sensor Pressed", pressed);
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/colorSensor/ColorSensorTest.java

@@ -4,21 +4,33 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.ColorSensor;
 
+import org.firstinspires.ftc.teamcode.subsystems.hardware.Hardware;
+import org.firstinspires.ftc.teamcode.subsystems.hardware.HardwareElement;
+
 @Autonomous(name = "Color Sensor Test")
+
 public class ColorSensorTest extends OpMode {
-    ColorSensor colorSensor;
-    int colorReading;
+    private Hardware robot;
+    int red;
+    int green;
+    int blue;
 
     @Override
     public void init() {
-        colorSensor = hardwareMap.colorSensor.get("color");
+        telemetry.addData("Color Sensor", "Initializing");
+        robot = new Hardware(hardwareMap, telemetry);
+        robot.introduce(new HardwareElement<>(ColorSensor.class, hardwareMap, "colorSensor"));
+        telemetry.addData("Color Sensor", "Initialized");
     }
 
     @Override
     public void loop() {
-        //finds amount of red, green, blue, and light (alpha)
-        colorReading = colorSensor.argb();
-        telemetry.addData("Hue", colorReading);
-        telemetry.update();
+        // Finds amount of red, green, blue, and light (alpha).
+        red = robot.<ColorSensor>get("colorSensor").red();
+        green = robot.<ColorSensor>get("colorSensor").green();
+        blue = robot.<ColorSensor>get("colorSensor").blue();
+        telemetry.addData("Red", red);
+        telemetry.addData("Green", green);
+        telemetry.addData("Blue", blue);
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/hardware/Hardware.java

@@ -151,6 +151,10 @@ private void initTouchSensor(HardwareElement<?> hardwareElement,
 
     private void initColorSensor(HardwareElement<?> hardwareElement,
                                  HashMap<String, String> initsHashMap) {
+        if (!initsHashMap.isEmpty()){
+            throw new RuntimeException("Color Sensor unnecessary initializers included");
+        }
+
         ColorSensor deviceColorSensor = (ColorSensor) hardwareElement.device;
 
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/hardware/HardwareElement.java

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.subsystems.hardware;
 
 import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.ColorSensor;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DistanceSensor;
@@ -69,6 +70,8 @@ private void setDefaultInitializers(Class<T> deviceType) {
 
         } else if (deviceType.equals(DistanceSensor.class)) {
 
+        } else if (deviceType.equals(ColorSensor.class)) {
+
         } else {
             throw new RuntimeException(deviceType.getName() + " has not been " +
                     "implemented with default initializers.");