RotatingCamera/teamcode/Camera.java at master · nullObjectReference/RotatingCamera · GitHub

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import com.qualcomm.robotcore.hardware.Servo;

import com.qualcomm.robotcore.util.Range;

@TeleOp(name="Rotating Camera", group="mm")

public class Camera extends LinearOpMode {

public AprilTags aprilTags;

private Servo cameraMount = null;

double target = .5;

double bearingMin = 9999;

@Override

public void runOpMode(){

telemetry.addLine("Status: Initializing please wait....");

telemetry.update();

aprilTags = new AprilTags(this);

initialize();

aprilTags.init();

telemetry.addLine("Status: Initialized, go for it.");

telemetry.update();

waitForStart();

while(opModeIsActive() && target == .5){

cameraMount.setPosition(Range.clip(getTargetPos(), 0, 1));

}

while(opModeIsActive()){}

}

public double getTargetPos(){

double currentBearing = aprilTags.getBearing(7);

if (currentBearing < 996) {

target -= currentBearing * 0.00625;

}

if(currentBearing < bearingMin){

bearingMin = currentBearing;

}

telemetry.addData("bearing", currentBearing);

telemetry.addData("initTarget", target);

// //if (currentBearing != 999) {

// if (target > 1) { //adjust values to ensure they are usable

// target -= 1;

// } else if (target < 0) {

// target += 1;

// }

telemetry.addData("target", target);

telemetry.addData("minBearing", bearingMin);

telemetry.update();

return target;

}

private void initialize(){

cameraMount = hardwareMap.get(Servo.class, "mount");

cameraMount.setPosition(.5);

}

RotatingCamera/teamcode/Camera.java at master · nullObjectReference/RotatingCamera · GitHub

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