From a096cb7c96673dde02c5bd1486fc0ad6e8402071 Mon Sep 17 00:00:00 2001
From: 09lkei <09lkei@brightoncollege.net>
Date: Wed, 6 Mar 2024 16:41:40 +0000
Subject: [PATCH] added color sensour code

---
 .vscode/launch.json                           | 12 ++-
 .../commands/colorSensorDriveUntilTape.java   | 51 +++++++++++++
 vendordeps/REVLib.json                        | 74 +++++++++++++++++++
 3 files changed, 134 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/colorSensorDriveUntilTape.java
 create mode 100644 vendordeps/REVLib.json

diff --git a/.vscode/launch.json b/.vscode/launch.json
index c9c9713..629d4b1 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Launch Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "2024"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }
diff --git a/src/main/java/frc/robot/commands/colorSensorDriveUntilTape.java b/src/main/java/frc/robot/commands/colorSensorDriveUntilTape.java
new file mode 100644
index 0000000..2509d84
--- /dev/null
+++ b/src/main/java/frc/robot/commands/colorSensorDriveUntilTape.java
@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj.I2C;
+import com.revrobotics.ColorSensorV3;
+import com.revrobotics.ColorMatchResult;
+import com.revrobotics.ColorMatch;
+import edu.wpi.first.wpilibj.util.Color;
+
+public class colorSensorDriveUntilTape extends Command {
+  private final I2C.Port i2cPort = I2C.Port.kOnboard;
+  private final ColorSensorV3 m_colorSensor = new ColorSensorV3(i2cPort);
+  private final ColorMatch m_colorMatcher = new ColorMatch();
+  private Color tileColor;
+
+  public colorSensorDriveUntilTape(Color colorsToDetect[], Color tileColor) {
+    m_colorMatcher.addColorMatch(tileColor);
+    this.tileColor = tileColor;
+    for (Color colorToDetect : colorsToDetect) {
+      m_colorMatcher.addColorMatch(colorToDetect);
+    }
+  }
+
+
+  @Override
+  public void initialize() {}
+
+  @Override
+  public void execute() {
+    Color detectedColor = m_colorSensor.getColor();
+    int proximity = m_colorSensor.getProximity();
+    ColorMatchResult match = m_colorMatcher.matchClosestColor(detectedColor);
+    if (match.color == tileColor) {
+      // put start code code here
+    } else {
+      // put stop code here
+    }
+  }
+
+  @Override
+  public void end(boolean interrupted) {}
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
new file mode 100644
index 0000000..60eacf8
--- /dev/null
+++ b/vendordeps/REVLib.json
@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.3",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.3"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.3",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.3",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.3",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}
\ No newline at end of file