Announcement

**FTC Evergreen Robotics** · 02-04-2018, 02:39 PM

Sorry about the formatting, I didn't know it would turn out like this. Next time I will preview my posts.

**3805Mentor** · 02-04-2018, 02:41 PM

Paste your code into notepad or wordpad, then copy from there and paste here.

**FTC Evergreen Robotics** · 02-04-2018, 04:23 PM

package org.firstinspires.ftc.teamcode.teamcode;

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

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

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMo de;

import com.qualcomm.robotcore.hardware.ColorSensor;

import com.qualcomm.robotcore.hardware.DcMotor;

import com.qualcomm.robotcore.hardware.Servo;

import com.qualcomm.robotcore.util.ElapsedTime;

import org.firstinspires.ftc.robotcore.external.matrices. OpenGLMatrix;

import org.firstinspires.ftc.robotcore.external.navigatio n.VuforiaLocalizer;

import org.firstinspires.ftc.robotcontroller.external.sam ples.ConceptVuforiaNavigation;

import org.firstinspires.ftc.robotcore.external.ClassFact ory;

import org.firstinspires.ftc.robotcore.external.matrices. OpenGLMatrix;

import org.firstinspires.ftc.robotcore.external.matrices. VectorF;

import org.firstinspires.ftc.robotcore.external.navigatio n.AngleUnit;

import org.firstinspires.ftc.robotcore.external.navigatio n.AxesOrder;

import org.firstinspires.ftc.robotcore.external.navigatio n.AxesReference;

import org.firstinspires.ftc.robotcore.external.navigatio n.Orientation;

import org.firstinspires.ftc.robotcore.external.navigatio n.RelicRecoveryVuMark;

import org.firstinspires.ftc.robotcore.external.navigatio n.VuMarkInstanceId;

import org.firstinspires.ftc.robotcore.external.navigatio n.VuforiaLocalizer;

import org.firstinspires.ftc.robotcore.external.navigatio n.VuforiaTrackable;

import org.firstinspires.ftc.robotcore.external.navigatio n.VuforiaTrackableDefaultListener;

import org.firstinspires.ftc.robotcore.external.navigatio n.VuforiaTrackables;

@Autonomous(name = "AutonomousBlue1V7",group = "FTC")

public class AutonomousBlue1 extends LinearOpMode

{

DcMotor FrontLeftWheel;

DcMotor FrontRightWheel;

DcMotor BackLeftWheel;

DcMotor BackRightWheel;

DcMotor LeftCycleMotor;

DcMotor RightCycleMotor;

DcMotor RelicMotor;

DcMotor DumperMotor;

Servo LeftCycleServo;

Servo RightCycleServo;

Servo LightStick;

double MotorSpeed;

ColorSensor color_sensor;

ColorSensor color_sensor1;

public static final String TAG = "Vuforia VuMark Sample";

OpenGLMatrix lastLocation = null;

/**

* {@link #vuforia} is the variable we will use to store our instance of the Vuforia

* localization engine.

*/

VuforiaLocalizer vuforia;

int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());

VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);

private ElapsedTime runTime = new ElapsedTime();

enum AllianceColor {

UNKNOWN,

RED,

BLUE, }

enum Platform {

RED1,

RED2,

BLUE1,

BLUE2,

}

public AllianceColor readJewelColor() {

AllianceColor jewel = AllianceColor.UNKNOWN;

// Wait for a good reading, but Don't wait more than 1 second

runTime.reset();

while (opModeIsActive() && (runTime.time() < 1) && (jewel == AllianceColor.UNKNOWN)) {

sleep(20);

// Give time for values to settle

double red = color_sensor.red();

double blue = color_sensor.blue();

double alpha = color_sensor.alpha();

telemetry.addData("red", red);

telemetry.addData("blue",blue);

telemetry.addData("alpha",alpha);

// Ensure that we have at least some color signal strength

if (!((blue == 0) && (red == 0)))

{

if (blue > red) {

jewel = AllianceColor.BLUE;

} else {

jewel = AllianceColor.RED;

}

}

telemetry.addData("Jewel", jewel);

telemetry.update();

}

return (jewel);

}

@Override

public void runOpMode() throws InterruptedException {

FrontLeftWheel = hardwareMap.dcMotor.get("front_left_wheel");

FrontRightWheel = hardwareMap.dcMotor.get("front_right_wheel");

BackLeftWheel = hardwareMap.dcMotor.get("back_left_wheel");

BackRightWheel = hardwareMap.dcMotor.get("back_right_wheel");

LeftCycleMotor = hardwareMap.dcMotor.get("left_cycle_motor");

RightCycleMotor = hardwareMap.dcMotor.get("right_cycle_motor");

RelicMotor = hardwareMap.dcMotor.get("relic_motor");

DumperMotor = hardwareMap.dcMotor.get("dumper_motor");

LeftCycleServo = hardwareMap.servo.get("left_cycle_servo");

RightCycleServo = hardwareMap.servo.get("right_cycle_servo");

LightStick = hardwareMap.servo.get("light_stick");

MotorSpeed = 1;

LeftCycleMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

RightCycleMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

color_sensor = color_sensor1;

parameters.vuforiaLicenseKey = "ASdeW4n/////AAAAGQ3gx37Bok5bsetrw+NOuwA8Kmy/dauF2oHhHyy3O7LATTKCJEVWGQQzVWtFJ/55ZJ1KNV16pgUPrWLe1Wc0U2NHlzhWnJ3VaXgkeTjxf6vwUDP1 TyYKzu3q9Ktyx2G+a5tukSVqWWGBqVCDiHv5U0ZVdRVqNHN/t+7Yitb27kTIfzsbnN5lLFjReHUSt5Utz9KCfBNVqdrNEGN2eP 3u2BcV7sOsfSsZW4bc9ukXCkMgbjaevpzjj3LNtLklmHAXCiU+ znKM6rs2rz+ALu3O4U5R1oRI+thosXU1gJGsFeV6H/RN17BpEZ61haJnp2i7C6osy6ffgNk8V8b2pg83Og9aQ3L8aFgx UoFZnEdFBfLN";

parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;

this.vuforia = ClassFactory.createVuforiaLocalizer(parameters);

VuforiaTrackables relicTrackables = this.vuforia.loadTrackablesFromAsset("RelicVuMark");

VuforiaTrackable relicTemplate = relicTrackables.get(0);

relicTemplate.setName("relicVuMarkTemplate"); // can help in debugging; otherwise not necessary

telemetry.addData(">", "Press Play to start");

telemetry.update();

waitForStart();

relicTrackables.activate();

waitForStart();

while (opModeIsActive()) {

RelicRecoveryVuMark vuMark = RelicRecoveryVuMark.from(relicTemplate);

if (vuMark != RelicRecoveryVuMark.UNKNOWN) {

/* Found an instance of the template. In the actual game, you will probably

* loop until this condition occurs, then move on to act accordingly depending

* on which VuMark was visible. */

telemetry.addData("VuMark", "%s visible", vuMark);

/* For fun, we also exhibit the navigational pose. In the Relic Recovery game,

* it is perhaps unlikely that you will actually need to act on this pose information, but

* we illustrate it nevertheless, for completeness. */

OpenGLMatrix pose = ((VuforiaTrackableDefaultListener)relicTemplate.ge tListener()).getPose();

telemetry.addData("Pose", format(pose));

/* We further illustrate how to decompose the pose into useful rotational and

* translational components */

if (pose != null) {

VectorF trans = pose.getTranslation();

Orientation rot = Orientation.getOrientation(pose, AxesReference.EXTRINSIC, AxesOrder.XYZ, AngleUnit.DEGREES);

// Extract the X, Y, and Z components of the offset of the target relative to the robot

double tX = trans.get(0);

double tY = trans.get(1);

double tZ = trans.get(2);

// Extract the rotational components of the target relative to the robot

double rX = rot.firstAngle;

double rY = rot.secondAngle;

double rZ = rot.thirdAngle;

}

}

else {

telemetry.addData("VuMark", "not visible");

}

telemetry.update();

}

}

String format(OpenGLMatrix transformationMatrix) {

return (transformationMatrix != null) ? transformationMatrix.formatAsTransform() : "null";

}

}

**mlwilliams** · 02-04-2018, 05:56 PM

You have both a color_sensor and a color_sensor1, neither of which is ever properly initialized. You're going to need code like:

Code:

 
 color_sensor = hardwareMap.get(ColorSensor.class, "color_sensor");

**FTC Evergreen Robotics** · 02-04-2018, 08:46 PM

Thank you for your help. That was such a silly mistake!

Announcement

Another Null Pointer Exception

Another Null Pointer Exception

Comment

Comment

Comment

Comment

Comment