Bad code

.gitignore

@@ -85,3 +85,4 @@ lint/generated/
 lint/outputs/
 lint/tmp/
 # lint/reports/
+TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pipelines/eocvsim_workspace.json

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Camera.java

@@ -15,13 +15,6 @@ public class Camera
     OpenCvWebcam camera;
     colorDetection pipeline;
 
-    public Camera.State state;
-    public enum State
-    {
-        ONE,
-        TWO,
-        THREE
-    }
     public Camera(HardwareMap hardwareMap, Telemetry telemetry)
     {
         int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
@@ -44,12 +37,13 @@ public void onError(int errorCode)
             }
         });
     }
-    public void update()
+
+    public OpenCvWebcam streamSource()
     {
-        state=pipeline.getOutput();
+        return camera;
     }
-    public Camera.State getState()
+    public int getState()
     {
-        return state;
+        return pipeline.getOutput();
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CameraTest.java

@@ -1,21 +1,34 @@
 package org.firstinspires.ftc.teamcode;
 
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
+@TeleOp
 public class CameraTest extends LinearOpMode
+
 {
+    FtcDashboard dashboard;
+    TelemetryPacket packet;
     Camera camera;
 
     @Override
     public void runOpMode() throws InterruptedException
     {
+        packet=new TelemetryPacket();
+        dashboard=FtcDashboard.getInstance();
+
         camera=new Camera(hardwareMap, telemetry);
+        dashboard.startCameraStream(camera.streamSource(),30);
 
         waitForStart();
         while(opModeIsActive())
         {
-            camera.update();
-            telemetry.addData("Status:", camera.getState());
+            packet.put("Zone:", camera.getState());
+            dashboard.sendTelemetryPacket(packet);
+
+            telemetry.addData("Zone:", camera.getState());
             telemetry.update();
         }
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Intake.java

@@ -0,0 +1,54 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.arcrobotics.ftclib.hardware.ServoEx;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class Intake
+{
+
+    CRServo intake1, intake2;
+    public Intake.State state;
+    public enum State
+    {
+        IN, OUT, OFF
+    }
+
+    public Intake(HardwareMap hardwareMap)
+    {
+        intake1=hardwareMap.get(CRServo.class, "intake1");
+        intake2=hardwareMap.get(CRServo.class, "intake2");
+
+        intake1.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        setState(State.OFF);
+    }
+
+    public void update()
+    {
+        switch(state)
+        {
+            case IN:
+                intake1.setPower(1);
+                intake2.setPower(1);
+            case OUT:
+                intake1.setPower(-1);
+                intake2.setPower(-1);
+            case OFF:
+                intake1.setPower(0);
+                intake2.setPower(0);
+        }
+    }
+
+    public Intake.State getState() {
+        return state;
+    }
+
+    public void setState(Intake.State state)
+    {
+        this.state = state;
+        update();
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/IntakeTest.java

@@ -0,0 +1,34 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+@TeleOp
+
+public class IntakeTest extends LinearOpMode
+{
+    Intake intake;
+
+    @Override
+    public void runOpMode() throws InterruptedException
+    {
+        intake=new Intake(hardwareMap);
+
+        waitForStart();
+
+        while(opModeIsActive())
+        {
+            if(gamepad1.a)
+            {
+                intake.setState(Intake.State.IN);
+            }
+            else if(gamepad1.b)
+            {
+                intake.setState(Intake.State.OUT);
+            }
+            else if(gamepad1.x)
+            {
+                intake.setState(Intake.State.OFF);
+            }
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Slides.java

@@ -0,0 +1,109 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DigitalChannel;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class Slides {
+
+    DigitalChannel limitSwitch;
+    public DcMotorEx slidesLeft;
+    public DcMotorEx slidesRight;
+    //slides is 17.5 inches tall
+    static final double HIGH = 16; //in inches, 33.5 - 17.5 (high junction height - slides height)
+    static final double MID = 6; //in inches, 23.5 - 17.5 (mid junction height - slides height)
+    static final double LOW = 0; //in inches, low junction is 13.5 inches
+    static final double THRESHOLD=20;
+
+    public targetPos target;
+    public enum targetPos {
+        HIGH, MID, LOW
+    }
+
+    public State state;
+    public enum State
+    {
+        MOVING, STOPPED, RESETTING
+    }
+
+    public Slides(HardwareMap hardwareMap) {
+        slidesLeft = hardwareMap.get(DcMotorEx.class, "s1");
+        slidesRight = hardwareMap.get(DcMotorEx.class, "s2");
+        limitSwitch = hardwareMap.get(DigitalChannel.class, "limitSwitch");
+
+        //reverse a motor
+        limitSwitch.setMode(DigitalChannel.Mode.INPUT);
+        setTarget(targetPos.LOW);
+    }
+
+    public void update()
+    {
+        switch(state)
+        {
+            case MOVING:
+                slidesLeft.setPower(motorPower());
+                slidesRight.setPower(motorPower());
+                if(Math.abs(((slidesLeft.getCurrentPosition()+slidesRight.getCurrentPosition())/2)- targetTicks())<THRESHOLD)
+                {
+                    state=State.STOPPED;
+                }
+                break;
+            case RESETTING:
+                slidesLeft.setPower(motorPower());
+                slidesRight.setPower(motorPower());
+                if(limitSwitch.getState()==true)
+                {
+                    state=State.STOPPED;
+                }
+                break;
+            case STOPPED:
+                //maybe continue running motors w/ PID loop? Depends on if it can't stay in place
+                break;
+        }
+    }
+
+
+
+    private double targetTicks()
+    {
+        switch(target)
+        {
+            case HIGH:
+                return HIGH;
+            case MID:
+                return MID;
+            case LOW:
+                return LOW;
+        }
+        return LOW;
+    }
+    private double motorPower()
+    {
+        //use pid to determine w/ current and target position motor velocity
+        return 0.5;
+    }
+
+
+
+    public void setTarget(targetPos target)
+    {
+        this.target = target;
+        this.state=State.MOVING;
+    }
+    public void resetPos()
+    {
+        this.target=targetPos.LOW;
+        this.state=State.RESETTING;
+    }
+
+
+
+    public targetPos getTarget()
+    {
+        return target;
+    }
+    public Slides.State getState()
+    {
+        return state;
+    }
+}