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  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import android.app.Activity;
  import android.graphics.Color;
  import android.view.View;
  import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  import com.qualcomm.robotcore.hardware.ColorSensor;
  
  /*
   *
   * This OpMode that shows how to use
   * a Modern Robotics Color Sensor.
   *
   * The OpMode assumes that the color sensor
   * is configured with a name of "sensor_color".
   *
   * You can use the X button on gamepad1 to toggle the LED on and off.
   *
   * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
   * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
   */
  @TeleOp(name = "Sensor: MR Color", group = "Sensor")
  @Disabled
  public class SensorMRColor extends LinearOpMode {
  
    ColorSensor colorSensor;    // Hardware Device Object
  
  
    @Override
    public void runOpMode() {
  
      // hsvValues is an array that will hold the hue, saturation, and value information.
      float hsvValues[] = {0F,0F,0F};
  
      // values is a reference to the hsvValues array.
      final float values[] = hsvValues;
  
      // get a reference to the RelativeLayout so we can change the background
      // color of the Robot Controller app to match the hue detected by the RGB sensor.
      int relativeLayoutId = hardwareMap.appContext.getResources().getIdentifier("RelativeLayout", "id", hardwareMap.appContext.getPackageName());
      final View relativeLayout = ((Activity) hardwareMap.appContext).findViewById(relativeLayoutId);
  
      // bPrevState and bCurrState represent the previous and current state of the button.
      boolean bPrevState = false;
      boolean bCurrState = false;
  
      // bLedOn represents the state of the LED.
      boolean bLedOn = true;
  
      // get a reference to our ColorSensor object.
      colorSensor = hardwareMap.get(ColorSensor.class, "sensor_color");
  
      // Set the LED in the beginning
      colorSensor.enableLed(bLedOn);
  
      // wait for the start button to be pressed.
      waitForStart();
  
      // while the OpMode is active, loop and read the RGB data.
      // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
      while (opModeIsActive()) {
  
        // check the status of the x button on either gamepad.
        bCurrState = gamepad1.x;
  
        // check for button state transitions.
        if (bCurrState && (bCurrState != bPrevState))  {
  
          // button is transitioning to a pressed state. So Toggle LED
          bLedOn = !bLedOn;
          colorSensor.enableLed(bLedOn);
        }
  
        // update previous state variable.
        bPrevState = bCurrState;
  
        // convert the RGB values to HSV values.
        Color.RGBToHSV(colorSensor.red() * 8, colorSensor.green() * 8, colorSensor.blue() * 8, hsvValues);
  
        // send the info back to driver station using telemetry function.
        telemetry.addData("LED", bLedOn ? "On" : "Off");
        telemetry.addData("Clear", colorSensor.alpha());
        telemetry.addData("Red  ", colorSensor.red());
        telemetry.addData("Green", colorSensor.green());
        telemetry.addData("Blue ", colorSensor.blue());
        telemetry.addData("Hue", hsvValues[0]);
  
        // change the background color to match the color detected by the RGB sensor.
        // pass a reference to the hue, saturation, and value array as an argument
        // to the HSVToColor method.
        relativeLayout.post(new Runnable() {
          public void run() {
            relativeLayout.setBackgroundColor(Color.HSVToColor(0xff, values));
          }
        });
  
        telemetry.update();
      }
  
      // Set the panel back to the default color
      relativeLayout.post(new Runnable() {
        public void run() {
          relativeLayout.setBackgroundColor(Color.WHITE);
        }
      });
    }
  }
  