commit cfafe343394361f26298f4671d642bc45e5239e5 Author: Nathan Wang Date: Tue Oct 19 17:53:06 2021 -0500 initial commit \ diff --git a/.github/CONTRIBUTING.md b/.github/CONTRIBUTING.md new file mode 100644 index 0000000..bfd93bc --- /dev/null +++ b/.github/CONTRIBUTING.md @@ -0,0 +1,68 @@ +# Contributing to the FTC SDK + +The following is a set of guidelines for contributing the FIRST FTC SDK. The FTC Technology Team welcomes suggestions for improvements to core software, ideas for new features, requests for built-in support of new sensors, and well written bug reports. + +## How can I contribute? + +### Pull requests + +__STOP!__ If you are new to git, do not understand the mechanics of forks, branches, and pulls, if what you just read is confusing, __do not__ push this button. Most likely it won't do what you think it will. + +![Pull Button](../doc/media/PullRequest.PNG) + +If you are looking at this button then you've pushed some changes to your team's fork of ftctechnh/ftc_app. Congratulations! You are almost certainly finished. + +The vast majority of pull requests seen on the ftctechnh/ftc_app repository are not intended to be merged into the official SDK. Team software is just that, your team's. It's specific to the tasks you are trying to accomplish, the testing you are doing, and goals your team has. You don't want that pushed into the official SDK. + +If what you've read so far makes little sense, there are some very good git learning resources online. +[Git Book](https://git-scm.com/book/en/v2) +[Interactive Git Tutorial](https://try.github.io) + +##### Guidlines for experienced GIT users. + +If you are absolutely certain that you want to push the big green button above, read on. Otherwise back _slowly away from keyboard_. + +The real intent for advanced users is often to issue a pull request from the [branch](https://www.atlassian.com/git/tutorials/using-branches/git-branch) on a local fork back to master on either the same local fork or a child of the team fork and not on the parent ftctechnh/ftc_app. See [Creating a Pull Request](https://help.github.com/articles/creating-a-pull-request-from-a-fork/). + +If that is indeed the intent, then you can merge your [topic branch](https://git-scm.com/book/en/v2/Git-Branching-Branching-Workflows#Topic-Branches) into master locally by hand before pushing it up to github, or if you want a pull request for pulls between branches on the same repository because, say, you want team members to look at your software before merging into master, you can select the base fork from the dropdown on the "Open a pull request" page and select your team repo instead of ftctechnh's. + +Alternatively, if you have a team repository forked from ftctechnh/ftc_app, and then team members individually fork from your team repository, then pull requests from the individual team member's forks will have the main team repository automatically selected as the base fork for the pull. And you won't inadvertently request to pull your team software into ftctechnh's repository. + +The latter would be the "best" way to manage software among a large team. But as with all things git there are many options. + +Pull requests that do not fall into the category above are evaluated by the FTC Technology Team on a case-by-case basis. Please note however that the deployment model of the SDK does not support direct pulls into ftctechnh/ftc_app. + +### Report bugs + +This section guides you through filing a bug report. The better the report the more likely it is to be root caused and fixed. Please refrain from feature requests or software enhancements when opening new issues. See Suggesting Enhancements below. + +#### Before submitting a bug report + +- Check the [forums](http://ftcforum.usfirst.org/forum.php) to see if someone else has run into the problem and whether there is an official solution that doesn't require a new SDK. + +- Perform a search of current [issues](https://github.com/ftctechnh/ftc_app/issues) to see if the problem has already been reported. If so, add a comment to the existing issue instead of creating a new one. + +#### How Do I Submit A (Good) Bug Report? + +Bugs are tracked as GitHub issues. Create an issue on ftctechnh/ftc_app and provide the following information. +Explain the problem and include additional details to help maintainers reproduce the problem: + +- Use a clear and descriptive title for the issue to identify the problem. + +- Describe the exact steps which reproduce the problem in as many details as possible. + +- Provide specific examples to demonstrate the steps. + +- Describe the behavior you observed after following the steps and point out what exactly is the problem with that behavior. Explain which behavior you expected to see instead and why. If applicable, include screenshots which show you following the described steps and clearly demonstrate the problem. + +- If you're reporting that the RobotController crashed, include the logfile with a stack trace of the crash. [Example of good bug report with stack trace](https://github.com/ftctechnh/ftc_app/issues/224) + +- If the problem wasn't triggered by a specific action, describe what you were doing before the problem happened and share more information using the guidelines below. + +### Suggesting Enhancements + +FIRST volunteers are awesome. You all have great ideas and we want to hear them. + +Enhancements should be broadly applicable to a large majority of teams, should not force teams to change their workflow, and should provide real value to the mission of FIRST as it relates to engaging youth in engineering activities. + +The best way to get momentum behind new features is to post a description of your idea in the forums. Build community support for it. The FTC Technology Team monitors the forums. We'll hear you and if there's a large enough call for the feature it's very likely to get put on the list for a future release. diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000..665369b --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1 @@ +Before issuing a pull request, please see the contributing page. diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..7d82b7e --- /dev/null +++ b/.gitignore @@ -0,0 +1,87 @@ +# Built application files +*.apk +*.aar +*.ap_ +*.aab + +!libs/*.aar + +# Files for the ART/Dalvik VM +*.dex + +# Java class files +*.class + +# Generated files +bin/ +gen/ +out/ +# Uncomment the following line in case you need and you don't have the release build type files in your app +# release/ + +# Gradle files +.gradle/ +build/ + +# Local configuration file (sdk path, etc) +local.properties + +# Proguard folder generated by Eclipse +proguard/ + +# Log Files +*.log + +# Android Studio Navigation editor temp files +.navigation/ + +# Android Studio captures folder +captures/ + +# IntelliJ +*.iml +.idea/workspace.xml +.idea/tasks.xml +.idea/gradle.xml +.idea/assetWizardSettings.xml +.idea/dictionaries +.idea/libraries +# Android Studio 3 in .gitignore file. +.idea/caches +.idea/modules.xml +# Comment next line if keeping position of elements in Navigation Editor is relevant for you +.idea/navEditor.xml + +# Keystore files +# Uncomment the following lines if you do not want to check your keystore files in. +#*.jks +#*.keystore + +# External native build folder generated in Android Studio 2.2 and later +.externalNativeBuild +.cxx/ + +# Google Services (e.g. APIs or Firebase) +# google-services.json + +# Freeline +freeline.py +freeline/ +freeline_project_description.json + +# fastlane +fastlane/report.xml +fastlane/Preview.html +fastlane/screenshots +fastlane/test_output +fastlane/readme.md + +# Version control +vcs.xml + +# lint +lint/intermediates/ +lint/generated/ +lint/outputs/ +lint/tmp/ +# lint/reports/ diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 0000000..26d3352 --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/.idea/compiler.xml b/.idea/compiler.xml new file mode 100644 index 0000000..fb7f4a8 --- /dev/null +++ b/.idea/compiler.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/.idea/jarRepositories.xml b/.idea/jarRepositories.xml new file mode 100644 index 0000000..0380d8d --- /dev/null +++ b/.idea/jarRepositories.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 0000000..2a4d5b5 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,9 @@ + + + + + + + + \ No newline at end of file diff --git a/FtcRobotController-master - Shortcut.lnk b/FtcRobotController-master - Shortcut.lnk new file mode 100644 index 0000000..e38be50 Binary files /dev/null and b/FtcRobotController-master - Shortcut.lnk differ diff --git a/FtcRobotController/build.gradle b/FtcRobotController/build.gradle new file mode 100644 index 0000000..514bcae --- /dev/null +++ b/FtcRobotController/build.gradle @@ -0,0 +1,25 @@ +import java.text.SimpleDateFormat + +// +// build.gradle in FtcRobotController +// +apply plugin: 'com.android.library' + +android { + + defaultConfig { + minSdkVersion 23 + //noinspection ExpiredTargetSdkVersion + targetSdkVersion 28 + buildConfigField "String", "APP_BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"' + } + + compileSdkVersion 29 + + compileOptions { + sourceCompatibility JavaVersion.VERSION_1_7 + targetCompatibility JavaVersion.VERSION_1_7 + } +} + +apply from: '../build.dependencies.gradle' diff --git a/FtcRobotController/src/main/AndroidManifest.xml b/FtcRobotController/src/main/AndroidManifest.xml new file mode 100644 index 0000000..127ef3f --- /dev/null +++ b/FtcRobotController/src/main/AndroidManifest.xml @@ -0,0 +1,81 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/FtcRobotController/src/main/assets/FTC_2016-17.dat b/FtcRobotController/src/main/assets/FTC_2016-17.dat new file mode 100644 index 0000000..d15d80a Binary files /dev/null and b/FtcRobotController/src/main/assets/FTC_2016-17.dat differ diff --git a/FtcRobotController/src/main/assets/FTC_2016-17.xml b/FtcRobotController/src/main/assets/FTC_2016-17.xml new file mode 100644 index 0000000..f75b930 --- /dev/null +++ b/FtcRobotController/src/main/assets/FTC_2016-17.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/FtcRobotController/src/main/assets/RelicVuMark.dat b/FtcRobotController/src/main/assets/RelicVuMark.dat new file mode 100644 index 0000000..e873bcf Binary files /dev/null and b/FtcRobotController/src/main/assets/RelicVuMark.dat differ diff --git a/FtcRobotController/src/main/assets/RelicVuMark.xml b/FtcRobotController/src/main/assets/RelicVuMark.xml new file mode 100644 index 0000000..b644913 --- /dev/null +++ b/FtcRobotController/src/main/assets/RelicVuMark.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/FtcRobotController/src/main/assets/StonesAndChips.dat b/FtcRobotController/src/main/assets/StonesAndChips.dat new file mode 100644 index 0000000..8ab481a Binary files /dev/null and b/FtcRobotController/src/main/assets/StonesAndChips.dat differ diff --git a/FtcRobotController/src/main/assets/StonesAndChips.xml b/FtcRobotController/src/main/assets/StonesAndChips.xml new file mode 100644 index 0000000..2c6da5e --- /dev/null +++ b/FtcRobotController/src/main/assets/StonesAndChips.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/FtcRobotController/src/main/assets/UltimateGoal.dat b/FtcRobotController/src/main/assets/UltimateGoal.dat new file mode 100644 index 0000000..ff47f62 Binary files /dev/null and b/FtcRobotController/src/main/assets/UltimateGoal.dat differ diff --git a/FtcRobotController/src/main/assets/UltimateGoal.tflite b/FtcRobotController/src/main/assets/UltimateGoal.tflite new file mode 100644 index 0000000..489a96a Binary files /dev/null and b/FtcRobotController/src/main/assets/UltimateGoal.tflite differ diff --git a/FtcRobotController/src/main/assets/UltimateGoal.xml b/FtcRobotController/src/main/assets/UltimateGoal.xml new file mode 100644 index 0000000..bb743b0 --- /dev/null +++ b/FtcRobotController/src/main/assets/UltimateGoal.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java new file mode 100644 index 0000000..9b96cfe --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java @@ -0,0 +1,139 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.ElapsedTime; +import com.qualcomm.robotcore.util.Range; + +/** + * This file contains an example of an iterative (Non-Linear) "OpMode". + * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match. + * The names of OpModes appear on the menu of the FTC Driver Station. + * When an selection is made from the menu, the corresponding OpMode + * class is instantiated on the Robot Controller and executed. + * + * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot + * It includes all the skeletal structure that all iterative OpModes contain. + * + * Use Android Studios 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="Basic: Iterative OpMode", group="Iterative Opmode") +@Disabled +public class BasicOpMode_Iterative extends OpMode +{ + // Declare OpMode members. + private ElapsedTime runtime = new ElapsedTime(); + private DcMotor leftDrive = null; + private DcMotor rightDrive = null; + + /* + * Code to run ONCE when the driver hits INIT + */ + @Override + public void init() { + telemetry.addData("Status", "Initialized"); + + // Initialize the hardware variables. Note that the strings used here as parameters + // to 'get' must correspond to the names assigned during the robot configuration + // step (using the FTC Robot Controller app on the phone). + leftDrive = hardwareMap.get(DcMotor.class, "left_drive"); + rightDrive = hardwareMap.get(DcMotor.class, "right_drive"); + + // Most robots need the motor on one side to be reversed to drive forward + // Reverse the motor that runs backwards when connected directly to the battery + leftDrive.setDirection(DcMotor.Direction.FORWARD); + rightDrive.setDirection(DcMotor.Direction.REVERSE); + + // Tell the driver that initialization is complete. + telemetry.addData("Status", "Initialized"); + } + + /* + * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY + */ + @Override + public void init_loop() { + } + + /* + * Code to run ONCE when the driver hits PLAY + */ + @Override + public void start() { + runtime.reset(); + } + + /* + * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP + */ + @Override + public void loop() { + // Setup a variable for each drive wheel to save power level for telemetry + double leftPower; + double rightPower; + + // Choose to drive using either Tank Mode, or POV Mode + // Comment out the method that's not used. The default below is POV. + + // POV Mode uses left stick to go forward, and right stick to turn. + // - This uses basic math to combine motions and is easier to drive straight. + double drive = -gamepad1.left_stick_y; + double turn = gamepad1.right_stick_x; + leftPower = Range.clip(drive + turn, -1.0, 1.0) ; + rightPower = Range.clip(drive - turn, -1.0, 1.0) ; + + // Tank Mode uses one stick to control each wheel. + // - This requires no math, but it is hard to drive forward slowly and keep straight. + // leftPower = -gamepad1.left_stick_y ; + // rightPower = -gamepad1.right_stick_y ; + + // Send calculated power to wheels + leftDrive.setPower(leftPower); + rightDrive.setPower(rightPower); + + // Show the elapsed game time and wheel power. + telemetry.addData("Status", "Run Time: " + runtime.toString()); + telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower); + } + + /* + * Code to run ONCE after the driver hits STOP + */ + @Override + public void stop() { + } + +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java new file mode 100644 index 0000000..63b37be --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java @@ -0,0 +1,114 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.ElapsedTime; +import com.qualcomm.robotcore.util.Range; + + +/** + * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either + * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu + * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode + * class is instantiated on the Robot Controller and executed. + * + * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot + * It includes all the skeletal structure that all linear OpModes contain. + * + * Use Android Studios 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="Basic: Linear OpMode", group="Linear Opmode") +@Disabled +public class BasicOpMode_Linear extends LinearOpMode { + + // Declare OpMode members. + private ElapsedTime runtime = new ElapsedTime(); + private DcMotor leftDrive = null; + private DcMotor rightDrive = null; + + @Override + public void runOpMode() { + telemetry.addData("Status", "Initialized"); + telemetry.update(); + + // Initialize the hardware variables. Note that the strings used here as parameters + // to 'get' must correspond to the names assigned during the robot configuration + // step (using the FTC Robot Controller app on the phone). + leftDrive = hardwareMap.get(DcMotor.class, "left_drive"); + rightDrive = hardwareMap.get(DcMotor.class, "right_drive"); + + // Most robots need the motor on one side to be reversed to drive forward + // Reverse the motor that runs backwards when connected directly to the battery + leftDrive.setDirection(DcMotor.Direction.FORWARD); + rightDrive.setDirection(DcMotor.Direction.REVERSE); + + // Wait for the game to start (driver presses PLAY) + waitForStart(); + runtime.reset(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + + // Setup a variable for each drive wheel to save power level for telemetry + double leftPower; + double rightPower; + + // Choose to drive using either Tank Mode, or POV Mode + // Comment out the method that's not used. The default below is POV. + + // POV Mode uses left stick to go forward, and right stick to turn. + // - This uses basic math to combine motions and is easier to drive straight. + double drive = -gamepad1.left_stick_y; + double turn = gamepad1.right_stick_x; + leftPower = Range.clip(drive + turn, -1.0, 1.0) ; + rightPower = Range.clip(drive - turn, -1.0, 1.0) ; + + // Tank Mode uses one stick to control each wheel. + // - This requires no math, but it is hard to drive forward slowly and keep straight. + // leftPower = -gamepad1.left_stick_y ; + // rightPower = -gamepad1.right_stick_y ; + + // Send calculated power to wheels + leftDrive.setPower(leftPower); + rightDrive.setPower(rightPower); + + // Show the elapsed game time and wheel power. + telemetry.addData("Status", "Run Time: " + runtime.toString()); + telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower); + telemetry.update(); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptCompassCalibration.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptCompassCalibration.java new file mode 100644 index 0000000..cd1da0a --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptCompassCalibration.java @@ -0,0 +1,121 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.CompassSensor; +import com.qualcomm.robotcore.util.ElapsedTime; + +/** + * This file illustrates the concept of calibrating a MR Compass + * It uses the common Pushbot hardware class to define the drive on the robot. + * The code is structured as a LinearOpMode + * + * This code assumes there is a compass configured with the name "compass" + * + * This code will put the compass into calibration mode, wait three seconds and then attempt + * to rotate two full turns clockwise. This will allow the compass to do a magnetic calibration. + * + * Once compete, the program will put the compass back into measurement mode and check to see if the + * calibration was successful. + * + * 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="Concept: Compass Calibration", group="Concept") +@Disabled +public class ConceptCompassCalibration extends LinearOpMode { + + /* Declare OpMode members. */ + HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware + private ElapsedTime runtime = new ElapsedTime(); + CompassSensor compass; + + final static double MOTOR_POWER = 0.2; // scale from 0 to 1 + static final long HOLD_TIME_MS = 3000; + static final double CAL_TIME_SEC = 20; + + @Override + public void runOpMode() { + + /* Initialize the drive system variables. + * The init() method of the hardware class does all the work here + */ + robot.init(hardwareMap); + + // get a reference to our Compass Sensor object. + compass = hardwareMap.get(CompassSensor.class, "compass"); + + // Send telemetry message to signify robot waiting; + telemetry.addData("Status", "Ready to cal"); // + telemetry.update(); + + // Wait for the game to start (driver presses PLAY) + waitForStart(); + + // Set the compass to calibration mode + compass.setMode(CompassSensor.CompassMode.CALIBRATION_MODE); + telemetry.addData("Compass", "Compass in calibration mode"); + telemetry.update(); + + sleep(HOLD_TIME_MS); // Just do a sleep while we switch modes + + // Start the robot rotating clockwise + telemetry.addData("Compass", "Calibration mode. Turning the robot..."); + telemetry.update(); + robot.leftDrive.setPower(MOTOR_POWER); + robot.rightDrive.setPower(-MOTOR_POWER); + + // run until time expires OR the driver presses STOP; + runtime.reset(); + while (opModeIsActive() && (runtime.time() < CAL_TIME_SEC)) { + idle(); + } + + // Stop all motors and turn off claibration + robot.leftDrive.setPower(0); + robot.rightDrive.setPower(0); + compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE); + telemetry.addData("Compass", "Returning to measurement mode"); + telemetry.update(); + + sleep(HOLD_TIME_MS); // Just do a sleep while we switch modes + + // Report whether the Calibration was successful or not. + if (compass.calibrationFailed()) + telemetry.addData("Compass", "Calibrate Failed. Try Again!"); + else + telemetry.addData("Compass", "Calibrate Passed."); + telemetry.update(); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDIMAsIndicator.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDIMAsIndicator.java new file mode 100644 index 0000000..75b6ad4 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDIMAsIndicator.java @@ -0,0 +1,103 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.DeviceInterfaceModule; +import com.qualcomm.robotcore.util.ElapsedTime; + +/** + * This OpMode illustrates using the Device Interface Module as a signalling device. + * The code is structured as a LinearOpMode + * + * This code assumes a DIM name "dim". + * + * There are many examples where the robot might like to signal the driver, without requiring them + * to look at the driver station. This might be something like a "ball in hopper" condition or a + * "ready to shoot" condition. + * + * The DIM has two user settable indicator LEDs (one red one blue). These can be controlled + * directly from your program. + * + * Use Android Studios 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 = "Concept: DIM As Indicator", group = "Concept") +@Disabled +public class ConceptDIMAsIndicator extends LinearOpMode { + + static final int BLUE_LED = 0; // Blue LED channel on DIM + static final int RED_LED = 1; // Red LED Channel on DIM + + // Create timer to toggle LEDs + private ElapsedTime runtime = new ElapsedTime(); + + // Define class members + DeviceInterfaceModule dim; + + @Override + public void runOpMode() { + + // Connect to motor (Assume standard left wheel) + // Change the text in quotes to match any motor name on your robot. + dim = hardwareMap.get(DeviceInterfaceModule.class, "dim"); + + // Toggle LEDs while Waiting for the start button + telemetry.addData(">", "Press Play to test LEDs." ); + telemetry.update(); + + while (!isStarted()) { + // Determine if we are on an odd or even second + boolean even = (((int)(runtime.time()) & 0x01) == 0); + dim.setLED(RED_LED, even); // Red for even + dim.setLED(BLUE_LED, !even); // Blue for odd + idle(); + } + + // Running now + telemetry.addData(">", "Press X for Blue, B for Red." ); + telemetry.update(); + + // Now just use red and blue buttons to set red and blue LEDs + while(opModeIsActive()){ + dim.setLED(BLUE_LED, gamepad1.x); + dim.setLED(RED_LED, gamepad1.b); + idle(); + } + + // Turn off LEDs; + dim.setLED(BLUE_LED, false); + dim.setLED(RED_LED, false); + telemetry.addData(">", "Done"); + telemetry.update(); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadRumble.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadRumble.java new file mode 100644 index 0000000..929fdaa --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadRumble.java @@ -0,0 +1,200 @@ +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.Gamepad; +import com.qualcomm.robotcore.util.ElapsedTime; + +/** + * This sample illustrates using the rumble feature of many gamepads. + * + * Note: Some gamepads "rumble" better than others. + * The Xbox & PS4 have a left (rumble1) and right (rumble2) rumble motor. + * These two gamepads have two distinct rumble modes: Large on the left, and small on the right + * The ETpark gamepad may only respond to rumble1, and may only run at full power. + * The Logitech F310 gamepad does not have *any* rumble ability. + * + * Moral: You should use this sample to experiment with your specific gamepads to explore their rumble features. + * + * The rumble motors are accessed through the standard gamepad1 and gamepad2 objects. + * Several new methods were added to the Gamepad class in FTC SDK Rev 7 + * The key methods are as follows: + * + * .rumble(double rumble1, double rumble2, int durationMs) + * This method sets the rumble power of both motors for a specific time duration. + * Both rumble arguments are motor-power levels in the 0.0 to 1.0 range. + * durationMs is the desired length of the rumble action in milliseconds. + * This method returns immediately. + * Note: + * Use a durationMs of Gamepad.RUMBLE_DURATION_CONTINUOUS to provide a continuous rumble + * Use a power of 0, or duration of 0 to stop a rumble. + * + * .rumbleBlips(int count) allows an easy way to signal the driver with a series of rumble blips. + * Just specify how many blips you want. + * This method returns immediately. + * + * .runRumbleEffect(customRumbleEffect) allows you to run a custom rumble sequence that you have + * built using the Gamepad.RumbleEffect.Builder() + * A "custom effect" is a sequence of steps, where each step can rumble any of the + * rumble motors for a specific period at a specific power level. + * The Custom Effect will play as the (un-blocked) OpMode continues to run + * + * .isRumbling() returns true if there is a rumble effect in progress. + * Use this call to prevent stepping on a current rumble. + * + * .stopRumble() Stop any ongoing rumble or custom rumble effect. + * + * .rumble(int durationMs) Full power rumble for fixed duration. + * + * Note: Whenever a new Rumble command is issued, any currently executing rumble action will + * be truncated, and the new action started immediately. Take these precautions: + * 1) Do Not SPAM the rumble motors by issuing rapid fire commands + * 2) Multiple sources for rumble commands must coordinate to avoid tromping on each other. + * + * This can be achieved several possible ways: + * 1) Only having one source for rumble actions + * 2) Issuing rumble commands on transitions, rather than states. + * e.g. The moment a touch sensor is pressed, rather than the entire time it is being pressed. + * 3) Scheduling rumble commands based on timed events. e.g. 10 seconds prior to endgame + * 4) Rumble on non-overlapping mechanical actions. e.g. arm fully-extended or fully-retracted. + * 5) Use isRumbling() to hold off on a new rumble if one is already in progress. + * + * The examples shown here are representstive of how to invoke a gamepad rumble. + * It is assumed that these will be modified to suit the specific robot and team strategy needs. + * + * ######## Read the telemetry display on the Driver Station Screen for instructions. ###### + * + * Ex 1) This example shows a) how to create a custom rumble effect, and then b) how to trigger it based + * on game time. One use for this might be to alert the driver that half-time or End-game is approaching. + * + * Ex 2) This example shows tying the rumble power to a changing sensor value. + * In this case it is the Gamepad trigger, but it could be any sensor output scaled to the 0-1 range. + * Since it takes over the rumble motors, it is only performed when the Left Bumper is pressed. + * Note that this approach MUST include a way to turn OFF the rumble when the button is released. + * + * Ex 3) This example shows a simple way to trigger a 3-blip sequence. In this case it is + * triggered by the gamepad A (Cross) button, but it could be any sensor, like a touch or light sensor. + * Note that this code ensures that it only rumbles once when the input goes true. + * + * Ex 4) This example shows how to trigger a single rumble when an input value gets over a certain value. + * In this case it is reading the Right Trigger, but it could be any variable sensor, like a + * range sensor, or position sensor. The code needs to ensure that it is only triggered once, so + * it waits till the sensor drops back below the threshold before it can trigger again. + * + * 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. + */ + +@Disabled +@TeleOp(name="Concept: Gamepad Rumble", group ="Concept") +public class ConceptGamepadRumble extends LinearOpMode +{ + boolean lastA = false; // Use to track the prior button state. + boolean lastLB = false; // Use to track the prior button state. + boolean highLevel = false; // used to prevent multiple level-based rumbles. + boolean secondHalf = false; // Use to prevent multiple half-time warning rumbles. + + Gamepad.RumbleEffect customRumbleEffect; // Use to build a custom rumble sequence. + ElapsedTime runtime = new ElapsedTime(); // Use to determine when end game is starting. + + final double HALF_TIME = 60.0; // Wait this many seconds before rumble-alert for half-time. + final double TRIGGER_THRESHOLD = 0.75; // Squeeze more than 3/4 to get rumble. + + @Override + public void runOpMode() + { + // Example 1. a) start by creating a three-pulse rumble sequence: right, LEFT, LEFT + customRumbleEffect = new Gamepad.RumbleEffect.Builder() + .addStep(0.0, 1.0, 500) // Rumble right motor 100% for 500 mSec + .addStep(0.0, 0.0, 300) // Pause for 300 mSec + .addStep(1.0, 0.0, 250) // Rumble left motor 100% for 250 mSec + .addStep(0.0, 0.0, 250) // Pause for 250 mSec + .addStep(1.0, 0.0, 250) // Rumble left motor 100% for 250 mSec + .build(); + + telemetry.addData(">", "Press Start"); + telemetry.update(); + + waitForStart(); + runtime.reset(); // Start game timer. + + // Loop while monitoring buttons for rumble triggers + while (opModeIsActive()) + { + // Read and save the current gamepad button states. + boolean currentA = gamepad1.a ; + boolean currentLB = gamepad1.left_bumper ; + + // Display the current Rumble status. Just for interest. + telemetry.addData(">", "Are we RUMBLING? %s\n", gamepad1.isRumbling() ? "YES" : "no" ); + + // ---------------------------------------------------------------------------------------- + // Example 1. b) Watch the runtime timer, and run the custom rumble when we hit half-time. + // Make sure we only signal once by setting "secondHalf" flag to prevent further rumbles. + // ---------------------------------------------------------------------------------------- + if ((runtime.seconds() > HALF_TIME) && !secondHalf) { + gamepad1.runRumbleEffect(customRumbleEffect); + secondHalf =true; + } + + // Display the time remaining while we are still counting down. + if (!secondHalf) { + telemetry.addData(">", "Halftime Alert Countdown: %3.0f Sec \n", (HALF_TIME - runtime.seconds()) ); + } + + + // ---------------------------------------------------------------------------------------- + // Example 2. If Left Bumper is being pressed, power the rumble motors based on the two trigger depressions. + // This is useful to see how the rumble feels at various power levels. + // ---------------------------------------------------------------------------------------- + if (currentLB) { + // Left Bumper is being pressed, so send left and right "trigger" values to left and right rumble motors. + gamepad1.rumble(gamepad1.left_trigger, gamepad1.right_trigger, Gamepad.RUMBLE_DURATION_CONTINUOUS); + + // Show what is being sent to rumbles + telemetry.addData(">", "Squeeze triggers to control rumbles"); + telemetry.addData("> : Rumble", "Left: %.0f%% Right: %.0f%%", gamepad1.left_trigger * 100, gamepad1.right_trigger * 100); + } else { + // Make sure rumble is turned off when Left Bumper is released (only one time each press) + if (lastLB) { + gamepad1.stopRumble(); + } + + // Prompt for manual rumble action + telemetry.addData(">", "Hold Left-Bumper to test Manual Rumble"); + telemetry.addData(">", "Press A (Cross) for three blips"); + telemetry.addData(">", "Squeeze right trigger slowly for 1 blip"); + } + lastLB = currentLB; // remember the current button state for next time around the loop + + + // ---------------------------------------------------------------------------------------- + // Example 3. Blip 3 times at the moment that A (Cross) is pressed. (look for pressed transition) + // BUT !!! Skip it altogether if the Gamepad is already rumbling. + // ---------------------------------------------------------------------------------------- + if (currentA && !lastA) { + if (!gamepad1.isRumbling()) // Check for possible overlap of rumbles. + gamepad1.rumbleBlips(3); + } + lastA = currentA; // remember the current button state for next time around the loop + + + // ---------------------------------------------------------------------------------------- + // Example 4. Rumble once when gamepad right trigger goes above the THRESHOLD. + // ---------------------------------------------------------------------------------------- + if (gamepad1.right_trigger > TRIGGER_THRESHOLD) { + if (!highLevel) { + gamepad1.rumble(0.9, 0, 200); // 200 mSec burst on left motor. + highLevel = true; // Hold off any more triggers + } + } else { + highLevel = false; // We can trigger again now. + } + + // Send the telemetry data to the Driver Station, and then pause to pace the program. + telemetry.update(); + sleep(10); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadTouchpad.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadTouchpad.java new file mode 100644 index 0000000..dc1795a --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadTouchpad.java @@ -0,0 +1,78 @@ +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; + +import org.firstinspires.ftc.robotcore.external.Telemetry; + +/** + * This sample illustrates using the touchpad feature found on some gamepads. + * + * The Sony PS4 gamepad can detect two distinct touches on the central touchpad. + * Other gamepads with different touchpads may provide mixed results. + * + * The touchpads are accessed through the standard gamepad1 and gamepad2 objects. + * Several new members were added to the Gamepad class in FTC SDK Rev 7 + * + * .touchpad_finger_1 returns true if at least one finger is detected. + * .touchpad_finger_1_x finger 1 X coordinate. Valid if touchpad_finger_1 is true + * .touchpad_finger_1_y finger 1 Y coordinate. Valid if touchpad_finger_1 is true + * + * .touchpad_finger_2 returns true if a second finger is detected + * .touchpad_finger_2_x finger 2 X coordinate. Valid if touchpad_finger_2 is true + * .touchpad_finger_2_y finger 2 Y coordinate. Valid if touchpad_finger_2 is true + * + * Finger touches are reported with an X and Y coordinate in following coordinate system. + * + * 1) X is the Horizontal axis, and Y is the vertical axis + * 2) The 0,0 origin is at the center of the touchpad. + * 3) 1.0, 1.0 is at the top right corner of the touchpad. + * 4) -1.0,-1.0 is at the bottom left corner of the touchpad. + * + * 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. + */ + +@Disabled +@TeleOp(name="Concept: Gamepad Touchpad", group ="Concept") +public class ConceptGamepadTouchpad extends LinearOpMode +{ + @Override + public void runOpMode() + { + telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE); + + telemetry.addData(">", "Press Start"); + telemetry.update(); + + waitForStart(); + + while (opModeIsActive()) + { + boolean finger = false; + + // Display finger 1 x & y position if finger detected + if(gamepad1.touchpad_finger_1) + { + finger = true; + telemetry.addLine(String.format("Finger 1: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_1_x, gamepad1.touchpad_finger_1_y)); + } + + // Display finger 2 x & y position if finger detected + if(gamepad1.touchpad_finger_2) + { + finger = true; + telemetry.addLine(String.format("Finger 2: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_2_x, gamepad1.touchpad_finger_2_y)); + } + + if(!finger) + { + telemetry.addLine("No fingers"); + } + + telemetry.update(); + sleep(10); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptI2cAddressChange.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptI2cAddressChange.java new file mode 100644 index 0000000..4deef91 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptI2cAddressChange.java @@ -0,0 +1,223 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDeviceInterfaceModule; +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.DeviceInterfaceModule; +import com.qualcomm.robotcore.hardware.I2cAddr; +import com.qualcomm.robotcore.util.RobotLog; +import com.qualcomm.robotcore.util.TypeConversion; + +import java.util.concurrent.locks.Lock; + +/** + * An example of a linear op mode that shows how to change the I2C address. + */ +@TeleOp(name = "Concept: I2c Address Change", group = "Concept") +@Disabled +public class ConceptI2cAddressChange extends LinearOpMode { + + public static final int ADDRESS_SET_NEW_I2C_ADDRESS = 0x70; + // trigger bytes used to change I2C address on ModernRobotics sensors. + public static final byte TRIGGER_BYTE_1 = 0x55; + public static final byte TRIGGER_BYTE_2 = (byte) 0xaa; + + // Expected bytes from the Modern Robotics IR Seeker V3 memory map + public static final byte IR_SEEKER_V3_FIRMWARE_REV = 0x12; + public static final byte IR_SEEKER_V3_SENSOR_ID = 0x49; + public static final I2cAddr IR_SEEKER_V3_ORIGINAL_ADDRESS = I2cAddr.create8bit(0x38); + + // Expected bytes from the Modern Robotics Color Sensor memory map + public static final byte COLOR_SENSOR_FIRMWARE_REV = 0x10; + public static final byte COLOR_SENSOR_SENSOR_ID = 0x43; + public static final byte COLOR_SENSOR_ORIGINAL_ADDRESS = 0x3C; + + public static final byte MANUFACTURER_CODE = 0x4d; + // Currently, this is set to expect the bytes from the IR Seeker. + // If you change these values so you're setting "FIRMWARE_REV" to + // COLOR_SENSOR_FIRMWARE_REV, and "SENSOR_ID" to "COLOR_SENSOR_SENSOR_ID", + // you'll be able to change the I2C address of the ModernRoboticsColorSensor. + // If the bytes you're expecting are different than what this op mode finds, + // a comparison will be printed out into the logfile. + public static final byte FIRMWARE_REV = IR_SEEKER_V3_FIRMWARE_REV; + public static final byte SENSOR_ID = IR_SEEKER_V3_SENSOR_ID; + + // These byte values are common with most Modern Robotics sensors. + public static final int READ_MODE = 0x80; + public static final int ADDRESS_MEMORY_START = 0x0; + public static final int TOTAL_MEMORY_LENGTH = 0x0c; + public static final int BUFFER_CHANGE_ADDRESS_LENGTH = 0x03; + + // The port where your sensor is connected. + int port = 5; + + byte[] readCache; + Lock readLock; + byte[] writeCache; + Lock writeLock; + + I2cAddr currentAddress = IR_SEEKER_V3_ORIGINAL_ADDRESS; + // I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10 + // Different hardware may have different rules. + // Be sure to read the requirements for the hardware you're using! + // If you use an invalid address, you may make your device completely unusable. + I2cAddr newAddress = I2cAddr.create8bit(0x42); + + DeviceInterfaceModule dim; + + @Override + public void runOpMode() { + + // set up the hardware devices we are going to use + dim = hardwareMap.get(DeviceInterfaceModule.class, "dim"); + + readCache = dim.getI2cReadCache(port); + readLock = dim.getI2cReadCacheLock(port); + writeCache = dim.getI2cWriteCache(port); + writeLock = dim.getI2cWriteCacheLock(port); + + // I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10 + // Different hardware may have different rules. + // Be sure to read the requirements for the hardware you're using! + ModernRoboticsUsbDeviceInterfaceModule.throwIfModernRoboticsI2cAddressIsInvalid(newAddress); + + // wait for the start button to be pressed + waitForStart(); + + performAction("read", port, currentAddress, ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH); + + while(!dim.isI2cPortReady(port)) { + telemetry.addData("I2cAddressChange", "waiting for the port to be ready..."); + telemetry.update(); + sleep(1000); + } + + // update the local cache + dim.readI2cCacheFromController(port); + + // make sure the first bytes are what we think they should be. + int count = 0; + int[] initialArray = {READ_MODE, currentAddress.get8Bit(), ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH, FIRMWARE_REV, MANUFACTURER_CODE, SENSOR_ID}; + while (!foundExpectedBytes(initialArray, readLock, readCache)) { + telemetry.addData("I2cAddressChange", "Confirming that we're reading the correct bytes..."); + telemetry.update(); + dim.readI2cCacheFromController(port); + sleep(1000); + count++; + // if we go too long with failure, we probably are expecting the wrong bytes. + if (count >= 10) { + telemetry.addData("I2cAddressChange", String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit())); + hardwareMap.irSeekerSensor.get(String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit())); + telemetry.update(); + } + } + + // Enable writes to the correct segment of the memory map. + performAction("write", port, currentAddress, ADDRESS_SET_NEW_I2C_ADDRESS, BUFFER_CHANGE_ADDRESS_LENGTH); + + // Write out the trigger bytes, and the new desired address. + writeNewAddress(); + dim.setI2cPortActionFlag(port); + dim.writeI2cCacheToController(port); + + telemetry.addData("I2cAddressChange", "Giving the hardware 60 seconds to make the change..."); + telemetry.update(); + + // Changing the I2C address takes some time. + sleep(60000); + + // Query the new address and see if we can get the bytes we expect. + dim.enableI2cReadMode(port, newAddress, ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH); + dim.setI2cPortActionFlag(port); + dim.writeI2cCacheToController(port); + + int[] confirmArray = {READ_MODE, newAddress.get8Bit(), ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH, FIRMWARE_REV, MANUFACTURER_CODE, SENSOR_ID}; + while (!foundExpectedBytes(confirmArray, readLock, readCache)) { + telemetry.addData("I2cAddressChange", "Have not confirmed the changes yet..."); + telemetry.update(); + dim.readI2cCacheFromController(port); + sleep(1000); + } + + telemetry.addData("I2cAddressChange", "Successfully changed the I2C address. New address: 8bit=0x%02x", newAddress.get8Bit()); + telemetry.update(); + RobotLog.i("Successfully changed the I2C address." + String.format("New address: 8bit=0x%02x", newAddress.get8Bit())); + + /**** IMPORTANT NOTE ******/ + // You need to add a line like this at the top of your op mode + // to update the I2cAddress in the driver. + //irSeeker.setI2cAddress(newAddress); + /***************************/ + + } + + private boolean foundExpectedBytes(int[] byteArray, Lock lock, byte[] cache) { + try { + lock.lock(); + boolean allMatch = true; + StringBuilder s = new StringBuilder(300 * 4); + String mismatch = ""; + for (int i = 0; i < byteArray.length; i++) { + s.append(String.format("expected: %02x, got: %02x \n", TypeConversion.unsignedByteToInt( (byte) byteArray[i]), cache[i])); + if (TypeConversion.unsignedByteToInt(cache[i]) != TypeConversion.unsignedByteToInt( (byte) byteArray[i])) { + mismatch = String.format("i: %d, byteArray[i]: %02x, cache[i]: %02x", i, byteArray[i], cache[i]); + allMatch = false; + } + } + RobotLog.e(s.toString() + "\n allMatch: " + allMatch + ", mismatch: " + mismatch); + return allMatch; + } finally { + lock.unlock(); + } + } + + private void performAction(String actionName, int port, I2cAddr i2cAddress, int memAddress, int memLength) { + if (actionName.equalsIgnoreCase("read")) dim.enableI2cReadMode(port, i2cAddress, memAddress, memLength); + if (actionName.equalsIgnoreCase("write")) dim.enableI2cWriteMode(port, i2cAddress, memAddress, memLength); + + dim.setI2cPortActionFlag(port); + dim.writeI2cCacheToController(port); + dim.readI2cCacheFromController(port); + } + + private void writeNewAddress() { + try { + writeLock.lock(); + writeCache[4] = (byte) newAddress.get8Bit(); + writeCache[5] = TRIGGER_BYTE_1; + writeCache[6] = TRIGGER_BYTE_2; + } finally { + writeLock.unlock(); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java new file mode 100644 index 0000000..4e6f52f --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java @@ -0,0 +1,222 @@ +/* Copyright (c) 2019 Phil Malone. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.lynx.LynxModule; +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.DcMotorEx; +import com.qualcomm.robotcore.util.ElapsedTime; + +import java.util.Iterator; +import java.util.List; + + /* + This sample illustrates how to use the Expansion Hub's Bulk-Read feature to speed up control cycle times. + In this example there are 4 motors that need their encoder positions, and velocities read. + The sample is written to work with one or two expansion hubs, with no assumption as to where the motors are located. + + Three scenarios are tested: + Cache Mode = OFF This is the normal default, where no cache is used, and every read produces a discrete transaction with + an expansion hub, which is the slowest approach. + Cache Mode = AUTO This mode will attempt to minimize the number of discrete read commands, by performing bulk-reads + and then returning values that have been cached. The cache is updated automatically whenever a specific read operation is repeated. + This mode will always return fresh data, but it may perform more bulk-reads than absolutely required. + Extra reads will be performed if multiple identical encoder/velocity reads are performed in one control cycle. + This mode is a good compromise between the OFF and MANUAL modes. + Cache Mode = MANUAL This mode enables the user's code to determine the best time to refresh the cached bulk-read data. + Well organized code can place all the sensor reads in one location, and then just reset the cache once per control cycle. + The approach will produce the shortest cycle times, but it does require the user to manually clear the cache. + + ------------------------------------- + + General tip to speed up your control cycles: + No matter what method you use to read encoders and other inputs, you should try to + avoid reading the same input multiple times around a control loop. + Under normal conditions, this will slow down the control loop. + The preferred method is to read all the required inputs ONCE at the beginning of the loop, + and save the values in variable that can be used by other parts of the control code. + + eg: if you are sending encoder positions to your telemetry display, putting a getCurrentPosition() + call in the telemetry statement will force the code to go and get another copy which will take time. + It's much better read the position into a variable once, and use that variable for control AND display. + Reading saved variables takes no time at all. + + Once you put all your sensor reads at the beginning of the control cycle, it's very easy to use + the bulk-read AUTO mode to streamline your cycle timing. + + */ +@TeleOp (name = "Motor Bulk Reads", group = "Tests") +@Disabled +public class ConceptMotorBulkRead extends LinearOpMode { + + final int TEST_CYCLES = 500; // Number of control cycles to run to determine cycle times. + + private DcMotorEx m1, m2, m3, m4; // Motor Objects + private long e1, e2, e3, e4; // Encoder Values + private double v1, v2, v3, v4; // Velocities + + // Cycle Times + double t1 = 0; + double t2 = 0; + double t3 = 0; + + @Override + public void runOpMode() { + + int cycles; + + // Important Step 1: Make sure you use DcMotorEx when you instantiate your motors. + m1 = hardwareMap.get(DcMotorEx.class, "m1"); // Configure the robot to use these 4 motor names, + m2 = hardwareMap.get(DcMotorEx.class, "m2"); // or change these strings to match your existing Robot Configuration. + m3 = hardwareMap.get(DcMotorEx.class, "m3"); + m4 = hardwareMap.get(DcMotorEx.class, "m4"); + + // Important Step 2: Get access to a list of Expansion Hub Modules to enable changing caching methods. + List allHubs = hardwareMap.getAll(LynxModule.class); + + ElapsedTime timer = new ElapsedTime(); + + telemetry.addData(">", "Press play to start tests"); + telemetry.addData(">", "Test results will update for each access method."); + telemetry.update(); + waitForStart(); + + // -------------------------------------------------------------------------------------- + // Run control loop using legacy encoder reads + // In this mode, a single read is done for each encoder position, and a bulk read is done for each velocity read. + // This is the worst case scenario. + // This is the same as using LynxModule.BulkCachingMode.OFF + // -------------------------------------------------------------------------------------- + + displayCycleTimes("Test 1 of 3 (Wait for completion)"); + + timer.reset(); + cycles = 0; + while (opModeIsActive() && (cycles++ < TEST_CYCLES)) { + e1 = m1.getCurrentPosition(); + e2 = m2.getCurrentPosition(); + e3 = m3.getCurrentPosition(); + e4 = m4.getCurrentPosition(); + + v1 = m1.getVelocity(); + v2 = m2.getVelocity(); + v3 = m3.getVelocity(); + v4 = m4.getVelocity(); + + // Put Control loop action code here. + + } + // calculate the average cycle time. + t1 = timer.milliseconds() / cycles; + displayCycleTimes("Test 2 of 3 (Wait for completion)"); + + // -------------------------------------------------------------------------------------- + // Run test cycles using AUTO cache mode + // In this mode, only one bulk read is done per cycle, UNLESS you read a specific encoder/velocity item AGAIN in that cycle. + // -------------------------------------------------------------------------------------- + + // Important Step 3: Option A. Set all Expansion hubs to use the AUTO Bulk Caching mode + for (LynxModule module : allHubs) { + module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO); + } + + timer.reset(); + cycles = 0; + while (opModeIsActive() && (cycles++ < TEST_CYCLES)) { + e1 = m1.getCurrentPosition(); // Uses 1 bulk-read for all 4 encoder/velocity reads, + e2 = m2.getCurrentPosition(); // but don't do any `get` operations more than once per cycle. + e3 = m3.getCurrentPosition(); + e4 = m4.getCurrentPosition(); + + v1 = m1.getVelocity(); + v2 = m2.getVelocity(); + v3 = m3.getVelocity(); + v4 = m4.getVelocity(); + + // Put Control loop action code here. + + } + // calculate the average cycle time. + t2 = timer.milliseconds() / cycles; + displayCycleTimes("Test 3 of 3 (Wait for completion)"); + + // -------------------------------------------------------------------------------------- + // Run test cycles using MANUAL cache mode + // In this mode, only one block read is done each control cycle. + // This is the MOST efficient method, but it does require that the cache is cleared manually each control cycle. + // -------------------------------------------------------------------------------------- + + // Important Step 3: Option B. Set all Expansion hubs to use the MANUAL Bulk Caching mode + for (LynxModule module : allHubs) { + module.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL); + } + + timer.reset(); + cycles = 0; + while (opModeIsActive() && (cycles++ < TEST_CYCLES)) { + + // Important Step 4: If you are using MANUAL mode, you must clear the BulkCache once per control cycle + for (LynxModule module : allHubs) { + module.clearBulkCache(); + } + + e1 = m1.getCurrentPosition(); // Uses 1 bulk-read to obtain ALL the motor data + e2 = m2.getCurrentPosition(); // There is no penalty for doing more `get` operations in this cycle, + e3 = m3.getCurrentPosition(); // but they will return the same data. + e4 = m4.getCurrentPosition(); + + v1 = m1.getVelocity(); + v2 = m2.getVelocity(); + v3 = m3.getVelocity(); + v4 = m4.getVelocity(); + + // Put Control loop action code here. + + } + // calculate the average cycle time. + t3 = timer.milliseconds() / cycles; + displayCycleTimes("Complete"); + + // wait until op-mode is stopped by user, before clearing display. + while (opModeIsActive()) ; + } + + // Display three comparison times. + void displayCycleTimes(String status) { + telemetry.addData("Testing", status); + telemetry.addData("Cache = OFF", "%5.1f mS/cycle", t1); + telemetry.addData("Cache = AUTO", "%5.1f mS/cycle", t2); + telemetry.addData("Cache = MANUAL", "%5.1f mS/cycle", t3); + telemetry.update(); + } +} + diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java new file mode 100644 index 0000000..2f84695 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java @@ -0,0 +1,79 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.util.ElapsedTime; + +import java.text.SimpleDateFormat; +import java.util.Date; + +/** + * Demonstrates empty OpMode + */ +@TeleOp(name = "Concept: NullOp", group = "Concept") +@Disabled +public class ConceptNullOp extends OpMode { + + private ElapsedTime runtime = new ElapsedTime(); + + @Override + public void init() { + telemetry.addData("Status", "Initialized"); + } + + /* + * Code to run when the op mode is first enabled goes here + * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start() + */ + @Override + public void init_loop() { + } + + /* + * This method will be called ONCE when start is pressed + * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop() + */ + @Override + public void start() { + runtime.reset(); + } + + /* + * This method will be called repeatedly in a loop + * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop() + */ + @Override + public void loop() { + telemetry.addData("Status", "Run Time: " + runtime.toString()); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRampMotorSpeed.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRampMotorSpeed.java new file mode 100644 index 0000000..0a8f3dc --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRampMotorSpeed.java @@ -0,0 +1,114 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.DcMotor; + +/** + * This OpMode ramps a single motor speed up and down repeatedly until Stop is pressed. + * The code is structured as a LinearOpMode + * + * This code assumes a DC motor configured with the name "left_drive" as is found on a pushbot. + * + * INCREMENT sets how much to increase/decrease the power each cycle + * CYCLE_MS sets the update period. + * + * 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 = "Concept: Ramp Motor Speed", group = "Concept") +@Disabled +public class ConceptRampMotorSpeed extends LinearOpMode { + + static final double INCREMENT = 0.01; // amount to ramp motor each CYCLE_MS cycle + static final int CYCLE_MS = 50; // period of each cycle + static final double MAX_FWD = 1.0; // Maximum FWD power applied to motor + static final double MAX_REV = -1.0; // Maximum REV power applied to motor + + // Define class members + DcMotor motor; + double power = 0; + boolean rampUp = true; + + + @Override + public void runOpMode() { + + // Connect to motor (Assume standard left wheel) + // Change the text in quotes to match any motor name on your robot. + motor = hardwareMap.get(DcMotor.class, "left_drive"); + + // Wait for the start button + telemetry.addData(">", "Press Start to run Motors." ); + telemetry.update(); + waitForStart(); + + // Ramp motor speeds till stop pressed. + while(opModeIsActive()) { + + // Ramp the motors, according to the rampUp variable. + if (rampUp) { + // Keep stepping up until we hit the max value. + power += INCREMENT ; + if (power >= MAX_FWD ) { + power = MAX_FWD; + rampUp = !rampUp; // Switch ramp direction + } + } + else { + // Keep stepping down until we hit the min value. + power -= INCREMENT ; + if (power <= MAX_REV ) { + power = MAX_REV; + rampUp = !rampUp; // Switch ramp direction + } + } + + // Display the current value + telemetry.addData("Motor Power", "%5.2f", power); + telemetry.addData(">", "Press Stop to end test." ); + telemetry.update(); + + // Set the motor to the new power and pause; + motor.setPower(power); + sleep(CYCLE_MS); + idle(); + } + + // Turn off motor and signal done; + motor.setPower(0); + telemetry.addData(">", "Done"); + telemetry.update(); + + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java new file mode 100644 index 0000000..1b1ecc3 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java @@ -0,0 +1,112 @@ +/* Copyright (c) 2018 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.DcMotorSimple; +import com.qualcomm.robotcore.util.ElapsedTime; +import com.qualcomm.robotcore.util.Range; + + +/** + * + * This OpMode executes a basic Tank Drive Teleop for a two wheeled robot using two REV SPARKminis. + * To use this example, connect two REV SPARKminis into servo ports on the Expansion Hub. On the + * robot configuration, use the drop down list under 'Servos' to select 'REV SPARKmini Controller' + * and name them 'left_drive' and 'right_drive'. + * + * Use Android Studios 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="REV SPARKmini Simple Drive Example", group="Concept") +@Disabled +public class ConceptRevSPARKMini extends LinearOpMode { + + // Declare OpMode members. + private ElapsedTime runtime = new ElapsedTime(); + private DcMotorSimple leftDrive = null; + private DcMotorSimple rightDrive = null; + + @Override + public void runOpMode() { + telemetry.addData("Status", "Initialized"); + telemetry.update(); + + // Initialize the hardware variables. Note that the strings used here as parameters + // to 'get' must correspond to the names assigned during the robot configuration + // step (using the FTC Robot Controller app on the phone). + leftDrive = hardwareMap.get(DcMotorSimple.class, "left_drive"); + rightDrive = hardwareMap.get(DcMotorSimple.class, "right_drive"); + + // Most robots need the motor on one side to be reversed to drive forward + // Reverse the motor that runs backwards when connected directly to the battery + leftDrive.setDirection(DcMotorSimple.Direction.FORWARD); + rightDrive.setDirection(DcMotorSimple.Direction.REVERSE); + + // Wait for the game to start (driver presses PLAY) + waitForStart(); + runtime.reset(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + + // Setup a variable for each drive wheel to save power level for telemetry + double leftPower; + double rightPower; + + // Choose to drive using either Tank Mode, or POV Mode + // Comment out the method that's not used. The default below is POV. + + // POV Mode uses left stick to go forward, and right stick to turn. + // - This uses basic math to combine motions and is easier to drive straight. + double drive = -gamepad1.left_stick_y; + double turn = gamepad1.right_stick_x; + leftPower = Range.clip(drive + turn, -1.0, 1.0) ; + rightPower = Range.clip(drive - turn, -1.0, 1.0) ; + + // Tank Mode uses one stick to control each wheel. + // - This requires no math, but it is hard to drive forward slowly and keep straight. + // leftPower = -gamepad1.left_stick_y ; + // rightPower = -gamepad1.right_stick_y ; + + // Send calculated power to wheels + leftDrive.setPower(leftPower); + rightDrive.setPower(rightPower); + + // Show the elapsed game time and wheel power. + telemetry.addData("Status", "Run Time: " + runtime.toString()); + telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower); + telemetry.update(); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptScanServo.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptScanServo.java new file mode 100644 index 0000000..8e9c899 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptScanServo.java @@ -0,0 +1,115 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.Servo; + +/** + * This OpMode scans a single servo back and forwards until Stop is pressed. + * The code is structured as a LinearOpMode + * INCREMENT sets how much to increase/decrease the servo position each cycle + * CYCLE_MS sets the update period. + * + * This code assumes a Servo configured with the name "left_hand" as is found on a pushbot. + * + * NOTE: When any servo position is set, ALL attached servos are activated, so ensure that any other + * connected servos are able to move freely before running this test. + * + * 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 = "Concept: Scan Servo", group = "Concept") +@Disabled +public class ConceptScanServo extends LinearOpMode { + + static final double INCREMENT = 0.01; // amount to slew servo each CYCLE_MS cycle + static final int CYCLE_MS = 50; // period of each cycle + static final double MAX_POS = 1.0; // Maximum rotational position + static final double MIN_POS = 0.0; // Minimum rotational position + + // Define class members + Servo servo; + double position = (MAX_POS - MIN_POS) / 2; // Start at halfway position + boolean rampUp = true; + + + @Override + public void runOpMode() { + + // Connect to servo (Assume PushBot Left Hand) + // Change the text in quotes to match any servo name on your robot. + servo = hardwareMap.get(Servo.class, "left_hand"); + + // Wait for the start button + telemetry.addData(">", "Press Start to scan Servo." ); + telemetry.update(); + waitForStart(); + + + // Scan servo till stop pressed. + while(opModeIsActive()){ + + // slew the servo, according to the rampUp (direction) variable. + if (rampUp) { + // Keep stepping up until we hit the max value. + position += INCREMENT ; + if (position >= MAX_POS ) { + position = MAX_POS; + rampUp = !rampUp; // Switch ramp direction + } + } + else { + // Keep stepping down until we hit the min value. + position -= INCREMENT ; + if (position <= MIN_POS ) { + position = MIN_POS; + rampUp = !rampUp; // Switch ramp direction + } + } + + // Display the current value + telemetry.addData("Servo Position", "%5.2f", position); + telemetry.addData(">", "Press Stop to end test." ); + telemetry.update(); + + // Set the servo to the new position and pause; + servo.setPosition(position); + sleep(CYCLE_MS); + idle(); + } + + // Signal done; + telemetry.addData(">", "Done"); + telemetry.update(); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java new file mode 100644 index 0000000..51d99d2 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java @@ -0,0 +1,135 @@ +/* Copyright (c) 2018 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.ftccommon.SoundPlayer; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import java.io.File; + +/** + * This file demonstrates how to play simple sounds on both the RC and DS phones. + * It illustrates how to build sounds into your application as a resource. + * This technique is best suited for use with Android Studio since it assumes you will be creating a new application + * + * If you are using OnBotJava, please see the ConceptSoundsOnBotJava sample + * + * Use Android Studios 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 + * + * Operation: + * + * Gamepad X & B buttons are used to trigger sounds in this example, but any event can be used. + * Note: Time should be allowed for sounds to complete before playing other sounds. + * + * For sound files to be used as a compiled-in resource, they need to be located in a folder called "raw" under your "res" (resources) folder. + * You can create your own "raw" folder from scratch, or you can copy the one from the FtcRobotController module. + * + * Android Studio coders will ultimately need a folder in your path as follows: + * /TeamCode/src/main/res/raw + * + * Copy any .wav files you want to play into this folder. + * Make sure that your files ONLY use lower-case characters, and have no spaces or special characters other than underscore. + * + * The name you give your .wav files will become the resource ID for these sounds. + * eg: gold.wav becomes R.raw.gold + * + * If you wish to use the sounds provided for this sample, they are located in: + * /FtcRobotController/src/main/res/raw + * You can copy and paste the entire 'raw' folder using Android Studio. + * + */ + +@TeleOp(name="Concept: Sound Resources", group="Concept") +@Disabled +public class ConceptSoundsASJava extends LinearOpMode { + + // Declare OpMode members. + private boolean goldFound; // Sound file present flags + private boolean silverFound; + + private boolean isX = false; // Gamepad button state variables + private boolean isB = false; + + private boolean wasX = false; // Gamepad button history variables + private boolean WasB = false; + + @Override + public void runOpMode() { + + // Determine Resource IDs for sounds built into the RC application. + int silverSoundID = hardwareMap.appContext.getResources().getIdentifier("silver", "raw", hardwareMap.appContext.getPackageName()); + int goldSoundID = hardwareMap.appContext.getResources().getIdentifier("gold", "raw", hardwareMap.appContext.getPackageName()); + + // Determine if sound resources are found. + // Note: Preloading is NOT required, but it's a good way to verify all your sounds are available before you run. + if (goldSoundID != 0) + goldFound = SoundPlayer.getInstance().preload(hardwareMap.appContext, goldSoundID); + + if (silverSoundID != 0) + silverFound = SoundPlayer.getInstance().preload(hardwareMap.appContext, silverSoundID); + + // Display sound status + telemetry.addData("gold resource", goldFound ? "Found" : "NOT found\n Add gold.wav to /src/main/res/raw" ); + telemetry.addData("silver resource", silverFound ? "Found" : "Not found\n Add silver.wav to /src/main/res/raw" ); + + // Wait for the game to start (driver presses PLAY) + telemetry.addData(">", "Press Start to continue"); + telemetry.update(); + waitForStart(); + + telemetry.addData(">", "Press X, B to play sounds."); + telemetry.update(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + + // say Silver each time gamepad X is pressed (This sound is a resource) + if (silverFound && (isX = gamepad1.x) && !wasX) { + SoundPlayer.getInstance().startPlaying(hardwareMap.appContext, silverSoundID); + telemetry.addData("Playing", "Resource Silver"); + telemetry.update(); + } + + // say Gold each time gamepad B is pressed (This sound is a resource) + if (goldFound && (isB = gamepad1.b) && !WasB) { + SoundPlayer.getInstance().startPlaying(hardwareMap.appContext, goldSoundID); + telemetry.addData("Playing", "Resource Gold"); + telemetry.update(); + } + + // Save last button states + wasX = isX; + WasB = isB; + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsOnBotJava.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsOnBotJava.java new file mode 100644 index 0000000..bacb66e --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsOnBotJava.java @@ -0,0 +1,119 @@ +/* Copyright (c) 2018 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.ftccommon.SoundPlayer; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import java.io.File; + +/** + * This file demonstrates how to play simple sounds on both the RC and DS phones. + * It illustrates how to play sound files that have been copied to the RC Phone + * This technique is best suited for use with OnBotJava since it does not require the app to be modified. + * + * Operation: + * + * Gamepad X & B buttons are used to trigger sounds in this example, but any event can be used. + * Note: Time should be allowed for sounds to complete before playing other sounds. + * + * To play a new sound, you will need to copy the .wav files to the phone, and then provide the full path to them as part of your OpMode. + * This is done in this sample for the two sound files. silver.wav and gold.wav + * + * You can put the files in a variety of soundPaths, but we recommend you put them in the /FIRST/blocks/sounds folder. + * Your OpModes will have guaranteed access to this folder, and you can transfer files into this folder using the BLOCKS web page. + * -- There is a link called "sounds" on the right hand side of the color bar on the BLOCKS page that can be used to send sound files to this folder by default. + * Or you can use Windows File Manager, or ADB to transfer the sound files + * + * To get full use of THIS sample, you will need to copy two sound file called silver.wav and gold.wav to /FIRST/blocks/sounds on the RC phone. + * They can be located here: + * https://github.com/ftctechnh/ftc_app/tree/master/FtcRobotController/src/main/res/raw/gold.wav + * https://github.com/ftctechnh/ftc_app/tree/master/FtcRobotController/src/main/res/raw/silver.wav + */ + +@TeleOp(name="Concept: Sound Files", group="Concept") +@Disabled +public class ConceptSoundsOnBotJava extends LinearOpMode { + + // Point to sound files on the phone's drive + private String soundPath = "/FIRST/blocks/sounds"; + private File goldFile = new File("/sdcard" + soundPath + "/gold.wav"); + private File silverFile = new File("/sdcard" + soundPath + "/silver.wav"); + + // Declare OpMode members. + private boolean isX = false; // Gamepad button state variables + private boolean isB = false; + + private boolean wasX = false; // Gamepad button history variables + private boolean WasB = false; + + @Override + public void runOpMode() { + + // Make sure that the sound files exist on the phone + boolean goldFound = goldFile.exists(); + boolean silverFound = silverFile.exists(); + + // Display sound status + telemetry.addData("gold sound", goldFound ? "Found" : "NOT Found \nCopy gold.wav to " + soundPath ); + telemetry.addData("silver sound", silverFound ? "Found" : "NOT Found \nCopy silver.wav to " + soundPath ); + + // Wait for the game to start (driver presses PLAY) + telemetry.addData(">", "Press Start to continue"); + telemetry.update(); + waitForStart(); + + telemetry.addData(">", "Press X or B to play sounds."); + telemetry.update(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + + // say Silver each time gamepad X is pressed (This sound is a resource) + if (silverFound && (isX = gamepad1.x) && !wasX) { + SoundPlayer.getInstance().startPlaying(hardwareMap.appContext, silverFile); + telemetry.addData("Playing", "Silver File"); + telemetry.update(); + } + + // say Gold each time gamepad B is pressed (This sound is a resource) + if (goldFound && (isB = gamepad1.b) && !WasB) { + SoundPlayer.getInstance().startPlaying(hardwareMap.appContext, goldFile); + telemetry.addData("Playing", "Gold File"); + telemetry.update(); + } + + // Save last button states + wasX = isX; + WasB = isB; + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsSKYSTONE.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsSKYSTONE.java new file mode 100644 index 0000000..e8f3dde --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsSKYSTONE.java @@ -0,0 +1,123 @@ +/* Copyright (c) 2018 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import android.content.Context; + +import com.qualcomm.ftccommon.SoundPlayer; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; + +/** + * This file demonstrates how to play one of the several SKYSTONE/Star Wars sounds loaded into the SDK. + * It does this by creating a simple "chooser" controlled by the gamepad Up Down buttons. + * This code also prevents sounds from stacking up by setting a "playing" flag, which is cleared when the sound finishes playing. + * + * Use Android Studios 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 + * + * Operation: + * Use the DPAD to change the selected sound, and the Right Bumper to play it. + */ + +@TeleOp(name="SKYSTONE Sounds", group="Concept") +@Disabled +public class ConceptSoundsSKYSTONE extends LinearOpMode { + + // List of available sound resources + String sounds[] = {"ss_alarm", "ss_bb8_down", "ss_bb8_up", "ss_darth_vader", "ss_fly_by", + "ss_mf_fail", "ss_laser", "ss_laser_burst", "ss_light_saber", "ss_light_saber_long", "ss_light_saber_short", + "ss_light_speed", "ss_mine", "ss_power_up", "ss_r2d2_up", "ss_roger_roger", "ss_siren", "ss_wookie" }; + boolean soundPlaying = false; + + @Override + public void runOpMode() { + + // Variables for choosing from the available sounds + int soundIndex = 0; + int soundID = -1; + boolean was_dpad_up = false; + boolean was_dpad_down = false; + + Context myApp = hardwareMap.appContext; + + // create a sound parameter that holds the desired player parameters. + SoundPlayer.PlaySoundParams params = new SoundPlayer.PlaySoundParams(); + params.loopControl = 0; + params.waitForNonLoopingSoundsToFinish = true; + + // In this sample, we will skip waiting for the user to press play, and start displaying sound choices right away + while (!isStopRequested()) { + + // Look for DPAD presses to change the selection + if (gamepad1.dpad_down && !was_dpad_down) { + // Go to next sound (with list wrap) and display it + soundIndex = (soundIndex + 1) % sounds.length; + } + + if (gamepad1.dpad_up && !was_dpad_up) { + // Go to previous sound (with list wrap) and display it + soundIndex = (soundIndex + sounds.length - 1) % sounds.length; + } + + // Look for trigger to see if we should play sound + // Only start a new sound if we are currently not playing one. + if (gamepad1.right_bumper && !soundPlaying) { + + // Determine Resource IDs for the sounds you want to play, and make sure it's valid. + if ((soundID = myApp.getResources().getIdentifier(sounds[soundIndex], "raw", myApp.getPackageName())) != 0){ + + // Signal that the sound is now playing. + soundPlaying = true; + + // Start playing, and also Create a callback that will clear the playing flag when the sound is complete. + SoundPlayer.getInstance().startPlaying(myApp, soundID, params, null, + new Runnable() { + public void run() { + soundPlaying = false; + }} ); + } + } + + // Remember the last state of the dpad to detect changes. + was_dpad_up = gamepad1.dpad_up; + was_dpad_down = gamepad1.dpad_down; + + // Display the current sound choice, and the playing status. + telemetry.addData("", "Use DPAD up/down to choose sound."); + telemetry.addData("", "Press Right Bumper to play sound."); + telemetry.addData("", ""); + telemetry.addData("Sound >", sounds[soundIndex]); + telemetry.addData("Status >", soundPlaying ? "Playing" : "Stopped"); + telemetry.update(); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTelemetry.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTelemetry.java new file mode 100644 index 0000000..d3b4682 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTelemetry.java @@ -0,0 +1,178 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.VoltageSensor; +import com.qualcomm.robotcore.util.ElapsedTime; + +import org.firstinspires.ftc.robotcore.external.Func; +import org.firstinspires.ftc.robotcore.external.Telemetry; + +/** + * {@link ConceptTelemetry} illustrates various ways in which telemetry can be + * transmitted from the robot controller to the driver station. The sample illustrates + * numeric and text data, formatted output, and optimized evaluation of expensive-to-acquire + * information. The telemetry {@link Telemetry#log() log} is illustrated by scrolling a poem + * to the driver station. + * + * @see Telemetry + */ +@TeleOp(name = "Concept: Telemetry", group = "Concept") +@Disabled +public class ConceptTelemetry extends LinearOpMode { + /** keeps track of the line of the poem which is to be emitted next */ + int poemLine = 0; + + /** keeps track of how long it's been since we last emitted a line of poetry */ + ElapsedTime poemElapsed = new ElapsedTime(); + + static final String[] poem = new String[] { + + "Mary had a little lamb,", + "His fleece was white as snow,", + "And everywhere that Mary went,", + "The lamb was sure to go.", + "", + "He followed her to school one day,", + "Which was against the rule,", + "It made the children laugh and play", + "To see a lamb at school.", + "", + "And so the teacher turned it out,", + "But still it lingered near,", + "And waited patiently about,", + "Till Mary did appear.", + "", + "\"Why does the lamb love Mary so?\"", + "The eager children cry.", + "\"Why, Mary loves the lamb, you know,\"", + "The teacher did reply.", + "", + "" + }; + + @Override public void runOpMode() { + + /* we keep track of how long it's been since the OpMode was started, just + * to have some interesting data to show */ + ElapsedTime opmodeRunTime = new ElapsedTime(); + + // We show the log in oldest-to-newest order, as that's better for poetry + telemetry.log().setDisplayOrder(Telemetry.Log.DisplayOrder.OLDEST_FIRST); + // We can control the number of lines shown in the log + telemetry.log().setCapacity(6); + // The interval between lines of poetry, in seconds + double sPoemInterval = 0.6; + + /** + * Wait until we've been given the ok to go. For something to do, we emit the + * elapsed time as we sit here and wait. If we didn't want to do anything while + * we waited, we would just call {@link #waitForStart()}. + */ + while (!isStarted()) { + telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds()); + telemetry.update(); + idle(); + } + + // Ok, we've been given the ok to go + + /** + * As an illustration, the first line on our telemetry display will display the battery voltage. + * The idea here is that it's expensive to compute the voltage (at least for purposes of illustration) + * so you don't want to do it unless the data is actually going to make it to the + * driver station (recall that telemetry transmission is throttled to reduce bandwidth use. + * Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached. + * + * @see Telemetry#getMsTransmissionInterval() + */ + telemetry.addData("voltage", "%.1f volts", new Func() { + @Override public Double value() { + return getBatteryVoltage(); + } + }); + + // Reset to keep some timing stats for the post-'start' part of the opmode + opmodeRunTime.reset(); + int loopCount = 1; + + // Go go gadget robot! + while (opModeIsActive()) { + + // Emit poetry if it's been a while + if (poemElapsed.seconds() > sPoemInterval) { + emitPoemLine(); + } + + // As an illustration, show some loop timing information + telemetry.addData("loop count", loopCount); + telemetry.addData("ms/loop", "%.3f ms", opmodeRunTime.milliseconds() / loopCount); + + // Show joystick information as some other illustrative data + telemetry.addLine("left joystick | ") + .addData("x", gamepad1.left_stick_x) + .addData("y", gamepad1.left_stick_y); + telemetry.addLine("right joystick | ") + .addData("x", gamepad1.right_stick_x) + .addData("y", gamepad1.right_stick_y); + + /** + * Transmit the telemetry to the driver station, subject to throttling. + * @see Telemetry#getMsTransmissionInterval() + */ + telemetry.update(); + + /** Update loop info and play nice with the rest of the {@link Thread}s in the system */ + loopCount++; + } + } + + // emits a line of poetry to the telemetry log + void emitPoemLine() { + telemetry.log().add(poem[poemLine]); + poemLine = (poemLine+1) % poem.length; + poemElapsed.reset(); + } + + // Computes the current battery voltage + double getBatteryVoltage() { + double result = Double.POSITIVE_INFINITY; + for (VoltageSensor sensor : hardwareMap.voltageSensor) { + double voltage = sensor.getVoltage(); + if (voltage > 0) { + result = Math.min(result, voltage); + } + } + return result; + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java new file mode 100644 index 0000000..06436eb --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java @@ -0,0 +1,186 @@ +/* Copyright (c) 2019 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import java.util.List; +import org.firstinspires.ftc.robotcore.external.ClassFactory; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection; +import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector; +import org.firstinspires.ftc.robotcore.external.tfod.Recognition; + +/** + * This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to + * determine the position of the Freight Frenzy game elements. + * + * 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. + * + * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as + * is explained below. + */ +@TeleOp(name = "Concept: TensorFlow Object Detection", group = "Concept") +@Disabled +public class ConceptTensorFlowObjectDetection extends LinearOpMode { + /* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains + * the following 4 detectable objects + * 0: Ball, + * 1: Cube, + * 2: Duck, + * 3: Marker (duck location tape marker) + * + * Two additional model assets are available which only contain a subset of the objects: + * FreightFrenzy_BC.tflite 0: Ball, 1: Cube + * FreightFrenzy_DM.tflite 0: Duck, 1: Marker + */ + private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite"; + private static final String[] LABELS = { + "Ball", + "Cube", + "Duck", + "Marker" + }; + + /* + * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which + * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function. + * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer + * web site at https://developer.vuforia.com/license-manager. + * + * Vuforia license keys are always 380 characters long, and look as if they contain mostly + * random data. As an example, here is a example of a fragment of a valid key: + * ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ... + * Once you've obtained a license key, copy the string from the Vuforia web site + * and paste it in to your code on the next line, between the double quotes. + */ + private static final String VUFORIA_KEY = + " -- YOUR NEW VUFORIA KEY GOES HERE --- "; + + /** + * {@link #vuforia} is the variable we will use to store our instance of the Vuforia + * localization engine. + */ + private VuforiaLocalizer vuforia; + + /** + * {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object + * Detection engine. + */ + private TFObjectDetector tfod; + + @Override + public void runOpMode() { + // The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that + // first. + initVuforia(); + initTfod(); + + /** + * Activate TensorFlow Object Detection before we wait for the start command. + * Do it here so that the Camera Stream window will have the TensorFlow annotations visible. + **/ + if (tfod != null) { + tfod.activate(); + + // The TensorFlow software will scale the input images from the camera to a lower resolution. + // This can result in lower detection accuracy at longer distances (> 55cm or 22"). + // If your target is at distance greater than 50 cm (20") you can adjust the magnification value + // to artificially zoom in to the center of image. For best results, the "aspectRatio" argument + // should be set to the value of the images used to create the TensorFlow Object Detection model + // (typically 16/9). + tfod.setZoom(2.5, 16.0/9.0); + } + + /** Wait for the game to begin */ + telemetry.addData(">", "Press Play to start op mode"); + telemetry.update(); + waitForStart(); + + if (opModeIsActive()) { + while (opModeIsActive()) { + if (tfod != null) { + // getUpdatedRecognitions() will return null if no new information is available since + // the last time that call was made. + List updatedRecognitions = tfod.getUpdatedRecognitions(); + if (updatedRecognitions != null) { + telemetry.addData("# Object Detected", updatedRecognitions.size()); + + // step through the list of recognitions and display boundary info. + int i = 0; + for (Recognition recognition : updatedRecognitions) { + telemetry.addData(String.format("label (%d)", i), recognition.getLabel()); + telemetry.addData(String.format(" left,top (%d)", i), "%.03f , %.03f", + recognition.getLeft(), recognition.getTop()); + telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f", + recognition.getRight(), recognition.getBottom()); + i++; + } + telemetry.update(); + } + } + } + } + } + + /** + * Initialize the Vuforia localization engine. + */ + private void initVuforia() { + /* + * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine. + */ + VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); + + parameters.vuforiaLicenseKey = VUFORIA_KEY; + parameters.cameraDirection = CameraDirection.BACK; + + // Instantiate the Vuforia engine + vuforia = ClassFactory.getInstance().createVuforia(parameters); + + // Loading trackables is not necessary for the TensorFlow Object Detection engine. + } + + /** + * Initialize the TensorFlow Object Detection engine. + */ + private void initTfod() { + int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier( + "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName()); + TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId); + tfodParameters.minResultConfidence = 0.8f; + tfodParameters.isModelTensorFlow2 = true; + tfodParameters.inputSize = 320; + tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia); + tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java new file mode 100644 index 0000000..f8c7df1 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java @@ -0,0 +1,221 @@ +/* Copyright (c) 2020 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import java.util.List; +import org.firstinspires.ftc.robotcore.external.ClassFactory; +import org.firstinspires.ftc.robotcore.external.hardware.camera.SwitchableCamera; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; +import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector; +import org.firstinspires.ftc.robotcore.external.tfod.Recognition; + +/** + * This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to + * determine the position of the Freight Frenzy game elements. + * + * 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. + * + * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as + * is explained below. + */ +@TeleOp(name = "Concept: TensorFlow Object Detection Switchable Cameras", group = "Concept") +@Disabled +public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode { + /* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains + * the following 4 detectable objects + * 0: Ball, + * 1: Cube, + * 2: Duck, + * 3: Marker (duck location tape marker) + * + * Two additional model assets are available which only contain a subset of the objects: + * FreightFrenzy_BC.tflite 0: Ball, 1: Cube + * FreightFrenzy_DM.tflite 0: Duck, 1: Marker + */ + private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite"; + private static final String[] LABELS = { + "Ball", + "Cube", + "Duck", + "Marker" + }; + + /* + * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which + * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function. + * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer + * web site at https://developer.vuforia.com/license-manager. + * + * Vuforia license keys are always 380 characters long, and look as if they contain mostly + * random data. As an example, here is a example of a fragment of a valid key: + * ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ... + * Once you've obtained a license key, copy the string from the Vuforia web site + * and paste it in to your code on the next line, between the double quotes. + */ + private static final String VUFORIA_KEY = + " -- YOUR NEW VUFORIA KEY GOES HERE --- "; + + /** + * {@link #vuforia} is the variable we will use to store our instance of the Vuforia + * localization engine. + */ + private VuforiaLocalizer vuforia; + + /** + * Variables used for switching cameras. + */ + private WebcamName webcam1, webcam2; + private SwitchableCamera switchableCamera; + private boolean oldLeftBumper; + private boolean oldRightBumper; + + /** + * {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object + * Detection engine. + */ + private TFObjectDetector tfod; + + @Override + public void runOpMode() { + // The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that + // first. + initVuforia(); + initTfod(); + + /** + * Activate TensorFlow Object Detection before we wait for the start command. + * Do it here so that the Camera Stream window will have the TensorFlow annotations visible. + **/ + if (tfod != null) { + tfod.activate(); + + // The TensorFlow software will scale the input images from the camera to a lower resolution. + // This can result in lower detection accuracy at longer distances (> 55cm or 22"). + // If your target is at distance greater than 50 cm (20") you can adjust the magnification value + // to artificially zoom in to the center of image. For best results, the "aspectRatio" argument + // should be set to the value of the images used to create the TensorFlow Object Detection model + // (typically 16/9). + tfod.setZoom(2.5, 16.0/9.0); + } + + /** Wait for the game to begin */ + telemetry.addData(">", "Press Play to start op mode"); + telemetry.update(); + waitForStart(); + + if (opModeIsActive()) { + while (opModeIsActive()) { + if (tfod != null) { + doCameraSwitching(); + List recognitions = tfod.getRecognitions(); + telemetry.addData("# Object Detected", recognitions.size()); + // step through the list of recognitions and display boundary info. + int i = 0; + for (Recognition recognition : recognitions) { + telemetry.addData(String.format("label (%d)", i), recognition.getLabel()); + telemetry.addData(String.format(" left,top (%d)", i), "%.03f , %.03f", + recognition.getLeft(), recognition.getTop()); + telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f", + recognition.getRight(), recognition.getBottom()); + i++; + } + telemetry.update(); + } + } + } + } + + /** + * Initialize the Vuforia localization engine. + */ + private void initVuforia() { + /* + * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine. + */ + VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); + + parameters.vuforiaLicenseKey = VUFORIA_KEY; + + // Indicate that we wish to be able to switch cameras. + webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1"); + webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2"); + parameters.cameraName = ClassFactory.getInstance().getCameraManager().nameForSwitchableCamera(webcam1, webcam2); + + // Instantiate the Vuforia engine + vuforia = ClassFactory.getInstance().createVuforia(parameters); + + // Set the active camera to Webcam 1. + switchableCamera = (SwitchableCamera) vuforia.getCamera(); + switchableCamera.setActiveCamera(webcam1); + + // Loading trackables is not necessary for the TensorFlow Object Detection engine. + } + + /** + * Initialize the TensorFlow Object Detection engine. + */ + private void initTfod() { + int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier( + "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName()); + TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId); + tfodParameters.minResultConfidence = 0.8f; + tfodParameters.isModelTensorFlow2 = true; + tfodParameters.inputSize = 320; + tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia); + tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS); + } + + private void doCameraSwitching() { + // If the left bumper is pressed, use Webcam 1. + // If the right bumper is pressed, use Webcam 2. + boolean newLeftBumper = gamepad1.left_bumper; + boolean newRightBumper = gamepad1.right_bumper; + if (newLeftBumper && !oldLeftBumper) { + switchableCamera.setActiveCamera(webcam1); + } else if (newRightBumper && !oldRightBumper) { + switchableCamera.setActiveCamera(webcam2); + } + oldLeftBumper = newLeftBumper; + oldRightBumper = newRightBumper; + + if (switchableCamera.getActiveCamera().equals(webcam1)) { + telemetry.addData("activeCamera", "Webcam 1"); + telemetry.addData("Press RightBumper", "to switch to Webcam 2"); + } else { + telemetry.addData("activeCamera", "Webcam 2"); + telemetry.addData("Press LeftBumper", "to switch to Webcam 1"); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionWebcam.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionWebcam.java new file mode 100644 index 0000000..0820863 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionWebcam.java @@ -0,0 +1,185 @@ +/* Copyright (c) 2019 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import java.util.List; +import org.firstinspires.ftc.robotcore.external.ClassFactory; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; +import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector; +import org.firstinspires.ftc.robotcore.external.tfod.Recognition; + +/** + * This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to + * determine the position of the Freight Frenzy game elements. + * + * 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. + * + * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as + * is explained below. + */ +@TeleOp(name = "Concept: TensorFlow Object Detection Webcam", group = "Concept") +@Disabled +public class ConceptTensorFlowObjectDetectionWebcam extends LinearOpMode { + /* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains + * the following 4 detectable objects + * 0: Ball, + * 1: Cube, + * 2: Duck, + * 3: Marker (duck location tape marker) + * + * Two additional model assets are available which only contain a subset of the objects: + * FreightFrenzy_BC.tflite 0: Ball, 1: Cube + * FreightFrenzy_DM.tflite 0: Duck, 1: Marker + */ + private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite"; + private static final String[] LABELS = { + "Ball", + "Cube", + "Duck", + "Marker" + }; + + /* + * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which + * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function. + * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer + * web site at https://developer.vuforia.com/license-manager. + * + * Vuforia license keys are always 380 characters long, and look as if they contain mostly + * random data. As an example, here is a example of a fragment of a valid key: + * ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ... + * Once you've obtained a license key, copy the string from the Vuforia web site + * and paste it in to your code on the next line, between the double quotes. + */ + private static final String VUFORIA_KEY = + " -- YOUR NEW VUFORIA KEY GOES HERE --- "; + + /** + * {@link #vuforia} is the variable we will use to store our instance of the Vuforia + * localization engine. + */ + private VuforiaLocalizer vuforia; + + /** + * {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object + * Detection engine. + */ + private TFObjectDetector tfod; + + @Override + public void runOpMode() { + // The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that + // first. + initVuforia(); + initTfod(); + + /** + * Activate TensorFlow Object Detection before we wait for the start command. + * Do it here so that the Camera Stream window will have the TensorFlow annotations visible. + **/ + if (tfod != null) { + tfod.activate(); + + // The TensorFlow software will scale the input images from the camera to a lower resolution. + // This can result in lower detection accuracy at longer distances (> 55cm or 22"). + // If your target is at distance greater than 50 cm (20") you can adjust the magnification value + // to artificially zoom in to the center of image. For best results, the "aspectRatio" argument + // should be set to the value of the images used to create the TensorFlow Object Detection model + // (typically 16/9). + tfod.setZoom(2.5, 16.0/9.0); + } + + /** Wait for the game to begin */ + telemetry.addData(">", "Press Play to start op mode"); + telemetry.update(); + waitForStart(); + + if (opModeIsActive()) { + while (opModeIsActive()) { + if (tfod != null) { + // getUpdatedRecognitions() will return null if no new information is available since + // the last time that call was made. + List updatedRecognitions = tfod.getUpdatedRecognitions(); + if (updatedRecognitions != null) { + telemetry.addData("# Object Detected", updatedRecognitions.size()); + // step through the list of recognitions and display boundary info. + int i = 0; + for (Recognition recognition : updatedRecognitions) { + telemetry.addData(String.format("label (%d)", i), recognition.getLabel()); + telemetry.addData(String.format(" left,top (%d)", i), "%.03f , %.03f", + recognition.getLeft(), recognition.getTop()); + telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f", + recognition.getRight(), recognition.getBottom()); + i++; + } + telemetry.update(); + } + } + } + } + } + + /** + * Initialize the Vuforia localization engine. + */ + private void initVuforia() { + /* + * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine. + */ + VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); + + parameters.vuforiaLicenseKey = VUFORIA_KEY; + parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1"); + + // Instantiate the Vuforia engine + vuforia = ClassFactory.getInstance().createVuforia(parameters); + + // Loading trackables is not necessary for the TensorFlow Object Detection engine. + } + + /** + * Initialize the TensorFlow Object Detection engine. + */ + private void initTfod() { + int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier( + "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName()); + TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId); + tfodParameters.minResultConfidence = 0.8f; + tfodParameters.isModelTensorFlow2 = true; + tfodParameters.inputSize = 320; + tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia); + tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentification.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentification.java new file mode 100644 index 0000000..f0d735b --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentification.java @@ -0,0 +1,186 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; + +import org.firstinspires.ftc.robotcore.external.ClassFactory; +import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix; +import org.firstinspires.ftc.robotcore.external.matrices.VectorF; +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; +import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; +import org.firstinspires.ftc.robotcore.external.navigation.Orientation; +import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark; +import org.firstinspires.ftc.robotcore.external.navigation.VuMarkInstanceId; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables; + +/** + * This OpMode illustrates the basics of using the Vuforia engine to determine + * the identity of Vuforia VuMarks encountered on the field. The code is structured as + * a LinearOpMode. It shares much structure with {@link ConceptVuforiaNavigation}; we do not here + * duplicate the core Vuforia documentation found there, but rather instead focus on the + * differences between the use of Vuforia for navigation vs VuMark identification. + * + * @see ConceptVuforiaNavigation + * @see VuforiaLocalizer + * @see VuforiaTrackableDefaultListener + * see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf + * + * 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. + * + * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as + * is explained in {@link ConceptVuforiaNavigation}. + */ + +@TeleOp(name="Concept: VuMark Id", group ="Concept") +@Disabled +public class ConceptVuMarkIdentification extends LinearOpMode { + + 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; + + @Override public void runOpMode() { + + /* + * To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone); + */ + int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName()); + VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId); + + // OR... Do Not Activate the Camera Monitor View, to save power + // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); + + /* + * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which + * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function. + * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer + * web site at https://developer.vuforia.com/license-manager. + * + * Vuforia license keys are always 380 characters long, and look as if they contain mostly + * random data. As an example, here is a example of a fragment of a valid key: + * ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ... + * Once you've obtained a license key, copy the string from the Vuforia web site + * and paste it in to your code on the next line, between the double quotes. + */ + parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE --- "; + + /* + * We also indicate which camera on the RC that we wish to use. + * Here we chose the back (HiRes) camera (for greater range), but + * for a competition robot, the front camera might be more convenient. + */ + parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK; + + /** + * Instantiate the Vuforia engine + */ + vuforia = ClassFactory.getInstance().createVuforia(parameters); + + + /** + * Load the data set containing the VuMarks for Relic Recovery. There's only one trackable + * in this data set: all three of the VuMarks in the game were created from this one template, + * but differ in their instance id information. + * @see VuMarkInstanceId + */ + 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(); + + while (opModeIsActive()) { + + /** + * See if any of the instances of {@link relicTemplate} are currently visible. + * {@link RelicRecoveryVuMark} is an enum which can have the following values: + * UNKNOWN, LEFT, CENTER, and RIGHT. When a VuMark is visible, something other than + * UNKNOWN will be returned by {@link RelicRecoveryVuMark#from(VuforiaTrackable)}. + */ + 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.getListener()).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"; + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentificationWebcam.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentificationWebcam.java new file mode 100644 index 0000000..866261f --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentificationWebcam.java @@ -0,0 +1,194 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; + +import org.firstinspires.ftc.robotcore.external.ClassFactory; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix; +import org.firstinspires.ftc.robotcore.external.matrices.VectorF; +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; +import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; +import org.firstinspires.ftc.robotcore.external.navigation.Orientation; +import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark; +import org.firstinspires.ftc.robotcore.external.navigation.VuMarkInstanceId; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables; + +/** + * This OpMode illustrates the basics of using the Vuforia engine to determine + * the identity of Vuforia VuMarks encountered on the field. The code is structured as + * a LinearOpMode. It shares much structure with {@link ConceptVuforiaNavigationWebcam}; we do not here + * duplicate the core Vuforia documentation found there, but rather instead focus on the + * differences between the use of Vuforia for navigation vs VuMark identification. + * + * @see ConceptVuforiaNavigationWebcam + * @see VuforiaLocalizer + * @see VuforiaTrackableDefaultListener + * see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf + * + * 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. + * + * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as + * is explained in {@link ConceptVuforiaNavigationWebcam}. + */ + +@TeleOp(name="Concept: VuMark Id Webcam", group ="Concept") +@Disabled +public class ConceptVuMarkIdentificationWebcam extends LinearOpMode { + + 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; + + /** + * This is the webcam we are to use. As with other hardware devices such as motors and + * servos, this device is identified using the robot configuration tool in the FTC application. + */ + WebcamName webcamName; + + @Override public void runOpMode() { + + /* + * Retrieve the camera we are to use. + */ + webcamName = hardwareMap.get(WebcamName.class, "Webcam 1"); + + /* + * To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone); + * If no camera monitor is desired, use the parameterless constructor instead (commented out below). + */ + int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName()); + VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId); + + // OR... Do Not Activate the Camera Monitor View, to save power + // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); + + /* + * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which + * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function. + * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer + * web site at https://developer.vuforia.com/license-manager. + * + * Vuforia license keys are always 380 characters long, and look as if they contain mostly + * random data. As an example, here is a example of a fragment of a valid key: + * ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ... + * Once you've obtained a license key, copy the string from the Vuforia web site + * and paste it in to your code on the next line, between the double quotes. + */ + parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE --- "; + + + /** + * We also indicate which camera on the RC we wish to use. For pedagogical purposes, + * we use the same logic as in {@link ConceptVuforiaNavigationWebcam}. + */ + parameters.cameraName = webcamName; + this.vuforia = ClassFactory.getInstance().createVuforia(parameters); + + /** + * Load the data set containing the VuMarks for Relic Recovery. There's only one trackable + * in this data set: all three of the VuMarks in the game were created from this one template, + * but differ in their instance id information. + * @see VuMarkInstanceId + */ + 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(); + + while (opModeIsActive()) { + + /** + * See if any of the instances of {@link relicTemplate} are currently visible. + * {@link RelicRecoveryVuMark} is an enum which can have the following values: + * UNKNOWN, LEFT, CENTER, and RIGHT. When a VuMark is visible, something other than + * UNKNOWN will be returned by {@link RelicRecoveryVuMark#from(VuforiaTrackable)}. + */ + 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.getListener()).getFtcCameraFromTarget(); + 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"; + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaDriveToTargetWebcam.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaDriveToTargetWebcam.java new file mode 100644 index 0000000..0175964 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaDriveToTargetWebcam.java @@ -0,0 +1,202 @@ +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.DcMotor; +import com.qualcomm.robotcore.util.Range; + +import org.firstinspires.ftc.robotcore.external.ClassFactory; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix; +import org.firstinspires.ftc.robotcore.external.matrices.VectorF; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables; + +/** + * This OpMode illustrates using a webcam to locate and drive towards ANY Vuforia target. + * The code assumes a basic two-wheel Robot Configuration with motors named left_drive and right_drive. + * The motor directions must be set so a positive drive goes forward and a positive turn rotates to the right. + * + * Under manual control, the left stick will move forward/back, and the right stick will turn left/right. + * This is called POV Joystick mode, different than Tank Drive (where each joystick controls a wheel). + * Manually drive the robot until it displays Target data on the Driver Station. + * Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode. + * Release the Left Bumper to return to manual driving mode. + * + * Use DESIRED_DISTANCE to set how close you want the robot to get to the target. + * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN and TURN_GAIN constants. + * + * For more Vuforia details, or to adapt this OpMode for a phone camera, view the + * ConceptVuforiaFieldNavigation and ConceptVuforiaFieldNavigationWebcam samples. + * + * 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. + * + * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as + * is explained below. + */ + +@TeleOp(name="Drive To Target", group = "Concept") +@Disabled +public class ConceptVuforiaDriveToTargetWebcam extends LinearOpMode +{ + // Adjust these numbers to suit your robot. + final double DESIRED_DISTANCE = 8.0; // this is how close the camera should get to the target (inches) + // The GAIN constants set the relationship between the measured position error, + // and how much power is applied to the drive motors. Drive = Error * Gain + // Make these values smaller for smoother control. + final double SPEED_GAIN = 0.02 ; // Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error. (0.50 / 25.0) + final double TURN_GAIN = 0.01 ; // Turn Control "Gain". eg: Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) + + final double MM_PER_INCH = 25.40 ; // Metric conversion + + /* + * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which + * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function. + * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer + * web site at https://developer.vuforia.com/license-manager. + * + * Vuforia license keys are always 380 characters long, and look as if they contain mostly + * random data. As an example, here is a example of a fragment of a valid key: + * ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ... + * Once you've obtained a license key, copy the string from the Vuforia web site + * and paste it in to your code on the next line, between the double quotes. + */ + private static final String VUFORIA_KEY = + " --- YOUR NEW VUFORIA KEY GOES HERE --- "; + + VuforiaLocalizer vuforia = null; + OpenGLMatrix targetPose = null; + String targetName = ""; + + private DcMotor leftDrive = null; + private DcMotor rightDrive = null; + + @Override public void runOpMode() + { + /* + * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine. + * To get an on-phone camera preview, use the code below. + * If no camera preview is desired, use the parameter-less constructor instead (commented out below). + */ + int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName()); + VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId); + // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); + + parameters.vuforiaLicenseKey = VUFORIA_KEY; + + // Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target. + parameters.useExtendedTracking = false; + + // Connect to the camera we are to use. This name must match what is set up in Robot Configuration + parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1"); + this.vuforia = ClassFactory.getInstance().createVuforia(parameters); + + // Load the trackable objects from the Assets file, and give them meaningful names + VuforiaTrackables targetsFreightFrenzy = this.vuforia.loadTrackablesFromAsset("FreightFrenzy"); + targetsFreightFrenzy.get(0).setName("Blue Storage"); + targetsFreightFrenzy.get(1).setName("Blue Alliance Wall"); + targetsFreightFrenzy.get(2).setName("Red Storage"); + targetsFreightFrenzy.get(3).setName("Red Alliance Wall"); + + // Start tracking targets in the background + targetsFreightFrenzy.activate(); + + // Initialize the hardware variables. Note that the strings used here as parameters + // to 'get' must correspond to the names assigned during the robot configuration + // step (using the FTC Robot Controller app on the phone). + leftDrive = hardwareMap.get(DcMotor.class, "left_drive"); + rightDrive = hardwareMap.get(DcMotor.class, "right_drive"); + + // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. + // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive. + leftDrive.setDirection(DcMotor.Direction.FORWARD); + rightDrive.setDirection(DcMotor.Direction.REVERSE); + + telemetry.addData(">", "Press Play to start"); + telemetry.update(); + + waitForStart(); + + boolean targetFound = false; // Set to true when a target is detected by Vuforia + double targetRange = 0; // Distance from camera to target in Inches + double targetBearing = 0; // Robot Heading, relative to target. Positive degrees means target is to the right. + double drive = 0; // Desired forward power (-1 to +1) + double turn = 0; // Desired turning power (-1 to +1) + + while (opModeIsActive()) + { + // Look for first visible target, and save its pose. + targetFound = false; + for (VuforiaTrackable trackable : targetsFreightFrenzy) + { + if (((VuforiaTrackableDefaultListener) trackable.getListener()).isVisible()) + { + targetPose = ((VuforiaTrackableDefaultListener)trackable.getListener()).getVuforiaCameraFromTarget(); + + // if we have a target, process the "pose" to determine the position of the target relative to the robot. + if (targetPose != null) + { + targetFound = true; + targetName = trackable.getName(); + VectorF trans = targetPose.getTranslation(); + + // Extract the X & Y components of the offset of the target relative to the robot + double targetX = trans.get(0) / MM_PER_INCH; // Image X axis + double targetY = trans.get(2) / MM_PER_INCH; // Image Z axis + + // target range is based on distance from robot position to origin (right triangle). + targetRange = Math.hypot(targetX, targetY); + + // target bearing is based on angle formed between the X axis and the target range line + targetBearing = Math.toDegrees(Math.asin(targetX / targetRange)); + + break; // jump out of target tracking loop if we find a target. + } + } + } + + // Tell the driver what we see, and what to do. + if (targetFound) { + telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n"); + telemetry.addData("Target", " %s", targetName); + telemetry.addData("Range", "%5.1f inches", targetRange); + telemetry.addData("Bearing","%3.0f degrees", targetBearing); + } else { + telemetry.addData(">","Drive using joystick to find target\n"); + } + + // Drive to target Automatically if Left Bumper is being pressed, AND we have found a target. + if (gamepad1.left_bumper && targetFound) { + + // Determine heading and range error so we can use them to control the robot automatically. + double rangeError = (targetRange - DESIRED_DISTANCE); + double headingError = targetBearing; + + // Use the speed and turn "gains" to calculate how we want the robot to move. + drive = rangeError * SPEED_GAIN; + turn = headingError * TURN_GAIN ; + + telemetry.addData("Auto","Drive %5.2f, Turn %5.2f", drive, turn); + } else { + + // drive using manual POV Joystick mode. + drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%. + turn = gamepad1.right_stick_x / 4.0; // Reduce turn rate to 25%. + telemetry.addData("Manual","Drive %5.2f, Turn %5.2f", drive, turn); + } + telemetry.update(); + + // Calculate left and right wheel powers and send to them to the motors. + double leftPower = Range.clip(drive + turn, -1.0, 1.0) ; + double rightPower = Range.clip(drive - turn, -1.0, 1.0) ; + leftDrive.setPower(leftPower); + rightDrive.setPower(rightPower); + + sleep(10); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigation.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigation.java new file mode 100644 index 0000000..d9d13dc --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigation.java @@ -0,0 +1,284 @@ +/* Copyright (c) 2019 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.robotcore.external.ClassFactory; +import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix; +import org.firstinspires.ftc.robotcore.external.matrices.VectorF; +import org.firstinspires.ftc.robotcore.external.navigation.Orientation; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables; + +import java.util.ArrayList; +import java.util.List; + +import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES; +import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ; +import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.YZX; +import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC; +import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection.BACK; + +/** + * This OpMode illustrates using the Vuforia localizer to determine positioning and orientation of + * robot on the FTC field using the RC phone's camera. The code is structured as a LinearOpMode + * + * Note: If you are using a WEBCAM see ConceptVuforiaFieldNavigationWebcam.java + * + * When images are located, Vuforia is able to determine the position and orientation of the + * image relative to the camera. This sample code then combines that information with a + * knowledge of where the target images are on the field, to determine the location of the camera. + * + * Finally, the location of the camera on the robot is used to determine the + * robot's location and orientation on the field. + * + * To learn more about the FTC field coordinate model, see FTC_FieldCoordinateSystemDefinition.pdf in this folder + * + * 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. + * + * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as + * is explained below. + */ + +@TeleOp(name="Vuforia Field Nav", group ="Concept") +@Disabled +public class ConceptVuforiaFieldNavigation extends LinearOpMode { + + // IMPORTANT: For Phone Camera, set 1) the camera source and 2) the orientation, based on how your phone is mounted: + // 1) Camera Source. Valid choices are: BACK (behind screen) or FRONT (selfie side) + // 2) Phone Orientation. Choices are: PHONE_IS_PORTRAIT = true (portrait) or PHONE_IS_PORTRAIT = false (landscape) + + private static final VuforiaLocalizer.CameraDirection CAMERA_CHOICE = BACK; + private static final boolean PHONE_IS_PORTRAIT = false ; + + /* + * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which + * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function. + * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer + * web site at https://developer.vuforia.com/license-manager. + * + * Vuforia license keys are always 380 characters long, and look as if they contain mostly + * random data. As an example, here is a example of a fragment of a valid key: + * ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ... + * Once you've obtained a license key, copy the string from the Vuforia web site + * and paste it in to your code on the next line, between the double quotes. + */ + private static final String VUFORIA_KEY = + " -- YOUR NEW VUFORIA KEY GOES HERE --- "; + + // Since ImageTarget trackables use mm to specifiy their dimensions, we must use mm for all the physical dimension. + // We will define some constants and conversions here. These are useful for the Freight Frenzy field. + private static final float mmPerInch = 25.4f; + private static final float mmTargetHeight = 6 * mmPerInch; // the height of the center of the target image above the floor + private static final float halfField = 72 * mmPerInch; + private static final float halfTile = 12 * mmPerInch; + private static final float oneAndHalfTile = 36 * mmPerInch; + + // Class Members + private OpenGLMatrix lastLocation = null; + private VuforiaLocalizer vuforia = null; + private VuforiaTrackables targets = null ; + + private boolean targetVisible = false; + private float phoneXRotate = 0; + private float phoneYRotate = 0; + private float phoneZRotate = 0; + + @Override public void runOpMode() { + /* + * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine. + * To get an on-phone camera preview, use the code below. + * If no camera preview is desired, use the parameter-less constructor instead (commented out below). + */ + int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName()); + VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId); + // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); + + parameters.vuforiaLicenseKey = VUFORIA_KEY; + parameters.cameraDirection = CAMERA_CHOICE; + + // Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target. + parameters.useExtendedTracking = false; + + // Instantiate the Vuforia engine + vuforia = ClassFactory.getInstance().createVuforia(parameters); + + // Load the data sets for the trackable objects. These particular data + // sets are stored in the 'assets' part of our application. + targets = this.vuforia.loadTrackablesFromAsset("FreightFrenzy"); + + // For convenience, gather together all the trackable objects in one easily-iterable collection */ + List allTrackables = new ArrayList(); + allTrackables.addAll(targets); + + /** + * In order for localization to work, we need to tell the system where each target is on the field, and + * where the phone resides on the robot. These specifications are in the form of transformation matrices. + * Transformation matrices are a central, important concept in the math here involved in localization. + * See Transformation Matrix + * for detailed information. Commonly, you'll encounter transformation matrices as instances + * of the {@link OpenGLMatrix} class. + * + * If you are standing in the Red Alliance Station looking towards the center of the field, + * - The X axis runs from your left to the right. (positive from the center to the right) + * - The Y axis runs from the Red Alliance Station towards the other side of the field + * where the Blue Alliance Station is. (Positive is from the center, towards the BlueAlliance station) + * - The Z axis runs from the floor, upwards towards the ceiling. (Positive is above the floor) + * + * Before being transformed, each target image is conceptually located at the origin of the field's + * coordinate system (the center of the field), facing up. + */ + + // Name and locate each trackable object + identifyTarget(0, "Blue Storage", -halfField, oneAndHalfTile, mmTargetHeight, 90, 0, 90); + identifyTarget(1, "Blue Alliance Wall", halfTile, halfField, mmTargetHeight, 90, 0, 0); + identifyTarget(2, "Red Storage", -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90); + identifyTarget(3, "Red Alliance Wall", halfTile, -halfField, mmTargetHeight, 90, 0, 180); + + /* + * Create a transformation matrix describing where the phone is on the robot. + * + * NOTE !!!! It's very important that you turn OFF your phone's Auto-Screen-Rotation option. + * Lock it into Portrait for these numbers to work. + * + * Info: The coordinate frame for the robot looks the same as the field. + * The robot's "forward" direction is facing out along X axis, with the LEFT side facing out along the Y axis. + * Z is UP on the robot. This equates to a heading angle of Zero degrees. + * + * The phone starts out lying flat, with the screen facing Up and with the physical top of the phone + * pointing to the LEFT side of the Robot. + * The two examples below assume that the camera is facing forward out the front of the robot. + */ + + // We need to rotate the camera around its long axis to bring the correct camera forward. + if (CAMERA_CHOICE == BACK) { + phoneYRotate = -90; + } else { + phoneYRotate = 90; + } + + // Rotate the phone vertical about the X axis if it's in portrait mode + if (PHONE_IS_PORTRAIT) { + phoneXRotate = 90 ; + } + + // Next, translate the camera lens to where it is on the robot. + // In this example, it is centered on the robot (left-to-right and front-to-back), and 6 inches above ground level. + final float CAMERA_FORWARD_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the forward distance from the center of the robot to the camera lens + final float CAMERA_VERTICAL_DISPLACEMENT = 6.0f * mmPerInch; // eg: Camera is 6 Inches above ground + final float CAMERA_LEFT_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the left distance from the center of the robot to the camera lens + + OpenGLMatrix robotFromCamera = OpenGLMatrix + .translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT) + .multiplied(Orientation.getRotationMatrix(EXTRINSIC, YZX, DEGREES, phoneYRotate, phoneZRotate, phoneXRotate)); + + /** Let all the trackable listeners know where the phone is. */ + for (VuforiaTrackable trackable : allTrackables) { + ((VuforiaTrackableDefaultListener) trackable.getListener()).setPhoneInformation(robotFromCamera, parameters.cameraDirection); + } + + /* + * WARNING: + * In this sample, we do not wait for PLAY to be pressed. Target Tracking is started immediately when INIT is pressed. + * This sequence is used to enable the new remote DS Camera Stream feature to be used with this sample. + * CONSEQUENTLY do not put any driving commands in this loop. + * To restore the normal opmode structure, just un-comment the following line: + */ + + // waitForStart(); + + /* Note: To use the remote camera preview: + * AFTER you hit Init on the Driver Station, use the "options menu" to select "Camera Stream" + * Tap the preview window to receive a fresh image. + * It is not permitted to transition to RUN while the camera preview window is active. + * Either press STOP to exit the OpMode, or use the "options menu" again, and select "Camera Stream" to close the preview window. + */ + + targets.activate(); + while (!isStopRequested()) { + + // check all the trackable targets to see which one (if any) is visible. + targetVisible = false; + for (VuforiaTrackable trackable : allTrackables) { + if (((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible()) { + telemetry.addData("Visible Target", trackable.getName()); + targetVisible = true; + + // getUpdatedRobotLocation() will return null if no new information is available since + // the last time that call was made, or if the trackable is not currently visible. + OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation(); + if (robotLocationTransform != null) { + lastLocation = robotLocationTransform; + } + break; + } + } + + // Provide feedback as to where the robot is located (if we know). + if (targetVisible) { + // express position (translation) of robot in inches. + VectorF translation = lastLocation.getTranslation(); + telemetry.addData("Pos (inches)", "{X, Y, Z} = %.1f, %.1f, %.1f", + translation.get(0) / mmPerInch, translation.get(1) / mmPerInch, translation.get(2) / mmPerInch); + + // express the rotation of the robot in degrees. + Orientation rotation = Orientation.getOrientation(lastLocation, EXTRINSIC, XYZ, DEGREES); + telemetry.addData("Rot (deg)", "{Roll, Pitch, Heading} = %.0f, %.0f, %.0f", rotation.firstAngle, rotation.secondAngle, rotation.thirdAngle); + } + else { + telemetry.addData("Visible Target", "none"); + } + telemetry.update(); + } + + // Disable Tracking when we are done; + targets.deactivate(); + } + + /*** + * Identify a target by naming it, and setting its position and orientation on the field + * @param targetIndex + * @param targetName + * @param dx, dy, dz Target offsets in x,y,z axes + * @param rx, ry, rz Target rotations in x,y,z axes + */ + void identifyTarget(int targetIndex, String targetName, float dx, float dy, float dz, float rx, float ry, float rz) { + VuforiaTrackable aTarget = targets.get(targetIndex); + aTarget.setName(targetName); + aTarget.setLocation(OpenGLMatrix.translation(dx, dy, dz) + .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, rx, ry, rz))); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigationWebcam.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigationWebcam.java new file mode 100644 index 0000000..c19ee22 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigationWebcam.java @@ -0,0 +1,274 @@ +/* Copyright (c) 2019 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.robotcore.external.ClassFactory; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix; +import org.firstinspires.ftc.robotcore.external.matrices.VectorF; +import org.firstinspires.ftc.robotcore.external.navigation.Orientation; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener; +import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables; + +import java.util.ArrayList; +import java.util.List; + +import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES; +import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ; +import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XZY; +import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC; + +/** + * This OpMode illustrates using the Vuforia localizer to determine positioning and orientation of + * robot on the FTC field using a WEBCAM. The code is structured as a LinearOpMode + * + * NOTE: If you are running on a Phone with a built-in camera, use the ConceptVuforiaFieldNavigation example instead of this one. + * NOTE: It is possible to switch between multiple WebCams (eg: one for the left side and one for the right). + * For a related example of how to do this, see ConceptTensorFlowObjectDetectionSwitchableCameras + * + * When images are located, Vuforia is able to determine the position and orientation of the + * image relative to the camera. This sample code then combines that information with a + * knowledge of where the target images are on the field, to determine the location of the camera. + * + * Finally, the location of the camera on the robot is used to determine the + * robot's location and orientation on the field. + * + * To learn more about the FTC field coordinate model, see FTC_FieldCoordinateSystemDefinition.pdf in this folder + * + * 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. + * + * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as + * is explained below. + */ + +@TeleOp(name="Vuforia Field Nav Webcam", group ="Concept") +@Disabled +public class ConceptVuforiaFieldNavigationWebcam extends LinearOpMode { + + /* + * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which + * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function. + * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer + * web site at https://developer.vuforia.com/license-manager. + * + * Vuforia license keys are always 380 characters long, and look as if they contain mostly + * random data. As an example, here is a example of a fragment of a valid key: + * ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ... + * Once you've obtained a license key, copy the string from the Vuforia web site + * and paste it in to your code on the next line, between the double quotes. + */ + private static final String VUFORIA_KEY = + " --- YOUR NEW VUFORIA KEY GOES HERE --- "; + + // Since ImageTarget trackables use mm to specifiy their dimensions, we must use mm for all the physical dimension. + // We will define some constants and conversions here + private static final float mmPerInch = 25.4f; + private static final float mmTargetHeight = 6 * mmPerInch; // the height of the center of the target image above the floor + private static final float halfField = 72 * mmPerInch; + private static final float halfTile = 12 * mmPerInch; + private static final float oneAndHalfTile = 36 * mmPerInch; + + // Class Members + private OpenGLMatrix lastLocation = null; + private VuforiaLocalizer vuforia = null; + private VuforiaTrackables targets = null ; + private WebcamName webcamName = null; + + private boolean targetVisible = false; + + @Override public void runOpMode() { + // Connect to the camera we are to use. This name must match what is set up in Robot Configuration + webcamName = hardwareMap.get(WebcamName.class, "Webcam 1"); + + /* + * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine. + * We can pass Vuforia the handle to a camera preview resource (on the RC screen); + * If no camera-preview is desired, use the parameter-less constructor instead (commented out below). + * Note: A preview window is required if you want to view the camera stream on the Driver Station Phone. + */ + int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName()); + VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId); + // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); + + parameters.vuforiaLicenseKey = VUFORIA_KEY; + + // We also indicate which camera we wish to use. + parameters.cameraName = webcamName; + + // Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target. + parameters.useExtendedTracking = false; + + // Instantiate the Vuforia engine + vuforia = ClassFactory.getInstance().createVuforia(parameters); + + // Load the data sets for the trackable objects. These particular data + // sets are stored in the 'assets' part of our application. + targets = this.vuforia.loadTrackablesFromAsset("FreightFrenzy"); + + // For convenience, gather together all the trackable objects in one easily-iterable collection */ + List allTrackables = new ArrayList(); + allTrackables.addAll(targets); + + /** + * In order for localization to work, we need to tell the system where each target is on the field, and + * where the phone resides on the robot. These specifications are in the form of transformation matrices. + * Transformation matrices are a central, important concept in the math here involved in localization. + * See Transformation Matrix + * for detailed information. Commonly, you'll encounter transformation matrices as instances + * of the {@link OpenGLMatrix} class. + * + * If you are standing in the Red Alliance Station looking towards the center of the field, + * - The X axis runs from your left to the right. (positive from the center to the right) + * - The Y axis runs from the Red Alliance Station towards the other side of the field + * where the Blue Alliance Station is. (Positive is from the center, towards the BlueAlliance station) + * - The Z axis runs from the floor, upwards towards the ceiling. (Positive is above the floor) + * + * Before being transformed, each target image is conceptually located at the origin of the field's + * coordinate system (the center of the field), facing up. + */ + + // Name and locate each trackable object + identifyTarget(0, "Blue Storage", -halfField, oneAndHalfTile, mmTargetHeight, 90, 0, 90); + identifyTarget(1, "Blue Alliance Wall", halfTile, halfField, mmTargetHeight, 90, 0, 0); + identifyTarget(2, "Red Storage", -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90); + identifyTarget(3, "Red Alliance Wall", halfTile, -halfField, mmTargetHeight, 90, 0, 180); + + /* + * Create a transformation matrix describing where the camera is on the robot. + * + * Info: The coordinate frame for the robot looks the same as the field. + * The robot's "forward" direction is facing out along X axis, with the LEFT side facing out along the Y axis. + * Z is UP on the robot. This equates to a bearing angle of Zero degrees. + * + * For a WebCam, the default starting orientation of the camera is looking UP (pointing in the Z direction), + * with the wide (horizontal) axis of the camera aligned with the X axis, and + * the Narrow (vertical) axis of the camera aligned with the Y axis + * + * But, this example assumes that the camera is actually facing forward out the front of the robot. + * So, the "default" camera position requires two rotations to get it oriented correctly. + * 1) First it must be rotated +90 degrees around the X axis to get it horizontal (its now facing out the right side of the robot) + * 2) Next it must be be rotated +90 degrees (counter-clockwise) around the Z axis to face forward. + * + * Finally the camera can be translated to its actual mounting position on the robot. + * In this example, it is centered on the robot (left-to-right and front-to-back), and 6 inches above ground level. + */ + + final float CAMERA_FORWARD_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the forward distance from the center of the robot to the camera lens + final float CAMERA_VERTICAL_DISPLACEMENT = 6.0f * mmPerInch; // eg: Camera is 6 Inches above ground + final float CAMERA_LEFT_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the left distance from the center of the robot to the camera lens + + OpenGLMatrix cameraLocationOnRobot = OpenGLMatrix + .translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT) + .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XZY, DEGREES, 90, 90, 0)); + + /** Let all the trackable listeners know where the camera is. */ + for (VuforiaTrackable trackable : allTrackables) { + ((VuforiaTrackableDefaultListener) trackable.getListener()).setCameraLocationOnRobot(parameters.cameraName, cameraLocationOnRobot); + } + + /* + * WARNING: + * In this sample, we do not wait for PLAY to be pressed. Target Tracking is started immediately when INIT is pressed. + * This sequence is used to enable the new remote DS Camera Preview feature to be used with this sample. + * CONSEQUENTLY do not put any driving commands in this loop. + * To restore the normal opmode structure, just un-comment the following line: + */ + + // waitForStart(); + + /* Note: To use the remote camera preview: + * AFTER you hit Init on the Driver Station, use the "options menu" to select "Camera Stream" + * Tap the preview window to receive a fresh image. + * It is not permitted to transition to RUN while the camera preview window is active. + * Either press STOP to exit the OpMode, or use the "options menu" again, and select "Camera Stream" to close the preview window. + */ + + targets.activate(); + while (!isStopRequested()) { + + // check all the trackable targets to see which one (if any) is visible. + targetVisible = false; + for (VuforiaTrackable trackable : allTrackables) { + if (((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible()) { + telemetry.addData("Visible Target", trackable.getName()); + targetVisible = true; + + // getUpdatedRobotLocation() will return null if no new information is available since + // the last time that call was made, or if the trackable is not currently visible. + OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation(); + if (robotLocationTransform != null) { + lastLocation = robotLocationTransform; + } + break; + } + } + + // Provide feedback as to where the robot is located (if we know). + if (targetVisible) { + // express position (translation) of robot in inches. + VectorF translation = lastLocation.getTranslation(); + telemetry.addData("Pos (inches)", "{X, Y, Z} = %.1f, %.1f, %.1f", + translation.get(0) / mmPerInch, translation.get(1) / mmPerInch, translation.get(2) / mmPerInch); + + // express the rotation of the robot in degrees. + Orientation rotation = Orientation.getOrientation(lastLocation, EXTRINSIC, XYZ, DEGREES); + telemetry.addData("Rot (deg)", "{Roll, Pitch, Heading} = %.0f, %.0f, %.0f", rotation.firstAngle, rotation.secondAngle, rotation.thirdAngle); + } + else { + telemetry.addData("Visible Target", "none"); + } + telemetry.update(); + } + + // Disable Tracking when we are done; + targets.deactivate(); + } + + /*** + * Identify a target by naming it, and setting its position and orientation on the field + * @param targetIndex + * @param targetName + * @param dx, dy, dz Target offsets in x,y,z axes + * @param rx, ry, rz Target rotations in x,y,z axes + */ + void identifyTarget(int targetIndex, String targetName, float dx, float dy, float dz, float rx, float ry, float rz) { + VuforiaTrackable aTarget = targets.get(targetIndex); + aTarget.setName(targetName); + aTarget.setLocation(OpenGLMatrix.translation(dx, dy, dz) + .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, rx, ry, rz))); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptWebcam.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptWebcam.java new file mode 100644 index 0000000..41f3dac --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptWebcam.java @@ -0,0 +1,310 @@ +/* Copyright (c) 2020 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import android.graphics.Bitmap; +import android.graphics.ImageFormat; +import android.os.Handler; + +import androidx.annotation.NonNull; + +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.util.RobotLog; + +import org.firstinspires.ftc.robotcore.external.ClassFactory; +import org.firstinspires.ftc.robotcore.external.android.util.Size; +import org.firstinspires.ftc.robotcore.external.function.Consumer; +import org.firstinspires.ftc.robotcore.external.function.Continuation; +import org.firstinspires.ftc.robotcore.external.hardware.camera.Camera; +import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCaptureRequest; +import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCaptureSequenceId; +import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCaptureSession; +import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCharacteristics; +import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraException; +import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraFrame; +import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraManager; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.internal.collections.EvictingBlockingQueue; +import org.firstinspires.ftc.robotcore.internal.network.CallbackLooper; +import org.firstinspires.ftc.robotcore.internal.system.AppUtil; +import org.firstinspires.ftc.robotcore.internal.system.ContinuationSynchronizer; +import org.firstinspires.ftc.robotcore.internal.system.Deadline; + +import java.io.File; +import java.io.FileOutputStream; +import java.io.IOException; +import java.util.Locale; +import java.util.concurrent.ArrayBlockingQueue; +import java.util.concurrent.TimeUnit; + +/** + * This OpMode illustrates how to open a webcam and retrieve images from it. It requires a configuration + * containing a webcam with the default name ("Webcam 1"). When the opmode runs, pressing the 'A' button + * will cause a frame from the camera to be written to a file on the device, which can then be retrieved + * by various means (e.g.: Device File Explorer in Android Studio; plugging the device into a PC and + * using Media Transfer; ADB; etc) + */ +@TeleOp(name="Concept: Webcam", group ="Concept") +@Disabled +public class ConceptWebcam extends LinearOpMode { + + //---------------------------------------------------------------------------------------------- + // State + //---------------------------------------------------------------------------------------------- + + private static final String TAG = "Webcam Sample"; + + /** How long we are to wait to be granted permission to use the camera before giving up. Here, + * we wait indefinitely */ + private static final int secondsPermissionTimeout = Integer.MAX_VALUE; + + /** State regarding our interaction with the camera */ + private CameraManager cameraManager; + private WebcamName cameraName; + private Camera camera; + private CameraCaptureSession cameraCaptureSession; + + /** The queue into which all frames from the camera are placed as they become available. + * Frames which are not processed by the OpMode are automatically discarded. */ + private EvictingBlockingQueue frameQueue; + + /** State regarding where and how to save frames when the 'A' button is pressed. */ + private int captureCounter = 0; + private File captureDirectory = AppUtil.ROBOT_DATA_DIR; + + /** A utility object that indicates where the asynchronous callbacks from the camera + * infrastructure are to run. In this OpMode, that's all hidden from you (but see {@link #startCamera} + * if you're curious): no knowledge of multi-threading is needed here. */ + private Handler callbackHandler; + + //---------------------------------------------------------------------------------------------- + // Main OpMode entry + //---------------------------------------------------------------------------------------------- + + @Override public void runOpMode() { + + callbackHandler = CallbackLooper.getDefault().getHandler(); + + cameraManager = ClassFactory.getInstance().getCameraManager(); + cameraName = hardwareMap.get(WebcamName.class, "Webcam 1"); + + initializeFrameQueue(2); + AppUtil.getInstance().ensureDirectoryExists(captureDirectory); + + try { + openCamera(); + if (camera == null) return; + + startCamera(); + if (cameraCaptureSession == null) return; + + telemetry.addData(">", "Press Play to start"); + telemetry.update(); + waitForStart(); + telemetry.clear(); + telemetry.addData(">", "Started...Press 'A' to capture frame"); + + boolean buttonPressSeen = false; + boolean captureWhenAvailable = false; + while (opModeIsActive()) { + + boolean buttonIsPressed = gamepad1.a; + if (buttonIsPressed && !buttonPressSeen) { + captureWhenAvailable = true; + } + buttonPressSeen = buttonIsPressed; + + if (captureWhenAvailable) { + Bitmap bmp = frameQueue.poll(); + if (bmp != null) { + captureWhenAvailable = false; + onNewFrame(bmp); + } + } + + telemetry.update(); + } + } finally { + closeCamera(); + } + } + + /** Do something with the frame */ + private void onNewFrame(Bitmap frame) { + saveBitmap(frame); + frame.recycle(); // not strictly necessary, but helpful + } + + //---------------------------------------------------------------------------------------------- + // Camera operations + //---------------------------------------------------------------------------------------------- + + private void initializeFrameQueue(int capacity) { + /** The frame queue will automatically throw away bitmap frames if they are not processed + * quickly by the OpMode. This avoids a buildup of frames in memory */ + frameQueue = new EvictingBlockingQueue(new ArrayBlockingQueue(capacity)); + frameQueue.setEvictAction(new Consumer() { + @Override public void accept(Bitmap frame) { + // RobotLog.ii(TAG, "frame recycled w/o processing"); + frame.recycle(); // not strictly necessary, but helpful + } + }); + } + + private void openCamera() { + if (camera != null) return; // be idempotent + + Deadline deadline = new Deadline(secondsPermissionTimeout, TimeUnit.SECONDS); + camera = cameraManager.requestPermissionAndOpenCamera(deadline, cameraName, null); + if (camera == null) { + error("camera not found or permission to use not granted: %s", cameraName); + } + } + + private void startCamera() { + if (cameraCaptureSession != null) return; // be idempotent + + /** YUY2 is supported by all Webcams, per the USB Webcam standard: See "USB Device Class Definition + * for Video Devices: Uncompressed Payload, Table 2-1". Further, often this is the *only* + * image format supported by a camera */ + final int imageFormat = ImageFormat.YUY2; + + /** Verify that the image is supported, and fetch size and desired frame rate if so */ + CameraCharacteristics cameraCharacteristics = cameraName.getCameraCharacteristics(); + if (!contains(cameraCharacteristics.getAndroidFormats(), imageFormat)) { + error("image format not supported"); + return; + } + final Size size = cameraCharacteristics.getDefaultSize(imageFormat); + final int fps = cameraCharacteristics.getMaxFramesPerSecond(imageFormat, size); + + /** Some of the logic below runs asynchronously on other threads. Use of the synchronizer + * here allows us to wait in this method until all that asynchrony completes before returning. */ + final ContinuationSynchronizer synchronizer = new ContinuationSynchronizer<>(); + try { + /** Create a session in which requests to capture frames can be made */ + camera.createCaptureSession(Continuation.create(callbackHandler, new CameraCaptureSession.StateCallbackDefault() { + @Override public void onConfigured(@NonNull CameraCaptureSession session) { + try { + /** The session is ready to go. Start requesting frames */ + final CameraCaptureRequest captureRequest = camera.createCaptureRequest(imageFormat, size, fps); + session.startCapture(captureRequest, + new CameraCaptureSession.CaptureCallback() { + @Override public void onNewFrame(@NonNull CameraCaptureSession session, @NonNull CameraCaptureRequest request, @NonNull CameraFrame cameraFrame) { + /** A new frame is available. The frame data has not been copied for us, and we can only access it + * for the duration of the callback. So we copy here manually. */ + Bitmap bmp = captureRequest.createEmptyBitmap(); + cameraFrame.copyToBitmap(bmp); + frameQueue.offer(bmp); + } + }, + Continuation.create(callbackHandler, new CameraCaptureSession.StatusCallback() { + @Override public void onCaptureSequenceCompleted(@NonNull CameraCaptureSession session, CameraCaptureSequenceId cameraCaptureSequenceId, long lastFrameNumber) { + RobotLog.ii(TAG, "capture sequence %s reports completed: lastFrame=%d", cameraCaptureSequenceId, lastFrameNumber); + } + }) + ); + synchronizer.finish(session); + } catch (CameraException|RuntimeException e) { + RobotLog.ee(TAG, e, "exception starting capture"); + error("exception starting capture"); + session.close(); + synchronizer.finish(null); + } + } + })); + } catch (CameraException|RuntimeException e) { + RobotLog.ee(TAG, e, "exception starting camera"); + error("exception starting camera"); + synchronizer.finish(null); + } + + /** Wait for all the asynchrony to complete */ + try { + synchronizer.await(); + } catch (InterruptedException e) { + Thread.currentThread().interrupt(); + } + + /** Retrieve the created session. This will be null on error. */ + cameraCaptureSession = synchronizer.getValue(); + } + + private void stopCamera() { + if (cameraCaptureSession != null) { + cameraCaptureSession.stopCapture(); + cameraCaptureSession.close(); + cameraCaptureSession = null; + } + } + + private void closeCamera() { + stopCamera(); + if (camera != null) { + camera.close(); + camera = null; + } + } + + //---------------------------------------------------------------------------------------------- + // Utilities + //---------------------------------------------------------------------------------------------- + + private void error(String msg) { + telemetry.log().add(msg); + telemetry.update(); + } + private void error(String format, Object...args) { + telemetry.log().add(format, args); + telemetry.update(); + } + + private boolean contains(int[] array, int value) { + for (int i : array) { + if (i == value) return true; + } + return false; + } + + private void saveBitmap(Bitmap bitmap) { + File file = new File(captureDirectory, String.format(Locale.getDefault(), "webcam-frame-%d.jpg", captureCounter++)); + try { + try (FileOutputStream outputStream = new FileOutputStream(file)) { + bitmap.compress(Bitmap.CompressFormat.JPEG, 100, outputStream); + telemetry.log().add("captured %s", file.getName()); + } + } catch (IOException e) { + RobotLog.ee(TAG, e, "exception in saveBitmap()"); + error("exception saving %s", file.getName()); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/FTC_FieldCoordinateSystemDefinition.pdf b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/FTC_FieldCoordinateSystemDefinition.pdf new file mode 100644 index 0000000..c424d47 Binary files /dev/null and b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/FTC_FieldCoordinateSystemDefinition.pdf differ diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/HardwarePushbot.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/HardwarePushbot.java new file mode 100644 index 0000000..4848137 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/HardwarePushbot.java @@ -0,0 +1,105 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.HardwareMap; +import com.qualcomm.robotcore.hardware.Servo; +import com.qualcomm.robotcore.util.ElapsedTime; + +/** + * This is NOT an opmode. + * + * This class can be used to define all the specific hardware for a single robot. + * In this case that robot is a Pushbot. + * See PushbotTeleopTank_Iterative and others classes starting with "Pushbot" for usage examples. + * + * This hardware class assumes the following device names have been configured on the robot: + * Note: All names are lower case and some have single spaces between words. + * + * Motor channel: Left drive motor: "left_drive" + * Motor channel: Right drive motor: "right_drive" + * Motor channel: Manipulator drive motor: "left_arm" + * Servo channel: Servo to open left claw: "left_hand" + * Servo channel: Servo to open right claw: "right_hand" + */ +public class HardwarePushbot +{ + /* Public OpMode members. */ + public DcMotor leftDrive = null; + public DcMotor rightDrive = null; + public DcMotor leftArm = null; + public Servo leftClaw = null; + public Servo rightClaw = null; + + public static final double MID_SERVO = 0.5 ; + public static final double ARM_UP_POWER = 0.45 ; + public static final double ARM_DOWN_POWER = -0.45 ; + + /* local OpMode members. */ + HardwareMap hwMap = null; + private ElapsedTime period = new ElapsedTime(); + + /* Constructor */ + public HardwarePushbot(){ + + } + + /* Initialize standard Hardware interfaces */ + public void init(HardwareMap ahwMap) { + // Save reference to Hardware map + hwMap = ahwMap; + + // Define and Initialize Motors + leftDrive = hwMap.get(DcMotor.class, "left_drive"); + rightDrive = hwMap.get(DcMotor.class, "right_drive"); + leftArm = hwMap.get(DcMotor.class, "left_arm"); + leftDrive.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors + rightDrive.setDirection(DcMotor.Direction.REVERSE);// Set to FORWARD if using AndyMark motors + + // Set all motors to zero power + leftDrive.setPower(0); + rightDrive.setPower(0); + leftArm.setPower(0); + + // Set all motors to run without encoders. + // May want to use RUN_USING_ENCODERS if encoders are installed. + leftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); + rightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); + leftArm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); + + // Define and initialize ALL installed servos. + leftClaw = hwMap.get(Servo.class, "left_hand"); + rightClaw = hwMap.get(Servo.class, "right_hand"); + leftClaw.setPosition(MID_SERVO); + rightClaw.setPosition(MID_SERVO); + } + } + diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByEncoder_Linear.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByEncoder_Linear.java new file mode 100644 index 0000000..facc531 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByEncoder_Linear.java @@ -0,0 +1,184 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.ElapsedTime; + +/** + * This file illustrates the concept of driving a path based on encoder counts. + * It uses the common Pushbot hardware class to define the drive on the robot. + * The code is structured as a LinearOpMode + * + * The code REQUIRES that you DO have encoders on the wheels, + * otherwise you would use: PushbotAutoDriveByTime; + * + * This code ALSO requires that the drive Motors have been configured such that a positive + * power command moves them forwards, and causes the encoders to count UP. + * + * The desired path in this example is: + * - Drive forward for 48 inches + * - Spin right for 12 Inches + * - Drive Backwards for 24 inches + * - Stop and close the claw. + * + * The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS) + * that performs the actual movement. + * This methods assumes that each movement is relative to the last stopping place. + * There are other ways to perform encoder based moves, but this method is probably the simplest. + * This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile + * + * Use Android Studios 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 + */ + +@Autonomous(name="Pushbot: Auto Drive By Encoder", group="Pushbot") +@Disabled +public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode { + + /* Declare OpMode members. */ + HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware + private ElapsedTime runtime = new ElapsedTime(); + + static final double COUNTS_PER_MOTOR_REV = 1440 ; // eg: TETRIX Motor Encoder + static final double DRIVE_GEAR_REDUCTION = 2.0 ; // This is < 1.0 if geared UP + static final double WHEEL_DIAMETER_INCHES = 4.0 ; // For figuring circumference + static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / + (WHEEL_DIAMETER_INCHES * 3.1415); + static final double DRIVE_SPEED = 0.6; + static final double TURN_SPEED = 0.5; + + @Override + public void runOpMode() { + + /* + * Initialize the drive system variables. + * The init() method of the hardware class does all the work here + */ + robot.init(hardwareMap); + + // Send telemetry message to signify robot waiting; + telemetry.addData("Status", "Resetting Encoders"); // + telemetry.update(); + + robot.leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + robot.rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + + robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + + // Send telemetry message to indicate successful Encoder reset + telemetry.addData("Path0", "Starting at %7d :%7d", + robot.leftDrive.getCurrentPosition(), + robot.rightDrive.getCurrentPosition()); + telemetry.update(); + + // Wait for the game to start (driver presses PLAY) + waitForStart(); + + // Step through each leg of the path, + // Note: Reverse movement is obtained by setting a negative distance (not speed) + encoderDrive(DRIVE_SPEED, 48, 48, 5.0); // S1: Forward 47 Inches with 5 Sec timeout + encoderDrive(TURN_SPEED, 12, -12, 4.0); // S2: Turn Right 12 Inches with 4 Sec timeout + encoderDrive(DRIVE_SPEED, -24, -24, 4.0); // S3: Reverse 24 Inches with 4 Sec timeout + + robot.leftClaw.setPosition(1.0); // S4: Stop and close the claw. + robot.rightClaw.setPosition(0.0); + sleep(1000); // pause for servos to move + + telemetry.addData("Path", "Complete"); + telemetry.update(); + } + + /* + * Method to perform a relative move, based on encoder counts. + * Encoders are not reset as the move is based on the current position. + * Move will stop if any of three conditions occur: + * 1) Move gets to the desired position + * 2) Move runs out of time + * 3) Driver stops the opmode running. + */ + public void encoderDrive(double speed, + double leftInches, double rightInches, + double timeoutS) { + int newLeftTarget; + int newRightTarget; + + // Ensure that the opmode is still active + if (opModeIsActive()) { + + // Determine new target position, and pass to motor controller + newLeftTarget = robot.leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH); + newRightTarget = robot.rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH); + robot.leftDrive.setTargetPosition(newLeftTarget); + robot.rightDrive.setTargetPosition(newRightTarget); + + // Turn On RUN_TO_POSITION + robot.leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); + robot.rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); + + // reset the timeout time and start motion. + runtime.reset(); + robot.leftDrive.setPower(Math.abs(speed)); + robot.rightDrive.setPower(Math.abs(speed)); + + // keep looping while we are still active, and there is time left, and both motors are running. + // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits + // its target position, the motion will stop. This is "safer" in the event that the robot will + // always end the motion as soon as possible. + // However, if you require that BOTH motors have finished their moves before the robot continues + // onto the next step, use (isBusy() || isBusy()) in the loop test. + while (opModeIsActive() && + (runtime.seconds() < timeoutS) && + (robot.leftDrive.isBusy() && robot.rightDrive.isBusy())) { + + // Display it for the driver. + telemetry.addData("Path1", "Running to %7d :%7d", newLeftTarget, newRightTarget); + telemetry.addData("Path2", "Running at %7d :%7d", + robot.leftDrive.getCurrentPosition(), + robot.rightDrive.getCurrentPosition()); + telemetry.update(); + } + + // Stop all motion; + robot.leftDrive.setPower(0); + robot.rightDrive.setPower(0); + + // Turn off RUN_TO_POSITION + robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + + // sleep(250); // optional pause after each move + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByGyro_Linear.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByGyro_Linear.java new file mode 100644 index 0000000..a366bec --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByGyro_Linear.java @@ -0,0 +1,363 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.ElapsedTime; +import com.qualcomm.robotcore.util.Range; + +/** + * This file illustrates the concept of driving a path based on Gyro heading and encoder counts. + * It uses the common Pushbot hardware class to define the drive on the robot. + * The code is structured as a LinearOpMode + * + * The code REQUIRES that you DO have encoders on the wheels, + * otherwise you would use: PushbotAutoDriveByTime; + * + * This code ALSO requires that you have a Modern Robotics I2C gyro with the name "gyro" + * otherwise you would use: PushbotAutoDriveByEncoder; + * + * This code requires that the drive Motors have been configured such that a positive + * power command moves them forward, and causes the encoders to count UP. + * + * This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile + * + * In order to calibrate the Gyro correctly, the robot must remain stationary during calibration. + * This is performed when the INIT button is pressed on the Driver Station. + * This code assumes that the robot is stationary when the INIT button is pressed. + * If this is not the case, then the INIT should be performed again. + * + * Note: in this example, all angles are referenced to the initial coordinate frame set during the + * the Gyro Calibration process, or whenever the program issues a resetZAxisIntegrator() call on the Gyro. + * + * The angle of movement/rotation is assumed to be a standardized rotation around the robot Z axis, + * which means that a Positive rotation is Counter Clock Wise, looking down on the field. + * This is consistent with the FTC field coordinate conventions set out in the document: + * ftc_app\doc\tutorial\FTC_FieldCoordinateSystemDefinition.pdf + * + * Use Android Studios 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 + */ + +@Autonomous(name="Pushbot: Auto Drive By Gyro", group="Pushbot") +@Disabled +public class PushbotAutoDriveByGyro_Linear extends LinearOpMode { + + /* Declare OpMode members. */ + HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware + ModernRoboticsI2cGyro gyro = null; // Additional Gyro device + + static final double COUNTS_PER_MOTOR_REV = 1440 ; // eg: TETRIX Motor Encoder + static final double DRIVE_GEAR_REDUCTION = 2.0 ; // This is < 1.0 if geared UP + static final double WHEEL_DIAMETER_INCHES = 4.0 ; // For figuring circumference + static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / + (WHEEL_DIAMETER_INCHES * 3.1415); + + // These constants define the desired driving/control characteristics + // The can/should be tweaked to suite the specific robot drive train. + static final double DRIVE_SPEED = 0.7; // Nominal speed for better accuracy. + static final double TURN_SPEED = 0.5; // Nominal half speed for better accuracy. + + static final double HEADING_THRESHOLD = 1 ; // As tight as we can make it with an integer gyro + static final double P_TURN_COEFF = 0.1; // Larger is more responsive, but also less stable + static final double P_DRIVE_COEFF = 0.15; // Larger is more responsive, but also less stable + + + @Override + public void runOpMode() { + + /* + * Initialize the standard drive system variables. + * The init() method of the hardware class does most of the work here + */ + robot.init(hardwareMap); + gyro = (ModernRoboticsI2cGyro)hardwareMap.gyroSensor.get("gyro"); + + // Ensure the robot it stationary, then reset the encoders and calibrate the gyro. + robot.leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + robot.rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + + // Send telemetry message to alert driver that we are calibrating; + telemetry.addData(">", "Calibrating Gyro"); // + telemetry.update(); + + gyro.calibrate(); + + // make sure the gyro is calibrated before continuing + while (!isStopRequested() && gyro.isCalibrating()) { + sleep(50); + idle(); + } + + telemetry.addData(">", "Robot Ready."); // + telemetry.update(); + + robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + + // Wait for the game to start (Display Gyro value), and reset gyro before we move.. + while (!isStarted()) { + telemetry.addData(">", "Robot Heading = %d", gyro.getIntegratedZValue()); + telemetry.update(); + } + + gyro.resetZAxisIntegrator(); + + // Step through each leg of the path, + // Note: Reverse movement is obtained by setting a negative distance (not speed) + // Put a hold after each turn + gyroDrive(DRIVE_SPEED, 48.0, 0.0); // Drive FWD 48 inches + gyroTurn( TURN_SPEED, -45.0); // Turn CCW to -45 Degrees + gyroHold( TURN_SPEED, -45.0, 0.5); // Hold -45 Deg heading for a 1/2 second + gyroDrive(DRIVE_SPEED, 12.0, -45.0); // Drive FWD 12 inches at 45 degrees + gyroTurn( TURN_SPEED, 45.0); // Turn CW to 45 Degrees + gyroHold( TURN_SPEED, 45.0, 0.5); // Hold 45 Deg heading for a 1/2 second + gyroTurn( TURN_SPEED, 0.0); // Turn CW to 0 Degrees + gyroHold( TURN_SPEED, 0.0, 1.0); // Hold 0 Deg heading for a 1 second + gyroDrive(DRIVE_SPEED,-48.0, 0.0); // Drive REV 48 inches + + telemetry.addData("Path", "Complete"); + telemetry.update(); + } + + + /** + * Method to drive on a fixed compass bearing (angle), based on encoder counts. + * Move will stop if either of these conditions occur: + * 1) Move gets to the desired position + * 2) Driver stops the opmode running. + * + * @param speed Target speed for forward motion. Should allow for _/- variance for adjusting heading + * @param distance Distance (in inches) to move from current position. Negative distance means move backwards. + * @param angle Absolute Angle (in Degrees) relative to last gyro reset. + * 0 = fwd. +ve is CCW from fwd. -ve is CW from forward. + * If a relative angle is required, add/subtract from current heading. + */ + public void gyroDrive ( double speed, + double distance, + double angle) { + + int newLeftTarget; + int newRightTarget; + int moveCounts; + double max; + double error; + double steer; + double leftSpeed; + double rightSpeed; + + // Ensure that the opmode is still active + if (opModeIsActive()) { + + // Determine new target position, and pass to motor controller + moveCounts = (int)(distance * COUNTS_PER_INCH); + newLeftTarget = robot.leftDrive.getCurrentPosition() + moveCounts; + newRightTarget = robot.rightDrive.getCurrentPosition() + moveCounts; + + // Set Target and Turn On RUN_TO_POSITION + robot.leftDrive.setTargetPosition(newLeftTarget); + robot.rightDrive.setTargetPosition(newRightTarget); + + robot.leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); + robot.rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); + + // start motion. + speed = Range.clip(Math.abs(speed), 0.0, 1.0); + robot.leftDrive.setPower(speed); + robot.rightDrive.setPower(speed); + + // keep looping while we are still active, and BOTH motors are running. + while (opModeIsActive() && + (robot.leftDrive.isBusy() && robot.rightDrive.isBusy())) { + + // adjust relative speed based on heading error. + error = getError(angle); + steer = getSteer(error, P_DRIVE_COEFF); + + // if driving in reverse, the motor correction also needs to be reversed + if (distance < 0) + steer *= -1.0; + + leftSpeed = speed - steer; + rightSpeed = speed + steer; + + // Normalize speeds if either one exceeds +/- 1.0; + max = Math.max(Math.abs(leftSpeed), Math.abs(rightSpeed)); + if (max > 1.0) + { + leftSpeed /= max; + rightSpeed /= max; + } + + robot.leftDrive.setPower(leftSpeed); + robot.rightDrive.setPower(rightSpeed); + + // Display drive status for the driver. + telemetry.addData("Err/St", "%5.1f/%5.1f", error, steer); + telemetry.addData("Target", "%7d:%7d", newLeftTarget, newRightTarget); + telemetry.addData("Actual", "%7d:%7d", robot.leftDrive.getCurrentPosition(), + robot.rightDrive.getCurrentPosition()); + telemetry.addData("Speed", "%5.2f:%5.2f", leftSpeed, rightSpeed); + telemetry.update(); + } + + // Stop all motion; + robot.leftDrive.setPower(0); + robot.rightDrive.setPower(0); + + // Turn off RUN_TO_POSITION + robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + } + } + + /** + * Method to spin on central axis to point in a new direction. + * Move will stop if either of these conditions occur: + * 1) Move gets to the heading (angle) + * 2) Driver stops the opmode running. + * + * @param speed Desired speed of turn. + * @param angle Absolute Angle (in Degrees) relative to last gyro reset. + * 0 = fwd. +ve is CCW from fwd. -ve is CW from forward. + * If a relative angle is required, add/subtract from current heading. + */ + public void gyroTurn ( double speed, double angle) { + + // keep looping while we are still active, and not on heading. + while (opModeIsActive() && !onHeading(speed, angle, P_TURN_COEFF)) { + // Update telemetry & Allow time for other processes to run. + telemetry.update(); + } + } + + /** + * Method to obtain & hold a heading for a finite amount of time + * Move will stop once the requested time has elapsed + * + * @param speed Desired speed of turn. + * @param angle Absolute Angle (in Degrees) relative to last gyro reset. + * 0 = fwd. +ve is CCW from fwd. -ve is CW from forward. + * If a relative angle is required, add/subtract from current heading. + * @param holdTime Length of time (in seconds) to hold the specified heading. + */ + public void gyroHold( double speed, double angle, double holdTime) { + + ElapsedTime holdTimer = new ElapsedTime(); + + // keep looping while we have time remaining. + holdTimer.reset(); + while (opModeIsActive() && (holdTimer.time() < holdTime)) { + // Update telemetry & Allow time for other processes to run. + onHeading(speed, angle, P_TURN_COEFF); + telemetry.update(); + } + + // Stop all motion; + robot.leftDrive.setPower(0); + robot.rightDrive.setPower(0); + } + + /** + * Perform one cycle of closed loop heading control. + * + * @param speed Desired speed of turn. + * @param angle Absolute Angle (in Degrees) relative to last gyro reset. + * 0 = fwd. +ve is CCW from fwd. -ve is CW from forward. + * If a relative angle is required, add/subtract from current heading. + * @param PCoeff Proportional Gain coefficient + * @return + */ + boolean onHeading(double speed, double angle, double PCoeff) { + double error ; + double steer ; + boolean onTarget = false ; + double leftSpeed; + double rightSpeed; + + // determine turn power based on +/- error + error = getError(angle); + + if (Math.abs(error) <= HEADING_THRESHOLD) { + steer = 0.0; + leftSpeed = 0.0; + rightSpeed = 0.0; + onTarget = true; + } + else { + steer = getSteer(error, PCoeff); + rightSpeed = speed * steer; + leftSpeed = -rightSpeed; + } + + // Send desired speeds to motors. + robot.leftDrive.setPower(leftSpeed); + robot.rightDrive.setPower(rightSpeed); + + // Display it for the driver. + telemetry.addData("Target", "%5.2f", angle); + telemetry.addData("Err/St", "%5.2f/%5.2f", error, steer); + telemetry.addData("Speed.", "%5.2f:%5.2f", leftSpeed, rightSpeed); + + return onTarget; + } + + /** + * getError determines the error between the target angle and the robot's current heading + * @param targetAngle Desired angle (relative to global reference established at last Gyro Reset). + * @return error angle: Degrees in the range +/- 180. Centered on the robot's frame of reference + * +ve error means the robot should turn LEFT (CCW) to reduce error. + */ + public double getError(double targetAngle) { + + double robotError; + + // calculate error in -179 to +180 range ( + robotError = targetAngle - gyro.getIntegratedZValue(); + while (robotError > 180) robotError -= 360; + while (robotError <= -180) robotError += 360; + return robotError; + } + + /** + * returns desired steering force. +/- 1 range. +ve = steer left + * @param error Error angle in robot relative degrees + * @param PCoeff Proportional Gain Coefficient + * @return + */ + public double getSteer(double error, double PCoeff) { + return Range.clip(error * PCoeff, -1, 1); + } + +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByTime_Linear.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByTime_Linear.java new file mode 100644 index 0000000..a5bde9d --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByTime_Linear.java @@ -0,0 +1,125 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.util.ElapsedTime; + +/** + * This file illustrates the concept of driving a path based on time. + * It uses the common Pushbot hardware class to define the drive on the robot. + * The code is structured as a LinearOpMode + * + * The code assumes that you do NOT have encoders on the wheels, + * otherwise you would use: PushbotAutoDriveByEncoder; + * + * The desired path in this example is: + * - Drive forward for 3 seconds + * - Spin right for 1.3 seconds + * - Drive Backwards for 1 Second + * - Stop and close the claw. + * + * The code is written in a simple form with no optimizations. + * However, there are several ways that this type of sequence could be streamlined, + * + * Use Android Studios 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 + */ + +@Autonomous(name="Pushbot: Auto Drive By Time", group="Pushbot") +@Disabled +public class PushbotAutoDriveByTime_Linear extends LinearOpMode { + + /* Declare OpMode members. */ + HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware + private ElapsedTime runtime = new ElapsedTime(); + + + static final double FORWARD_SPEED = 0.6; + static final double TURN_SPEED = 0.5; + + @Override + public void runOpMode() { + + /* + * Initialize the drive system variables. + * The init() method of the hardware class does all the work here + */ + robot.init(hardwareMap); + + // Send telemetry message to signify robot waiting; + telemetry.addData("Status", "Ready to run"); // + telemetry.update(); + + // Wait for the game to start (driver presses PLAY) + waitForStart(); + + // Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way + + // Step 1: Drive forward for 3 seconds + robot.leftDrive.setPower(FORWARD_SPEED); + robot.rightDrive.setPower(FORWARD_SPEED); + runtime.reset(); + while (opModeIsActive() && (runtime.seconds() < 3.0)) { + telemetry.addData("Path", "Leg 1: %2.5f S Elapsed", runtime.seconds()); + telemetry.update(); + } + + // Step 2: Spin right for 1.3 seconds + robot.leftDrive.setPower(TURN_SPEED); + robot.rightDrive.setPower(-TURN_SPEED); + runtime.reset(); + while (opModeIsActive() && (runtime.seconds() < 1.3)) { + telemetry.addData("Path", "Leg 2: %2.5f S Elapsed", runtime.seconds()); + telemetry.update(); + } + + // Step 3: Drive Backwards for 1 Second + robot.leftDrive.setPower(-FORWARD_SPEED); + robot.rightDrive.setPower(-FORWARD_SPEED); + runtime.reset(); + while (opModeIsActive() && (runtime.seconds() < 1.0)) { + telemetry.addData("Path", "Leg 3: %2.5f S Elapsed", runtime.seconds()); + telemetry.update(); + } + + // Step 4: Stop and close the claw. + robot.leftDrive.setPower(0); + robot.rightDrive.setPower(0); + robot.leftClaw.setPosition(1.0); + robot.rightClaw.setPosition(0.0); + + telemetry.addData("Path", "Complete"); + telemetry.update(); + sleep(1000); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveToLine_Linear.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveToLine_Linear.java new file mode 100644 index 0000000..2e174b1 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveToLine_Linear.java @@ -0,0 +1,118 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.LightSensor; + +/** + * This file illustrates the concept of driving up to a line and then stopping. + * It uses the common Pushbot hardware class to define the drive on the robot. + * The code is structured as a LinearOpMode + * + * The code shows using two different light sensors: + * The Primary sensor shown in this code is a legacy NXT Light sensor (called "sensor_light") + * Alternative "commented out" code uses a MR Optical Distance Sensor (called "sensor_ods") + * instead of the LEGO sensor. Chose to use one sensor or the other. + * + * Setting the correct WHITE_THRESHOLD value is key to stopping correctly. + * This should be set half way between the light and dark values. + * These values can be read on the screen once the OpMode has been INIT, but before it is STARTED. + * Move the senso on asnd off the white line and not the min and max readings. + * Edit this code to make WHITE_THRESHOLD half way between the min and max. + * + * Use Android Studios 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 + */ + +@Autonomous(name="Pushbot: Auto Drive To Line", group="Pushbot") +@Disabled +public class PushbotAutoDriveToLine_Linear extends LinearOpMode { + + /* Declare OpMode members. */ + HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware + LightSensor lightSensor; // Primary LEGO Light sensor, + // OpticalDistanceSensor lightSensor; // Alternative MR ODS sensor + + static final double WHITE_THRESHOLD = 0.2; // spans between 0.1 - 0.5 from dark to light + static final double APPROACH_SPEED = 0.5; + + @Override + public void runOpMode() { + + /* Initialize the drive system variables. + * The init() method of the hardware class does all the work here + */ + robot.init(hardwareMap); + + // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy + // robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + // robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + + // get a reference to our Light Sensor object. + lightSensor = hardwareMap.lightSensor.get("sensor_light"); // Primary LEGO Light Sensor + // lightSensor = hardwareMap.opticalDistanceSensor.get("sensor_ods"); // Alternative MR ODS sensor. + + // turn on LED of light sensor. + lightSensor.enableLed(true); + + // Send telemetry message to signify robot waiting; + telemetry.addData("Status", "Ready to run"); // + telemetry.update(); + + // Wait for the game to start (driver presses PLAY) + // Abort this loop is started or stopped. + while (!(isStarted() || isStopRequested())) { + + // Display the light level while we are waiting to start + telemetry.addData("Light Level", lightSensor.getLightDetected()); + telemetry.update(); + idle(); + } + + // Start the robot moving forward, and then begin looking for a white line. + robot.leftDrive.setPower(APPROACH_SPEED); + robot.rightDrive.setPower(APPROACH_SPEED); + + // run until the white line is seen OR the driver presses STOP; + while (opModeIsActive() && (lightSensor.getLightDetected() < WHITE_THRESHOLD)) { + + // Display the light level while we are looking for the line + telemetry.addData("Light Level", lightSensor.getLightDetected()); + telemetry.update(); + } + + // Stop all motors + robot.leftDrive.setPower(0); + robot.rightDrive.setPower(0); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopPOV_Linear.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopPOV_Linear.java new file mode 100644 index 0000000..cc168d8 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopPOV_Linear.java @@ -0,0 +1,134 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.util.Range; + +/** + * This OpMode uses the common Pushbot hardware class to define the devices on the robot. + * All device access is managed through the HardwarePushbot class. + * The code is structured as a LinearOpMode + * + * This particular OpMode executes a POV Game style Teleop for a PushBot + * In this mode the left stick moves the robot FWD and back, the Right stick turns left and right. + * It raises and lowers the claw using the Gampad Y and A buttons respectively. + * It also opens and closes the claws slowly using the left and right Bumper buttons. + * + * Use Android Studios 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="Pushbot: Teleop POV", group="Pushbot") +@Disabled +public class PushbotTeleopPOV_Linear extends LinearOpMode { + + /* Declare OpMode members. */ + HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware + double clawOffset = 0; // Servo mid position + final double CLAW_SPEED = 0.02 ; // sets rate to move servo + + @Override + public void runOpMode() { + double left; + double right; + double drive; + double turn; + double max; + + /* Initialize the hardware variables. + * The init() method of the hardware class does all the work here + */ + robot.init(hardwareMap); + + // Send telemetry message to signify robot waiting; + telemetry.addData("Say", "Hello Driver"); // + telemetry.update(); + + // Wait for the game to start (driver presses PLAY) + waitForStart(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + + // Run wheels in POV mode (note: The joystick goes negative when pushed forwards, so negate it) + // In this mode the Left stick moves the robot fwd and back, the Right stick turns left and right. + // This way it's also easy to just drive straight, or just turn. + drive = -gamepad1.left_stick_y; + turn = gamepad1.right_stick_x; + + // Combine drive and turn for blended motion. + left = drive + turn; + right = drive - turn; + + // Normalize the values so neither exceed +/- 1.0 + max = Math.max(Math.abs(left), Math.abs(right)); + if (max > 1.0) + { + left /= max; + right /= max; + } + + // Output the safe vales to the motor drives. + robot.leftDrive.setPower(left); + robot.rightDrive.setPower(right); + + // Use gamepad left & right Bumpers to open and close the claw + if (gamepad1.right_bumper) + clawOffset += CLAW_SPEED; + else if (gamepad1.left_bumper) + clawOffset -= CLAW_SPEED; + + // Move both servos to new position. Assume servos are mirror image of each other. + clawOffset = Range.clip(clawOffset, -0.5, 0.5); + robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset); + robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset); + + // Use gamepad buttons to move arm up (Y) and down (A) + if (gamepad1.y) + robot.leftArm.setPower(robot.ARM_UP_POWER); + else if (gamepad1.a) + robot.leftArm.setPower(robot.ARM_DOWN_POWER); + else + robot.leftArm.setPower(0.0); + + // Send telemetry message to signify robot running; + telemetry.addData("claw", "Offset = %.2f", clawOffset); + telemetry.addData("left", "%.2f", left); + telemetry.addData("right", "%.2f", right); + telemetry.update(); + + // Pace this loop so jaw action is reasonable speed. + sleep(50); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopTank_Iterative.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopTank_Iterative.java new file mode 100644 index 0000000..ec336a8 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopTank_Iterative.java @@ -0,0 +1,135 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.util.Range; + +/** + * This file provides basic Telop driving for a Pushbot robot. + * The code is structured as an Iterative OpMode + * + * This OpMode uses the common Pushbot hardware class to define the devices on the robot. + * All device access is managed through the HardwarePushbot class. + * + * This particular OpMode executes a basic Tank Drive Teleop for a PushBot + * It raises and lowers the claw using the Gampad Y and A buttons respectively. + * It also opens and closes the claws slowly using the left and right Bumper buttons. + * + * Use Android Studios 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="Pushbot: Teleop Tank", group="Pushbot") +@Disabled +public class PushbotTeleopTank_Iterative extends OpMode{ + + /* Declare OpMode members. */ + HardwarePushbot robot = new HardwarePushbot(); // use the class created to define a Pushbot's hardware + double clawOffset = 0.0 ; // Servo mid position + final double CLAW_SPEED = 0.02 ; // sets rate to move servo + + /* + * Code to run ONCE when the driver hits INIT + */ + @Override + public void init() { + /* Initialize the hardware variables. + * The init() method of the hardware class does all the work here + */ + robot.init(hardwareMap); + + // Send telemetry message to signify robot waiting; + telemetry.addData("Say", "Hello Driver"); // + } + + /* + * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY + */ + @Override + public void init_loop() { + } + + /* + * Code to run ONCE when the driver hits PLAY + */ + @Override + public void start() { + } + + /* + * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP + */ + @Override + public void loop() { + double left; + double right; + + // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it) + left = -gamepad1.left_stick_y; + right = -gamepad1.right_stick_y; + + robot.leftDrive.setPower(left); + robot.rightDrive.setPower(right); + + // Use gamepad left & right Bumpers to open and close the claw + if (gamepad1.right_bumper) + clawOffset += CLAW_SPEED; + else if (gamepad1.left_bumper) + clawOffset -= CLAW_SPEED; + + // Move both servos to new position. Assume servos are mirror image of each other. + clawOffset = Range.clip(clawOffset, -0.5, 0.5); + robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset); + robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset); + + // Use gamepad buttons to move the arm up (Y) and down (A) + if (gamepad1.y) + robot.leftArm.setPower(robot.ARM_UP_POWER); + else if (gamepad1.a) + robot.leftArm.setPower(robot.ARM_DOWN_POWER); + else + robot.leftArm.setPower(0.0); + + // Send telemetry message to signify robot running; + telemetry.addData("claw", "Offset = %.2f", clawOffset); + telemetry.addData("left", "%.2f", left); + telemetry.addData("right", "%.2f", right); + } + + /* + * Code to run ONCE after the driver hits STOP + */ + @Override + public void stop() { + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SampleRevBlinkinLedDriver.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SampleRevBlinkinLedDriver.java new file mode 100644 index 0000000..337b703 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SampleRevBlinkinLedDriver.java @@ -0,0 +1,164 @@ +/* + * Copyright (c) 2018 Craig MacFarlane + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, are permitted + * (subject to the limitations in the disclaimer below) provided that the following conditions are + * met: + * + * Redistributions of source code must retain the above copyright notice, this list of conditions + * and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this list of conditions + * and the following disclaimer in the documentation and/or other materials provided with the + * distribution. + * + * Neither the name of Craig MacFarlane nor the names of its contributors may be used to + * endorse or promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS LICENSE. THIS + * SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED + * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF + * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.rev.RevBlinkinLedDriver; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.robotcore.internal.system.Deadline; + +import java.util.concurrent.TimeUnit; + +/* + * Display patterns of a REV Robotics Blinkin LED Driver. + * AUTO mode cycles through all of the patterns. + * MANUAL mode allows the user to manually change patterns using the + * left and right bumpers of a gamepad. + * + * Configure the driver on a servo port, and name it "blinkin". + * + * Displays the first pattern upon init. + */ +@TeleOp(name="BlinkinExample") +@Disabled +public class SampleRevBlinkinLedDriver extends OpMode { + + /* + * Change the pattern every 10 seconds in AUTO mode. + */ + private final static int LED_PERIOD = 10; + + /* + * Rate limit gamepad button presses to every 500ms. + */ + private final static int GAMEPAD_LOCKOUT = 500; + + RevBlinkinLedDriver blinkinLedDriver; + RevBlinkinLedDriver.BlinkinPattern pattern; + + Telemetry.Item patternName; + Telemetry.Item display; + DisplayKind displayKind; + Deadline ledCycleDeadline; + Deadline gamepadRateLimit; + + protected enum DisplayKind { + MANUAL, + AUTO + } + + @Override + public void init() + { + displayKind = DisplayKind.AUTO; + + blinkinLedDriver = hardwareMap.get(RevBlinkinLedDriver.class, "blinkin"); + pattern = RevBlinkinLedDriver.BlinkinPattern.RAINBOW_RAINBOW_PALETTE; + blinkinLedDriver.setPattern(pattern); + + display = telemetry.addData("Display Kind: ", displayKind.toString()); + patternName = telemetry.addData("Pattern: ", pattern.toString()); + + ledCycleDeadline = new Deadline(LED_PERIOD, TimeUnit.SECONDS); + gamepadRateLimit = new Deadline(GAMEPAD_LOCKOUT, TimeUnit.MILLISECONDS); + } + + @Override + public void loop() + { + handleGamepad(); + + if (displayKind == DisplayKind.AUTO) { + doAutoDisplay(); + } else { + /* + * MANUAL mode: Nothing to do, setting the pattern as a result of a gamepad event. + */ + } + } + + /* + * handleGamepad + * + * Responds to a gamepad button press. Demonstrates rate limiting for + * button presses. If loop() is called every 10ms and and you don't rate + * limit, then any given button press may register as multiple button presses, + * which in this application is problematic. + * + * A: Manual mode, Right bumper displays the next pattern, left bumper displays the previous pattern. + * B: Auto mode, pattern cycles, changing every LED_PERIOD seconds. + */ + protected void handleGamepad() + { + if (!gamepadRateLimit.hasExpired()) { + return; + } + + if (gamepad1.a) { + setDisplayKind(DisplayKind.MANUAL); + gamepadRateLimit.reset(); + } else if (gamepad1.b) { + setDisplayKind(DisplayKind.AUTO); + gamepadRateLimit.reset(); + } else if ((displayKind == DisplayKind.MANUAL) && (gamepad1.left_bumper)) { + pattern = pattern.previous(); + displayPattern(); + gamepadRateLimit.reset(); + } else if ((displayKind == DisplayKind.MANUAL) && (gamepad1.right_bumper)) { + pattern = pattern.next(); + displayPattern(); + gamepadRateLimit.reset(); + } + } + + protected void setDisplayKind(DisplayKind displayKind) + { + this.displayKind = displayKind; + display.setValue(displayKind.toString()); + } + + protected void doAutoDisplay() + { + if (ledCycleDeadline.hasExpired()) { + pattern = pattern.next(); + displayPattern(); + ledCycleDeadline.reset(); + } + } + + protected void displayPattern() + { + blinkinLedDriver.setPattern(pattern); + patternName.setValue(pattern.toString()); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorAdafruitRGB.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorAdafruitRGB.java new file mode 100644 index 0000000..6a94e25 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorAdafruitRGB.java @@ -0,0 +1,167 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +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; +import com.qualcomm.robotcore.hardware.DeviceInterfaceModule; +import com.qualcomm.robotcore.hardware.DigitalChannel; + +/* + * + * This is an example LinearOpMode that shows how to use + * the Adafruit RGB Sensor. It assumes that the I2C + * cable for the sensor is connected to an I2C port on the + * Core Device Interface Module. + * + * It also assuems that the LED pin of the sensor is connected + * to the digital signal pin of a digital port on the + * Core Device Interface Module. + * + * You can use the digital port to turn the sensor's onboard + * LED on or off. + * + * The op mode assumes that the Core Device Interface Module + * is configured with a name of "dim" and that the Adafruit color sensor + * is configured as an I2C device with a name of "sensor_color". + * + * It also assumes that the LED pin of the RGB sensor + * is connected to the signal pin of digital port #5 (zero indexed) + * of the Core Device Interface Module. + * + * 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: AdafruitRGB", group = "Sensor") +@Disabled // Comment this out to add to the opmode list +public class SensorAdafruitRGB extends LinearOpMode { + + ColorSensor sensorRGB; + DeviceInterfaceModule cdim; + + // we assume that the LED pin of the RGB sensor is connected to + // digital port 5 (zero indexed). + static final int LED_CHANNEL = 5; + + @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 DeviceInterfaceModule object. + cdim = hardwareMap.deviceInterfaceModule.get("dim"); + + // set the digital channel to output mode. + // remember, the Adafruit sensor is actually two devices. + // It's an I2C sensor and it's also an LED that can be turned on or off. + cdim.setDigitalChannelMode(LED_CHANNEL, DigitalChannel.Mode.OUTPUT); + + // get a reference to our ColorSensor object. + sensorRGB = hardwareMap.colorSensor.get("sensor_color"); + + // turn the LED on in the beginning, just so user will know that the sensor is active. + cdim.setDigitalChannelState(LED_CHANNEL, bLedOn); + + // wait for the start button to be pressed. + waitForStart(); + + // 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 gamepad. + bCurrState = gamepad1.x; + + // check for button-press state transitions. + if ((bCurrState == true) && (bCurrState != bPrevState)) { + + // button is transitioning to a pressed state. Toggle the LED. + bLedOn = !bLedOn; + cdim.setDigitalChannelState(LED_CHANNEL, bLedOn); + } + + // update previous state variable. + bPrevState = bCurrState; + + // convert the RGB values to HSV values. + Color.RGBToHSV((sensorRGB.red() * 255) / 800, (sensorRGB.green() * 255) / 800, (sensorRGB.blue() * 255) / 800, hsvValues); + + // send the info back to driver station using telemetry function. + telemetry.addData("LED", bLedOn ? "On" : "Off"); + telemetry.addData("Clear", sensorRGB.alpha()); + telemetry.addData("Red ", sensorRGB.red()); + telemetry.addData("Green", sensorRGB.green()); + telemetry.addData("Blue ", sensorRGB.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); + } + }); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java new file mode 100644 index 0000000..9102a10 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java @@ -0,0 +1,184 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.bosch.BNO055IMU; +import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.robotcore.external.Func; +import org.firstinspires.ftc.robotcore.external.navigation.Acceleration; +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; +import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; +import org.firstinspires.ftc.robotcore.external.navigation.Orientation; +import org.firstinspires.ftc.robotcore.external.navigation.Position; +import org.firstinspires.ftc.robotcore.external.navigation.Velocity; + +import java.util.Locale; + +/** + * {@link SensorBNO055IMU} gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit. + * + * 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 + * + * @see Adafruit IMU + */ +@TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor") +@Disabled // Comment this out to add to the opmode list +public class SensorBNO055IMU extends LinearOpMode + { + //---------------------------------------------------------------------------------------------- + // State + //---------------------------------------------------------------------------------------------- + + // The IMU sensor object + BNO055IMU imu; + + // State used for updating telemetry + Orientation angles; + Acceleration gravity; + + //---------------------------------------------------------------------------------------------- + // Main logic + //---------------------------------------------------------------------------------------------- + + @Override public void runOpMode() { + + // Set up the parameters with which we will use our IMU. Note that integration + // algorithm here just reports accelerations to the logcat log; it doesn't actually + // provide positional information. + BNO055IMU.Parameters parameters = new BNO055IMU.Parameters(); + parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES; + parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC; + parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample opmode + parameters.loggingEnabled = true; + parameters.loggingTag = "IMU"; + parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator(); + + // Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port + // on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU", + // and named "imu". + imu = hardwareMap.get(BNO055IMU.class, "imu"); + imu.initialize(parameters); + + // Set up our telemetry dashboard + composeTelemetry(); + + // Wait until we're told to go + waitForStart(); + + // Start the logging of measured acceleration + imu.startAccelerationIntegration(new Position(), new Velocity(), 1000); + + // Loop and update the dashboard + while (opModeIsActive()) { + telemetry.update(); + } + } + + //---------------------------------------------------------------------------------------------- + // Telemetry Configuration + //---------------------------------------------------------------------------------------------- + + void composeTelemetry() { + + // At the beginning of each telemetry update, grab a bunch of data + // from the IMU that we will then display in separate lines. + telemetry.addAction(new Runnable() { @Override public void run() + { + // Acquiring the angles is relatively expensive; we don't want + // to do that in each of the three items that need that info, as that's + // three times the necessary expense. + angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES); + gravity = imu.getGravity(); + } + }); + + telemetry.addLine() + .addData("status", new Func() { + @Override public String value() { + return imu.getSystemStatus().toShortString(); + } + }) + .addData("calib", new Func() { + @Override public String value() { + return imu.getCalibrationStatus().toString(); + } + }); + + telemetry.addLine() + .addData("heading", new Func() { + @Override public String value() { + return formatAngle(angles.angleUnit, angles.firstAngle); + } + }) + .addData("roll", new Func() { + @Override public String value() { + return formatAngle(angles.angleUnit, angles.secondAngle); + } + }) + .addData("pitch", new Func() { + @Override public String value() { + return formatAngle(angles.angleUnit, angles.thirdAngle); + } + }); + + telemetry.addLine() + .addData("grvty", new Func() { + @Override public String value() { + return gravity.toString(); + } + }) + .addData("mag", new Func() { + @Override public String value() { + return String.format(Locale.getDefault(), "%.3f", + Math.sqrt(gravity.xAccel*gravity.xAccel + + gravity.yAccel*gravity.yAccel + + gravity.zAccel*gravity.zAccel)); + } + }); + } + + //---------------------------------------------------------------------------------------------- + // Formatting + //---------------------------------------------------------------------------------------------- + + String formatAngle(AngleUnit angleUnit, double angle) { + return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle)); + } + + String formatDegrees(double degrees){ + return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees)); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java new file mode 100644 index 0000000..064e8a4 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java @@ -0,0 +1,232 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.adafruit.AdafruitBNO055IMU; +import com.qualcomm.hardware.bosch.BNO055IMU; +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.util.ReadWriteFile; + +import org.firstinspires.ftc.robotcore.external.Func; +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; +import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; +import org.firstinspires.ftc.robotcore.external.navigation.Orientation; +import org.firstinspires.ftc.robotcore.internal.system.AppUtil; + +import java.io.File; +import java.util.Locale; + +/** + * {@link SensorBNO055IMUCalibration} calibrates the IMU accelerometer per + * "Section 3.11 Calibration" of the BNO055 specification. + * + *

Manual calibration of the IMU is definitely NOT necessary: except for the magnetometer + * (which is not used by the default {@link BNO055IMU.SensorMode#IMU + * SensorMode#IMU}), the BNO055 is internally self-calibrating and thus can be very successfully + * used without manual intervention. That said, performing a one-time calibration, saving the + * results persistently, then loading them again at each run can help reduce the time that automatic + * calibration requires.

+ * + *

This summary of the calibration process, from + * Intel, is informative:

+ * + *

"This device requires calibration in order to operate accurately. [...] Calibration data is + * lost on a power cycle. See one of the examples for a description of how to calibrate the device, + * but in essence:

+ * + *

There is a calibration status register available [...] that returns the calibration status + * of the accelerometer (ACC), magnetometer (MAG), gyroscope (GYR), and overall system (SYS). + * Each of these values range from 0 (uncalibrated) to 3 (fully calibrated). Calibration [ideally] + * involves certain motions to get all 4 values at 3. The motions are as follows (though see the + * datasheet for more information):

+ * + *
  • + *
      GYR: Simply let the sensor sit flat for a few seconds.
    + *
      ACC: Move the sensor in various positions. Start flat, then rotate slowly by 45 + * degrees, hold for a few seconds, then continue rotating another 45 degrees and + * hold, etc. 6 or more movements of this type may be required. You can move through + * any axis you desire, but make sure that the device is lying at least once + * perpendicular to the x, y, and z axis.
    + *
      MAG: Move slowly in a figure 8 pattern in the air, until the calibration values reaches 3.
    + *
      SYS: This will usually reach 3 when the other items have also reached 3. If not, continue + * slowly moving the device though various axes until it does."
    + *
    • + * + *

    To calibrate the IMU, run this sample opmode with a gamepad attached to the driver station. + * Once the IMU has reached sufficient calibration as reported on telemetry, press the 'A' + * button on the gamepad to write the calibration to a file. That file can then be indicated + * later when running an opmode which uses the IMU.

    + * + *

    Note: if your intended uses of the IMU do not include use of all its sensors (for exmaple, + * you might not use the magnetometer), then it makes little sense for you to wait for full + * calibration of the sensors you are not using before saving the calibration data. Indeed, + * it appears that in a SensorMode that doesn't use the magnetometer (for example), the + * magnetometer cannot actually be calibrated.

    + * + * @see AdafruitBNO055IMU + * @see BNO055IMU.Parameters#calibrationDataFile + * @see BNO055 product page + * @see BNO055 specification + */ +@TeleOp(name = "Sensor: BNO055 IMU Calibration", group = "Sensor") +@Disabled // Uncomment this to add to the opmode list +public class SensorBNO055IMUCalibration extends LinearOpMode + { + //---------------------------------------------------------------------------------------------- + // State + //---------------------------------------------------------------------------------------------- + + // Our sensors, motors, and other devices go here, along with other long term state + BNO055IMU imu; + + // State used for updating telemetry + Orientation angles; + + //---------------------------------------------------------------------------------------------- + // Main logic + //---------------------------------------------------------------------------------------------- + + @Override public void runOpMode() { + + telemetry.log().setCapacity(12); + telemetry.log().add(""); + telemetry.log().add("Please refer to the calibration instructions"); + telemetry.log().add("contained in the Adafruit IMU calibration"); + telemetry.log().add("sample opmode."); + telemetry.log().add(""); + telemetry.log().add("When sufficient calibration has been reached,"); + telemetry.log().add("press the 'A' button to write the current"); + telemetry.log().add("calibration data to a file."); + telemetry.log().add(""); + + // We are expecting the IMU to be attached to an I2C port on a Core Device Interface Module and named "imu". + BNO055IMU.Parameters parameters = new BNO055IMU.Parameters(); + parameters.loggingEnabled = true; + parameters.loggingTag = "IMU"; + imu = hardwareMap.get(BNO055IMU.class, "imu"); + imu.initialize(parameters); + + composeTelemetry(); + telemetry.log().add("Waiting for start..."); + + // Wait until we're told to go + while (!isStarted()) { + telemetry.update(); + idle(); + } + + telemetry.log().add("...started..."); + + while (opModeIsActive()) { + + if (gamepad1.a) { + + // Get the calibration data + BNO055IMU.CalibrationData calibrationData = imu.readCalibrationData(); + + // Save the calibration data to a file. You can choose whatever file + // name you wish here, but you'll want to indicate the same file name + // when you initialize the IMU in an opmode in which it is used. If you + // have more than one IMU on your robot, you'll of course want to use + // different configuration file names for each. + String filename = "AdafruitIMUCalibration.json"; + File file = AppUtil.getInstance().getSettingsFile(filename); + ReadWriteFile.writeFile(file, calibrationData.serialize()); + telemetry.log().add("saved to '%s'", filename); + + // Wait for the button to be released + while (gamepad1.a) { + telemetry.update(); + idle(); + } + } + + telemetry.update(); + } + } + + void composeTelemetry() { + + // At the beginning of each telemetry update, grab a bunch of data + // from the IMU that we will then display in separate lines. + telemetry.addAction(new Runnable() { @Override public void run() + { + // Acquiring the angles is relatively expensive; we don't want + // to do that in each of the three items that need that info, as that's + // three times the necessary expense. + angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES); + } + }); + + telemetry.addLine() + .addData("status", new Func() { + @Override public String value() { + return imu.getSystemStatus().toShortString(); + } + }) + .addData("calib", new Func() { + @Override public String value() { + return imu.getCalibrationStatus().toString(); + } + }); + + telemetry.addLine() + .addData("heading", new Func() { + @Override public String value() { + return formatAngle(angles.angleUnit, angles.firstAngle); + } + }) + .addData("roll", new Func() { + @Override public String value() { + return formatAngle(angles.angleUnit, angles.secondAngle); + } + }) + .addData("pitch", new Func() { + @Override public String value() { + return formatAngle(angles.angleUnit, angles.thirdAngle); + } + }); + } + + //---------------------------------------------------------------------------------------------- + // Formatting + //---------------------------------------------------------------------------------------------- + + String formatAngle(AngleUnit angleUnit, double angle) { + return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle)); + } + + String formatDegrees(double degrees){ + return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees)); + } +} \ No newline at end of file diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorColor.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorColor.java new file mode 100644 index 0000000..8209b83 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorColor.java @@ -0,0 +1,223 @@ +/* Copyright (c) 2017-2020 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +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.DistanceSensor; +import com.qualcomm.robotcore.hardware.NormalizedColorSensor; +import com.qualcomm.robotcore.hardware.NormalizedRGBA; +import com.qualcomm.robotcore.hardware.SwitchableLight; + +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; + +/** + * This is an example LinearOpMode that shows how to use a color sensor in a generic + * way, regardless of which particular make or model of color sensor is used. The Op Mode + * assumes that the color sensor is configured with a name of "sensor_color". + * + * There will be some variation in the values measured depending on the specific sensor you are using. + * + * You can increase the gain (a multiplier to make the sensor report higher values) by holding down + * the A button on the gamepad, and decrease the gain by holding down the B button on the gamepad. + * + * If the color sensor has a light which is controllable from software, you can use the X button on + * the gamepad to toggle the light on and off. The REV sensors don't support this, but instead have + * a physical switch on them to turn the light on and off, beginning with REV Color Sensor V2. + * + * If the color sensor also supports short-range distance measurements (usually via an infrared + * proximity sensor), the reported distance will be written to telemetry. As of September 2020, + * the only color sensors that support this are the ones from REV Robotics. These infrared proximity + * sensor measurements are only useful at very small distances, and are sensitive to ambient light + * and surface reflectivity. You should use a different sensor if you need precise distance measurements. + * + * 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 Op Mode to the Driver Station OpMode list + */ +@TeleOp(name = "Sensor: Color", group = "Sensor") +@Disabled +public class SensorColor extends LinearOpMode { + + /** The colorSensor field will contain a reference to our color sensor hardware object */ + NormalizedColorSensor colorSensor; + + /** The relativeLayout field is used to aid in providing interesting visual feedback + * in this sample application; you probably *don't* need this when you use a color sensor on your + * robot. Note that you won't see anything change on the Driver Station, only on the Robot Controller. */ + View relativeLayout; + + /** + * The runOpMode() method is the root of this Op Mode, as it is in all LinearOpModes. + * Our implementation here, though is a bit unusual: we've decided to put all the actual work + * in the runSample() method rather than directly in runOpMode() itself. The reason we do that is + * that in this sample we're changing the background color of the robot controller screen as the + * Op Mode runs, and we want to be able to *guarantee* that we restore it to something reasonable + * and palatable when the Op Mode ends. The simplest way to do that is to use a try...finally + * block around the main, core logic, and an easy way to make that all clear was to separate + * the former from the latter in separate methods. + */ + @Override public void runOpMode() { + + // Get a reference to the RelativeLayout so we can later 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()); + relativeLayout = ((Activity) hardwareMap.appContext).findViewById(relativeLayoutId); + + try { + runSample(); // actually execute the sample + } finally { + // On the way out, *guarantee* that the background is reasonable. It doesn't actually start off + // as pure white, but it's too much work to dig out what actually was used, and this is good + // enough to at least make the screen reasonable again. + // Set the panel back to the default color + relativeLayout.post(new Runnable() { + public void run() { + relativeLayout.setBackgroundColor(Color.WHITE); + } + }); + } + } + + protected void runSample() { + // You can give the sensor a gain value, will be multiplied by the sensor's raw value before the + // normalized color values are calculated. Color sensors (especially the REV Color Sensor V3) + // can give very low values (depending on the lighting conditions), which only use a small part + // of the 0-1 range that is available for the red, green, and blue values. In brighter conditions, + // you should use a smaller gain than in dark conditions. If your gain is too high, all of the + // colors will report at or near 1, and you won't be able to determine what color you are + // actually looking at. For this reason, it's better to err on the side of a lower gain + // (but always greater than or equal to 1). + float gain = 2; + + // Once per loop, we will update this hsvValues array. The first element (0) will contain the + // hue, the second element (1) will contain the saturation, and the third element (2) will + // contain the value. See http://web.archive.org/web/20190311170843/https://infohost.nmt.edu/tcc/help/pubs/colortheory/web/hsv.html + // for an explanation of HSV color. + final float[] hsvValues = new float[3]; + + // xButtonPreviouslyPressed and xButtonCurrentlyPressed keep track of the previous and current + // state of the X button on the gamepad + boolean xButtonPreviouslyPressed = false; + boolean xButtonCurrentlyPressed = false; + + // Get a reference to our sensor object. It's recommended to use NormalizedColorSensor over + // ColorSensor, because NormalizedColorSensor consistently gives values between 0 and 1, while + // the values you get from ColorSensor are dependent on the specific sensor you're using. + colorSensor = hardwareMap.get(NormalizedColorSensor.class, "sensor_color"); + + // If possible, turn the light on in the beginning (it might already be on anyway, + // we just make sure it is if we can). + if (colorSensor instanceof SwitchableLight) { + ((SwitchableLight)colorSensor).enableLight(true); + } + + // Wait for the start button to be pressed. + waitForStart(); + + // Loop until we are asked to stop + while (opModeIsActive()) { + // Explain basic gain information via telemetry + telemetry.addLine("Hold the A button on gamepad 1 to increase gain, or B to decrease it.\n"); + telemetry.addLine("Higher gain values mean that the sensor will report larger numbers for Red, Green, and Blue, and Value\n"); + + // Update the gain value if either of the A or B gamepad buttons is being held + if (gamepad1.a) { + // Only increase the gain by a small amount, since this loop will occur multiple times per second. + gain += 0.005; + } else if (gamepad1.b && gain > 1) { // A gain of less than 1 will make the values smaller, which is not helpful. + gain -= 0.005; + } + + // Show the gain value via telemetry + telemetry.addData("Gain", gain); + + // Tell the sensor our desired gain value (normally you would do this during initialization, + // not during the loop) + colorSensor.setGain(gain); + + // Check the status of the X button on the gamepad + xButtonCurrentlyPressed = gamepad1.x; + + // If the button state is different than what it was, then act + if (xButtonCurrentlyPressed != xButtonPreviouslyPressed) { + // If the button is (now) down, then toggle the light + if (xButtonCurrentlyPressed) { + if (colorSensor instanceof SwitchableLight) { + SwitchableLight light = (SwitchableLight)colorSensor; + light.enableLight(!light.isLightOn()); + } + } + } + xButtonPreviouslyPressed = xButtonCurrentlyPressed; + + // Get the normalized colors from the sensor + NormalizedRGBA colors = colorSensor.getNormalizedColors(); + + /* Use telemetry to display feedback on the driver station. We show the red, green, and blue + * normalized values from the sensor (in the range of 0 to 1), as well as the equivalent + * HSV (hue, saturation and value) values. See http://web.archive.org/web/20190311170843/https://infohost.nmt.edu/tcc/help/pubs/colortheory/web/hsv.html + * for an explanation of HSV color. */ + + // Update the hsvValues array by passing it to Color.colorToHSV() + Color.colorToHSV(colors.toColor(), hsvValues); + + telemetry.addLine() + .addData("Red", "%.3f", colors.red) + .addData("Green", "%.3f", colors.green) + .addData("Blue", "%.3f", colors.blue); + telemetry.addLine() + .addData("Hue", "%.3f", hsvValues[0]) + .addData("Saturation", "%.3f", hsvValues[1]) + .addData("Value", "%.3f", hsvValues[2]); + telemetry.addData("Alpha", "%.3f", colors.alpha); + + /* If this color sensor also has a distance sensor, display the measured distance. + * Note that the reported distance is only useful at very close range, and is impacted by + * ambient light and surface reflectivity. */ + if (colorSensor instanceof DistanceSensor) { + telemetry.addData("Distance (cm)", "%.3f", ((DistanceSensor) colorSensor).getDistance(DistanceUnit.CM)); + } + + telemetry.update(); + + // Change the Robot Controller's background color to match the color detected by the color sensor. + relativeLayout.post(new Runnable() { + public void run() { + relativeLayout.setBackgroundColor(Color.HSVToColor(hsvValues)); + } + }); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDIO.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDIO.java new file mode 100644 index 0000000..12d5d93 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDIO.java @@ -0,0 +1,107 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.DeviceInterfaceModule; +import com.qualcomm.robotcore.hardware.DigitalChannel; + +/* + * This is an example LinearOpMode that shows how to use the digital inputs and outputs on the + * the Modern Robotics Device Interface Module. In addition, it shows how to use the Red and Blue LED + * + * This op mode assumes that there is a Device Interface Module attached, named 'dim'. + * On this DIM there is a digital input named 'digin' and an output named 'digout' + * + * To fully exercise this sample, connect pin 3 of the digin connector to pin 3 of the digout. + * Note: Pin 1 is indicated by the black stripe, so pin 3 is at the opposite end. + * + * The X button on the gamepad will be used to activate the digital output pin. + * The Red/Blue LED will be used to indicate the state of the digital input pin. + * Blue = false (0V), Red = true (5V) + * If the two pins are linked, the gamepad will change the LED color. + * + * 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: DIM DIO", group = "Sensor") +@Disabled +public class SensorDIO extends LinearOpMode { + +final int BLUE_LED_CHANNEL = 0; +final int RED_LED_CHANNEL = 1; + + @Override + public void runOpMode() { + + boolean inputPin; // Input State + boolean outputPin; // Output State + DeviceInterfaceModule dim; // Device Object + DigitalChannel digIn; // Device Object + DigitalChannel digOut; // Device Object + + // get a reference to a Modern Robotics DIM, and IO channels. + dim = hardwareMap.get(DeviceInterfaceModule.class, "dim"); // Use generic form of device mapping + digIn = hardwareMap.get(DigitalChannel.class, "digin"); // Use generic form of device mapping + digOut = hardwareMap.get(DigitalChannel.class, "digout"); // Use generic form of device mapping + + digIn.setMode(DigitalChannel.Mode.INPUT); // Set the direction of each channel + digOut.setMode(DigitalChannel.Mode.OUTPUT); + + // wait for the start button to be pressed. + telemetry.addData(">", "Press play, and then user X button to set DigOut"); + telemetry.update(); + waitForStart(); + + while (opModeIsActive()) { + + outputPin = gamepad1.x ; // Set the output pin based on x button + digOut.setState(outputPin); + inputPin = digIn.getState(); // Read the input pin + + // Display input pin state on LEDs + if (inputPin) { + dim.setLED(RED_LED_CHANNEL, true); + dim.setLED(BLUE_LED_CHANNEL, false); + } + else { + dim.setLED(RED_LED_CHANNEL, false); + dim.setLED(BLUE_LED_CHANNEL, true); + } + + telemetry.addData("Output", outputPin ); + telemetry.addData("Input", inputPin ); + telemetry.addData("LED", inputPin ? "Red" : "Blue" ); + telemetry.update(); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDigitalTouch.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDigitalTouch.java new file mode 100644 index 0000000..b367924 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDigitalTouch.java @@ -0,0 +1,88 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.DigitalChannel; + +/* + * This is an example LinearOpMode that shows how to use + * a REV Robotics Touch Sensor. + * + * It assumes that the touch sensor is configured with a name of "sensor_digital". + * + * 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: Digital touch", group = "Sensor") +@Disabled +public class SensorDigitalTouch extends LinearOpMode { + /** + * The REV Robotics Touch Sensor + * is treated as a digital channel. It is HIGH if the button is unpressed. + * It pulls LOW if the button is pressed. + * + * Also, when you connect a REV Robotics Touch Sensor to the digital I/O port on the + * Expansion Hub using a 4-wire JST cable, the second pin gets connected to the Touch Sensor. + * The lower (first) pin stays unconnected.* + */ + + DigitalChannel digitalTouch; // Hardware Device Object + + @Override + public void runOpMode() { + + // get a reference to our digitalTouch object. + digitalTouch = hardwareMap.get(DigitalChannel.class, "sensor_digital"); + + // set the digital channel to input. + digitalTouch.setMode(DigitalChannel.Mode.INPUT); + + // wait for the start button to be pressed. + waitForStart(); + + // while the op mode is active, loop and read the light levels. + // Note we use opModeIsActive() as our loop condition because it is an interruptible method. + while (opModeIsActive()) { + + // send the info back to driver station using telemetry function. + // if the digital channel returns true it's HIGH and the button is unpressed. + if (digitalTouch.getState() == true) { + telemetry.addData("Digital Touch", "Is Not Pressed"); + } else { + telemetry.addData("Digital Touch", "Is Pressed"); + } + + telemetry.update(); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorKLNavxMicro.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorKLNavxMicro.java new file mode 100644 index 0000000..583f525 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorKLNavxMicro.java @@ -0,0 +1,129 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.kauailabs.NavxMicroNavigationSensor; +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.Gyroscope; +import com.qualcomm.robotcore.hardware.IntegratingGyroscope; +import com.qualcomm.robotcore.util.ElapsedTime; + +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity; +import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; +import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; +import org.firstinspires.ftc.robotcore.external.navigation.Orientation; + +/* + * This is an example LinearOpMode that shows how to use Kauai Labs navX Micro Robotics Navigation + * Sensor. It assumes that the sensor is configured with a name of "navx". + * + * 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: KL navX Micro", group = "Sensor") +@Disabled +public class SensorKLNavxMicro extends LinearOpMode { + + /** In this sample, for illustration purposes we use two interfaces on the one gyro object. + * That's likely atypical: you'll probably use one or the other in any given situation, + * depending on what you're trying to do. {@link IntegratingGyroscope} (and it's base interface, + * {@link Gyroscope}) are common interfaces supported by possibly several different gyro + * implementations. {@link NavxMicroNavigationSensor}, by contrast, provides functionality that + * is unique to the navX Micro sensor. + */ + IntegratingGyroscope gyro; + NavxMicroNavigationSensor navxMicro; + + // A timer helps provide feedback while calibration is taking place + ElapsedTime timer = new ElapsedTime(); + + @Override public void runOpMode() throws InterruptedException { + // Get a reference to a Modern Robotics GyroSensor object. We use several interfaces + // on this object to illustrate which interfaces support which functionality. + navxMicro = hardwareMap.get(NavxMicroNavigationSensor.class, "navx"); + gyro = (IntegratingGyroscope)navxMicro; + // If you're only interested int the IntegratingGyroscope interface, the following will suffice. + // gyro = hardwareMap.get(IntegratingGyroscope.class, "navx"); + + // The gyro automatically starts calibrating. This takes a few seconds. + telemetry.log().add("Gyro Calibrating. Do Not Move!"); + + // Wait until the gyro calibration is complete + timer.reset(); + while (navxMicro.isCalibrating()) { + telemetry.addData("calibrating", "%s", Math.round(timer.seconds())%2==0 ? "|.." : "..|"); + telemetry.update(); + Thread.sleep(50); + } + telemetry.log().clear(); telemetry.log().add("Gyro Calibrated. Press Start."); + telemetry.clear(); telemetry.update(); + + // Wait for the start button to be pressed + waitForStart(); + telemetry.log().clear(); + + while (opModeIsActive()) { + + // Read dimensionalized data from the gyro. This gyro can report angular velocities + // about all three axes. Additionally, it internally integrates the Z axis to + // be able to report an absolute angular Z orientation. + AngularVelocity rates = gyro.getAngularVelocity(AngleUnit.DEGREES); + Orientation angles = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES); + + telemetry.addLine() + .addData("dx", formatRate(rates.xRotationRate)) + .addData("dy", formatRate(rates.yRotationRate)) + .addData("dz", "%s deg/s", formatRate(rates.zRotationRate)); + + telemetry.addLine() + .addData("heading", formatAngle(angles.angleUnit, angles.firstAngle)) + .addData("roll", formatAngle(angles.angleUnit, angles.secondAngle)) + .addData("pitch", "%s deg", formatAngle(angles.angleUnit, angles.thirdAngle)); + telemetry.update(); + + idle(); // Always call idle() at the bottom of your while(opModeIsActive()) loop + } + } + + String formatRate(float rate) { + return String.format("%.3f", rate); + } + + String formatAngle(AngleUnit angleUnit, double angle) { + return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle)); + } + + String formatDegrees(double degrees){ + return String.format("%.1f", AngleUnit.DEGREES.normalize(degrees)); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRColor.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRColor.java new file mode 100644 index 0000000..513ace8 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRColor.java @@ -0,0 +1,139 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +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 is an example LinearOpMode that shows how to use + * a Modern Robotics Color Sensor. + * + * The op mode 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 op mode 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); + } + }); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRCompass.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRCompass.java new file mode 100644 index 0000000..583ac1a --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRCompass.java @@ -0,0 +1,148 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cCompassSensor; +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.CompassSensor; +import com.qualcomm.robotcore.util.ElapsedTime; + +import org.firstinspires.ftc.robotcore.external.navigation.Acceleration; + +/** + * The {@link SensorMRCompass} op mode provides a demonstration of the + * functionality provided by the Modern Robotics compass sensor. + * + * The op mode assumes that the MR compass is configured with a name of "compass". + * + * 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 + * + * @see MR Compass Sensor + */ +@TeleOp(name = "Sensor: MR compass", group = "Sensor") +@Disabled // comment out or remove this line to enable this opmode +public class SensorMRCompass extends LinearOpMode { + + ModernRoboticsI2cCompassSensor compass; + ElapsedTime timer = new ElapsedTime(); + + @Override public void runOpMode() { + + // get a reference to our compass + compass = hardwareMap.get(ModernRoboticsI2cCompassSensor.class, "compass"); + + telemetry.log().setCapacity(20); + telemetry.log().add("The compass sensor operates quite well out-of-the"); + telemetry.log().add("box, as shipped by the manufacturer. Precision can"); + telemetry.log().add("however be somewhat improved with calibration."); + telemetry.log().add(""); + telemetry.log().add("To calibrate the compass once the opmode is"); + telemetry.log().add("started, make sure the compass is level, then"); + telemetry.log().add("press 'A' on the gamepad. Next, slowly rotate the "); + telemetry.log().add("compass in a full 360 degree circle while keeping"); + telemetry.log().add("it level. When complete, press 'B'."); + + // wait for the start button to be pressed + waitForStart(); + telemetry.log().clear(); + + while (opModeIsActive()) { + + // If the A button is pressed, start calibration and wait for the A button to rise + if (gamepad1.a && !compass.isCalibrating()) { + + telemetry.log().clear(); + telemetry.log().add("Calibration started"); + telemetry.log().add("Slowly rotate compass 360deg"); + telemetry.log().add("Press 'B' when complete"); + compass.setMode(CompassSensor.CompassMode.CALIBRATION_MODE); + timer.reset(); + + while (gamepad1.a && opModeIsActive()) { + doTelemetry(); + idle(); + } + } + + // If the B button is pressed, stop calibration and wait for the B button to rise + if (gamepad1.b && compass.isCalibrating()) { + + telemetry.log().clear(); + telemetry.log().add("Calibration complete"); + compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE); + + if (compass.calibrationFailed()) { + telemetry.log().add("Calibration failed"); + compass.writeCommand(ModernRoboticsI2cCompassSensor.Command.NORMAL); + } + + while (gamepad1.a && opModeIsActive()) { + doTelemetry(); + idle(); + } + } + + doTelemetry(); + } + } + + protected void doTelemetry() { + + if (compass.isCalibrating()) { + + telemetry.addData("compass", "calibrating %s", Math.round(timer.seconds())%2==0 ? "|.." : "..|"); + + } else { + + // getDirection() returns a traditional compass heading in the range [0,360), + // with values increasing in a CW direction + telemetry.addData("heading", "%.1f", compass.getDirection()); + + // getAcceleration() returns the current 3D acceleration experienced by + // the sensor. This is used internally to the sensor to compute its tilt and thence + // to correct the magnetometer reading to produce tilt-corrected values in getDirection() + Acceleration accel = compass.getAcceleration(); + double accelMagnitude = Math.sqrt(accel.xAccel*accel.xAccel + accel.yAccel*accel.yAccel + accel.zAccel*accel.zAccel); + telemetry.addData("accel", accel); + telemetry.addData("accel magnitude", "%.3f", accelMagnitude); + + // getMagneticFlux returns the 3D magnetic field flux experienced by the sensor + telemetry.addData("mag flux", compass.getMagneticFlux()); + } + + // the command register provides status data + telemetry.addData("command", "%s", compass.readCommand()); + + telemetry.update(); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRGyro.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRGyro.java new file mode 100644 index 0000000..e8df38f --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRGyro.java @@ -0,0 +1,162 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro; +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.Gyroscope; +import com.qualcomm.robotcore.hardware.IntegratingGyroscope; +import com.qualcomm.robotcore.util.ElapsedTime; + +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity; +import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; +import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; + +/* + * This is an example LinearOpMode that shows how to use the Modern Robotics Gyro. + * + * The op mode assumes that the gyro sensor is attached to a Device Interface Module + * I2C channel and is configured with a name of "gyro". + * + * 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 Gyro", group = "Sensor") +@Disabled +public class SensorMRGyro extends LinearOpMode { + + /** In this sample, for illustration purposes we use two interfaces on the one gyro object. + * That's likely atypical: you'll probably use one or the other in any given situation, + * depending on what you're trying to do. {@link IntegratingGyroscope} (and it's base interface, + * {@link Gyroscope}) are common interfaces supported by possibly several different gyro + * implementations. {@link ModernRoboticsI2cGyro}, by contrast, provides functionality that + * is unique to the Modern Robotics gyro sensor. + */ + IntegratingGyroscope gyro; + ModernRoboticsI2cGyro modernRoboticsI2cGyro; + + // A timer helps provide feedback while calibration is taking place + ElapsedTime timer = new ElapsedTime(); + + @Override + public void runOpMode() { + + boolean lastResetState = false; + boolean curResetState = false; + + // Get a reference to a Modern Robotics gyro object. We use several interfaces + // on this object to illustrate which interfaces support which functionality. + modernRoboticsI2cGyro = hardwareMap.get(ModernRoboticsI2cGyro.class, "gyro"); + gyro = (IntegratingGyroscope)modernRoboticsI2cGyro; + // If you're only interested int the IntegratingGyroscope interface, the following will suffice. + // gyro = hardwareMap.get(IntegratingGyroscope.class, "gyro"); + // A similar approach will work for the Gyroscope interface, if that's all you need. + + // Start calibrating the gyro. This takes a few seconds and is worth performing + // during the initialization phase at the start of each opMode. + telemetry.log().add("Gyro Calibrating. Do Not Move!"); + modernRoboticsI2cGyro.calibrate(); + + // Wait until the gyro calibration is complete + timer.reset(); + while (!isStopRequested() && modernRoboticsI2cGyro.isCalibrating()) { + telemetry.addData("calibrating", "%s", Math.round(timer.seconds())%2==0 ? "|.." : "..|"); + telemetry.update(); + sleep(50); + } + + telemetry.log().clear(); telemetry.log().add("Gyro Calibrated. Press Start."); + telemetry.clear(); telemetry.update(); + + // Wait for the start button to be pressed + waitForStart(); + telemetry.log().clear(); + telemetry.log().add("Press A & B to reset heading"); + + // Loop until we're asked to stop + while (opModeIsActive()) { + + // If the A and B buttons are pressed just now, reset Z heading. + curResetState = (gamepad1.a && gamepad1.b); + if (curResetState && !lastResetState) { + modernRoboticsI2cGyro.resetZAxisIntegrator(); + } + lastResetState = curResetState; + + // The raw() methods report the angular rate of change about each of the + // three axes directly as reported by the underlying sensor IC. + int rawX = modernRoboticsI2cGyro.rawX(); + int rawY = modernRoboticsI2cGyro.rawY(); + int rawZ = modernRoboticsI2cGyro.rawZ(); + int heading = modernRoboticsI2cGyro.getHeading(); + int integratedZ = modernRoboticsI2cGyro.getIntegratedZValue(); + + // Read dimensionalized data from the gyro. This gyro can report angular velocities + // about all three axes. Additionally, it internally integrates the Z axis to + // be able to report an absolute angular Z orientation. + AngularVelocity rates = gyro.getAngularVelocity(AngleUnit.DEGREES); + float zAngle = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES).firstAngle; + + // Read administrative information from the gyro + int zAxisOffset = modernRoboticsI2cGyro.getZAxisOffset(); + int zAxisScalingCoefficient = modernRoboticsI2cGyro.getZAxisScalingCoefficient(); + + telemetry.addLine() + .addData("dx", formatRate(rates.xRotationRate)) + .addData("dy", formatRate(rates.yRotationRate)) + .addData("dz", "%s deg/s", formatRate(rates.zRotationRate)); + telemetry.addData("angle", "%s deg", formatFloat(zAngle)); + telemetry.addData("heading", "%3d deg", heading); + telemetry.addData("integrated Z", "%3d", integratedZ); + telemetry.addLine() + .addData("rawX", formatRaw(rawX)) + .addData("rawY", formatRaw(rawY)) + .addData("rawZ", formatRaw(rawZ)); + telemetry.addLine().addData("z offset", zAxisOffset).addData("z coeff", zAxisScalingCoefficient); + telemetry.update(); + } + } + + String formatRaw(int rawValue) { + return String.format("%d", rawValue); + } + + String formatRate(float rate) { + return String.format("%.3f", rate); + } + + String formatFloat(float rate) { + return String.format("%.3f", rate); + } + +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRIrSeeker.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRIrSeeker.java new file mode 100644 index 0000000..9bd6452 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRIrSeeker.java @@ -0,0 +1,84 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.IrSeekerSensor; + +/* + * This is an example LinearOpMode that shows how to use + * the Modern Robotics ITR Seeker + * + * The op mode assumes that the IR Seeker + * is configured with a name of "sensor_ir". + * + * Set the switch on the Modern Robotics IR beacon to 1200 at 180.
    + * Turn on the IR beacon. + * Make sure the side of the beacon with the LED on is facing the robot.
    + * + * 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 IR Seeker", group = "Sensor") +@Disabled +public class SensorMRIrSeeker extends LinearOpMode { + + @Override + public void runOpMode() { + + IrSeekerSensor irSeeker; // Hardware Device Object + + // get a reference to our GyroSensor object. + irSeeker = hardwareMap.get(IrSeekerSensor.class, "sensor_ir"); + + // wait for the start button to be pressed. + waitForStart(); + + while (opModeIsActive()) { + + // Ensure we have a IR signal + if (irSeeker.signalDetected()) + { + // Display angle and strength + telemetry.addData("Angle", irSeeker.getAngle()); + telemetry.addData("Strength", irSeeker.getStrength()); + } + else + { + // Display loss of signal + telemetry.addData("Seeker", "Signal Lost"); + } + + telemetry.update(); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMROpticalDistance.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMROpticalDistance.java new file mode 100644 index 0000000..8424ef7 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMROpticalDistance.java @@ -0,0 +1,71 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +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.OpticalDistanceSensor; + +/* + * This is an example LinearOpMode that shows how to use + * a Modern Robotics Optical Distance Sensor + * It assumes that the ODS sensor is configured with a name of "sensor_ods". + * + * 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 ODS", group = "Sensor") +@Disabled +public class SensorMROpticalDistance extends LinearOpMode { + + OpticalDistanceSensor odsSensor; // Hardware Device Object + + @Override + public void runOpMode() { + + // get a reference to our Light Sensor object. + odsSensor = hardwareMap.get(OpticalDistanceSensor.class, "sensor_ods"); + + // wait for the start button to be pressed. + waitForStart(); + + // while the op mode is active, loop and read the light levels. + // Note we use opModeIsActive() as our loop condition because it is an interruptible method. + while (opModeIsActive()) { + + // send the info back to driver station using telemetry function. + telemetry.addData("Raw", odsSensor.getRawLightDetected()); + telemetry.addData("Normal", odsSensor.getLightDetected()); + + telemetry.update(); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRRangeSensor.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRRangeSensor.java new file mode 100644 index 0000000..d7de1ff --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRRangeSensor.java @@ -0,0 +1,72 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; + +/** + * {@link SensorMRRangeSensor} illustrates how to use the Modern Robotics + * Range Sensor. + * + * The op mode assumes that the range sensor is configured with a name of "sensor_range". + * + * 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 + * + * @see MR Range Sensor + */ +@TeleOp(name = "Sensor: MR range sensor", group = "Sensor") +@Disabled // comment out or remove this line to enable this opmode +public class SensorMRRangeSensor extends LinearOpMode { + + ModernRoboticsI2cRangeSensor rangeSensor; + + @Override public void runOpMode() { + + // get a reference to our compass + rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "sensor_range"); + + // wait for the start button to be pressed + waitForStart(); + + while (opModeIsActive()) { + telemetry.addData("raw ultrasonic", rangeSensor.rawUltrasonic()); + telemetry.addData("raw optical", rangeSensor.rawOptical()); + telemetry.addData("cm optical", "%.2f cm", rangeSensor.cmOptical()); + telemetry.addData("cm", "%.2f cm", rangeSensor.getDistance(DistanceUnit.CM)); + telemetry.update(); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorREV2mDistance.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorREV2mDistance.java new file mode 100644 index 0000000..30bb377 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorREV2mDistance.java @@ -0,0 +1,89 @@ +/* +Copyright (c) 2018 FIRST + +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted (subject to the limitations in the disclaimer below) provided that +the following conditions are met: + +Redistributions of source code must retain the above copyright notice, this list +of conditions and the following disclaimer. + +Redistributions in binary form must reproduce the above copyright notice, this +list of conditions and the following disclaimer in the documentation and/or +other materials provided with the distribution. + +Neither the name of FIRST nor the names of its contributors may be used to +endorse or promote products derived from this software without specific prior +written permission. + +NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS +LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR +TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.rev.Rev2mDistanceSensor; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.DistanceSensor; + +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; + +/** + * {@link SensorREV2mDistance} illustrates how to use the REV Robotics + * Time-of-Flight Range Sensor. + * + * The op mode assumes that the range sensor is configured with a name of "sensor_range". + * + * 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 + * + * @see REV Robotics Web Page + */ +@TeleOp(name = "Sensor: REV2mDistance", group = "Sensor") +@Disabled +public class SensorREV2mDistance extends LinearOpMode { + + private DistanceSensor sensorRange; + + @Override + public void runOpMode() { + // you can use this as a regular DistanceSensor. + sensorRange = hardwareMap.get(DistanceSensor.class, "sensor_range"); + + // you can also cast this to a Rev2mDistanceSensor if you want to use added + // methods associated with the Rev2mDistanceSensor class. + Rev2mDistanceSensor sensorTimeOfFlight = (Rev2mDistanceSensor)sensorRange; + + telemetry.addData(">>", "Press start to continue"); + telemetry.update(); + + waitForStart(); + while(opModeIsActive()) { + // generic DistanceSensor methods. + telemetry.addData("deviceName",sensorRange.getDeviceName() ); + telemetry.addData("range", String.format("%.01f mm", sensorRange.getDistance(DistanceUnit.MM))); + telemetry.addData("range", String.format("%.01f cm", sensorRange.getDistance(DistanceUnit.CM))); + telemetry.addData("range", String.format("%.01f m", sensorRange.getDistance(DistanceUnit.METER))); + telemetry.addData("range", String.format("%.01f in", sensorRange.getDistance(DistanceUnit.INCH))); + + // Rev2mDistanceSensor specific methods. + telemetry.addData("ID", String.format("%x", sensorTimeOfFlight.getModelID())); + telemetry.addData("did time out", Boolean.toString(sensorTimeOfFlight.didTimeoutOccur())); + + telemetry.update(); + } + } + +} \ No newline at end of file diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/readme.md b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/readme.md new file mode 100644 index 0000000..1808cd3 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/readme.md @@ -0,0 +1,57 @@ + +## Caution +No Team-specific code should be placed or modified in this ``.../samples`` folder. + +Samples should be Copied from here, and then Pasted into the team's +[/TeamCode/src/main/java/org/firstinspires/ftc/teamcode](../../../../../../../../../../TeamCode/src/main/java/org/firstinspires/ftc/teamcode) + folder, using the Android Studio cut and paste commands. This automatically changes all file and +class names to be consistent. From there, the sample can be modified to suit the team's needs. + +For more detailed instructions see the /teamcode readme. + +### Naming of Samples + +To gain a better understanding of how the samples are organized, and how to interpret the +naming system, it will help to understand the conventions that were used during their creation. + +These conventions are described (in detail) in the sample_conventions.md file in this folder. + +To summarize: A range of different samples classes will reside in the java/external/samples. +The class names will follow a naming convention which indicates the purpose of each class. +The prefix of the name will be one of the following: + +Basic: This is a minimally functional OpMode used to illustrate the skeleton/structure + of a particular style of OpMode. These are bare bones examples. + +Sensor: This is a Sample OpMode that shows how to use a specific sensor. + It is not intended to drive a functioning robot, it is simply showing the minimal code + required to read and display the sensor values. + +Hardware: This is NOT an OpMode, but a helper class that is used to describe + one particular robot's hardware configuration: eg: For the K9 or Pushbot. + Look at any Pushbot sample to see how this can be used in an OpMode. + Teams can copy one of these to their team folder to create their own robot definition. + +Pushbot: This is a Sample OpMode that uses the Pushbot robot hardware as a base. + It may be used to provide some standard baseline Pushbot OpModes, or + to demonstrate how a particular sensor or concept can be used directly on the + Pushbot chassis. + +Concept: This is a sample OpMode that illustrates performing a specific function or concept. + These may be complex, but their operation should be explained clearly in the comments, + or the comments should reference an external doc, guide or tutorial. + Each OpMode should try to only demonstrate a single concept so they are easy to + locate based on their name. These OpModes may not produce a drivable robot. + +Library: This is a class, or set of classes used to implement some strategy. + These will typically NOT implement a full OpMode. Instead they will be included + by an OpMode to provide some stand-alone capability. + +After the prefix, other conventions will apply: + +* Sensor class names are constructed as: Sensor - Company - Type +* Hardware class names are constructed as: Hardware - Robot type +* Pushbot class names are constructed as: Pushbot - Mode - Action - OpModetype +* Concept class names are constructed as: Concept - Topic - OpModetype +* Library class names are constructed as: Library - Topic - OpModetype + diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/sample_conventions.md b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/sample_conventions.md new file mode 100644 index 0000000..0f1aa13 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/sample_conventions.md @@ -0,0 +1,118 @@ +## Sample Class/Opmode conventions +#### V 1.1.0 8/9/2017 + +This document defines the FTC Sample OpMode and Class conventions. + +### OpMode Name + +A range of different samples classes will reside in the java/external/samples folder. + +For ease of understanding, the class names will follow a naming convention which indicates +the purpose of each class. The prefix of the name will be one of the following: + +Basic: This is a minimally functional OpMode used to illustrate the skeleton/structure + of a particular style of OpMode. These are bare bones Tank Drive examples. + +Sensor: This is a Sample OpMode that shows how to use a specific sensor. + It is not intended to drive a functioning robot, it is simply showing the minimal code + required to read and display the sensor values. + +Hardware: This is not an actual OpMode, but a helper class that is used to describe + one particular robot's hardware configuration: eg: For the K9 or Pushbot. + Look at any Pushbot sample to see how this can be used in an OpMode. + Teams can copy one of these to create their own robot definition. + +Pushbot: This is a Sample OpMode that uses the Pushbot robot hardware as a base. + It may be used to provide some standard baseline Pushbot opmodes, or + to demonstrate how a particular sensor or concept can be used directly on the + Pushbot chassis. + +Concept: This is a sample OpMode that illustrates performing a specific function or concept. + These may be complex, but their operation should be explained clearly in the comments, + or the comments should reference an external doc, guide or tutorial. + Each OpMode should try to only demonstrate a single concept so they are easy to + locate based on their name. + +Library: This is a class, or set of classes used to implement some strategy. + These will typically NOT implement a full opmode. Instead they will be included + by an OpMode to provide some stand-alone capability. + +After the prefix, other conventions will apply: + +* Sensor class names should constructed as: Sensor - Company - Type +* Hardware class names should be constructed as: Hardware - Robot type +* Pushbot class names should be constructed as: Pushbot - Mode - Action - OpModetype +* Concept class names should be constructed as: Concept - Topic - OpModetype +* Library class names should be constructed as: Library - Topic - OpModetype + +### Sample OpMode Content/Style + +Code is formatted as per the Google Style Guide: + +https://google.github.io/styleguide/javaguide.html + +With “Sensor” and “Hardware” samples, the code should demonstrate the essential function, +and not be embellished with too much additional “clever” code. If a sensor has special +addressing needs, or has a variety of modes or outputs, these should be demonstrated as +simply as possible. + +Special programming methods, or robot control techniques should be reserved for “Concept” Samples, +and where possible, Samples should strive to only demonstrate a single concept, +eg: State machine coding, or a User Menu system, and not combine them into a single “all inclusive” +sample. This will prevent an “all inclusive” Sample being deleted just because one part of it +becomes obsolete. + +### Device Configuration Names + +The following device names are used in the external samples + +** Motors: +left_drive +right_drive +left_arm + +** Servos: +left_hand +right_hand +arm +claw + +** Sensors: +sensor_color +sensor_ir +sensor_light +sensor_ods +sensor_range +sensor_touch +sensor_color_distance +sensor_digital +digin +digout + +** Localization: +compass +gyro +imu +navx + +### Device Object Names + +Device Object names should use the same words as the device’s configuration name, but they +should be re-structured to be a suitable Java variable name. This should keep the same word order, +but adopt the style of beginning with a lower case letter, and then each subsequent word +starting with an upper case letter. + +Eg: from the examples above: tool, leftMotor, rightClawServo, rearLightSensor. + +Note: Sometimes it’s helpful to put the device type first, followed by the variant. +eg: motorLeft and motorRight, but this should only be done if the same word order +is used on the device configuration name. + +### OpMode code Comments + +Sample comments should read like normal code comments, that is, as an explanation of what the +sample code is doing. They should NOT be directives to the user, +like: “insert your joystick code here” as these comments typically aren’t +detailed enough to be useful. They also often get left in the code and become garbage. + +Instead, an example of the joystick code should be shown with a comment describing what it is doing. diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java new file mode 100644 index 0000000..9a94f54 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java @@ -0,0 +1,70 @@ +/* Copyright (c) 2014, 2015 Qualcomm Technologies Inc + +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted (subject to the limitations in the disclaimer below) provided that +the following conditions are met: + +Redistributions of source code must retain the above copyright notice, this list +of conditions and the following disclaimer. + +Redistributions in binary form must reproduce the above copyright notice, this +list of conditions and the following disclaimer in the documentation and/or +other materials provided with the distribution. + +Neither the name of Qualcomm Technologies Inc nor the names of its contributors +may be used to endorse or promote products derived from this software without +specific prior written permission. + +NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS +LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ + +package org.firstinspires.ftc.robotcontroller.internal; + +import com.qualcomm.robotcore.eventloop.opmode.OpModeManager; +import com.qualcomm.robotcore.eventloop.opmode.OpModeRegister; + +import org.firstinspires.ftc.robotcontroller.external.samples.ConceptNullOp; + +/** + * {@link FtcOpModeRegister} is responsible for registering opmodes for use in an FTC game. + * @see #register(OpModeManager) + */ +public class FtcOpModeRegister implements OpModeRegister { + + /** + * {@link #register(OpModeManager)} is called by the SDK game in order to register + * OpMode classes or instances that will participate in an FTC game. + * + * There are two mechanisms by which an OpMode may be registered. + * + * 1) The preferred method is by means of class annotations in the OpMode itself. + * See, for example the class annotations in {@link ConceptNullOp}. + * + * 2) The other, retired, method is to modify this {@link #register(OpModeManager)} + * method to include explicit calls to OpModeManager.register(). + * This method of modifying this file directly is discouraged, as it + * makes updates to the SDK harder to integrate into your code. + * + * @param manager the object which contains methods for carrying out OpMode registrations + * + * @see com.qualcomm.robotcore.eventloop.opmode.TeleOp + * @see com.qualcomm.robotcore.eventloop.opmode.Autonomous + */ + public void register(OpModeManager manager) { + + /** + * Any manual OpMode class registrations should go here. + */ + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java new file mode 100644 index 0000000..e7ea299 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java @@ -0,0 +1,859 @@ +/* Copyright (c) 2014, 2015 Qualcomm Technologies Inc + +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted (subject to the limitations in the disclaimer below) provided that +the following conditions are met: + +Redistributions of source code must retain the above copyright notice, this list +of conditions and the following disclaimer. + +Redistributions in binary form must reproduce the above copyright notice, this +list of conditions and the following disclaimer in the documentation and/or +other materials provided with the distribution. + +Neither the name of Qualcomm Technologies Inc nor the names of its contributors +may be used to endorse or promote products derived from this software without +specific prior written permission. + +NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS +LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ + +package org.firstinspires.ftc.robotcontroller.internal; + +import android.app.ActionBar; +import android.app.Activity; +import android.app.ActivityManager; +import android.content.ComponentName; +import android.content.Context; +import android.content.Intent; +import android.content.ServiceConnection; +import android.content.SharedPreferences; +import android.content.res.Configuration; +import android.hardware.usb.UsbDevice; +import android.hardware.usb.UsbManager; +import android.net.wifi.WifiManager; +import android.os.Bundle; +import android.os.IBinder; +import android.preference.PreferenceManager; +import androidx.annotation.NonNull; +import androidx.annotation.Nullable; +import androidx.annotation.StringRes; +import android.view.Menu; +import android.view.MenuItem; +import android.view.MotionEvent; +import android.view.View; +import android.view.WindowManager; +import android.webkit.WebView; +import android.widget.ImageButton; +import android.widget.LinearLayout; +import android.widget.LinearLayout.LayoutParams; +import android.widget.PopupMenu; +import android.widget.TextView; + +import com.google.blocks.ftcrobotcontroller.ProgrammingWebHandlers; +import com.google.blocks.ftcrobotcontroller.runtime.BlocksOpMode; +import com.qualcomm.ftccommon.ClassManagerFactory; +import com.qualcomm.ftccommon.FtcAboutActivity; +import com.qualcomm.ftccommon.FtcEventLoop; +import com.qualcomm.ftccommon.FtcEventLoopIdle; +import com.qualcomm.ftccommon.FtcRobotControllerService; +import com.qualcomm.ftccommon.FtcRobotControllerService.FtcRobotControllerBinder; +import com.qualcomm.ftccommon.FtcRobotControllerSettingsActivity; +import com.qualcomm.ftccommon.LaunchActivityConstantsList; +import com.qualcomm.ftccommon.LaunchActivityConstantsList.RequestCode; +import com.qualcomm.ftccommon.Restarter; +import com.qualcomm.ftccommon.UpdateUI; +import com.qualcomm.ftccommon.configuration.EditParameters; +import com.qualcomm.ftccommon.configuration.FtcLoadFileActivity; +import com.qualcomm.ftccommon.configuration.RobotConfigFile; +import com.qualcomm.ftccommon.configuration.RobotConfigFileManager; +import com.qualcomm.ftcrobotcontroller.BuildConfig; +import com.qualcomm.ftcrobotcontroller.R; +import com.qualcomm.hardware.HardwareFactory; +import com.qualcomm.robotcore.eventloop.EventLoopManager; +import com.qualcomm.robotcore.eventloop.opmode.FtcRobotControllerServiceState; +import com.qualcomm.robotcore.eventloop.opmode.OpModeRegister; +import com.qualcomm.robotcore.hardware.configuration.LynxConstants; +import com.qualcomm.robotcore.hardware.configuration.Utility; +import com.qualcomm.robotcore.robot.Robot; +import com.qualcomm.robotcore.robot.RobotState; +import com.qualcomm.robotcore.util.ClockWarningSource; +import com.qualcomm.robotcore.util.Device; +import com.qualcomm.robotcore.util.Dimmer; +import com.qualcomm.robotcore.util.ImmersiveMode; +import com.qualcomm.robotcore.util.RobotLog; +import com.qualcomm.robotcore.util.WebServer; +import com.qualcomm.robotcore.wifi.NetworkConnection; +import com.qualcomm.robotcore.wifi.NetworkConnectionFactory; +import com.qualcomm.robotcore.wifi.NetworkType; + +import org.firstinspires.ftc.ftccommon.external.SoundPlayingRobotMonitor; +import org.firstinspires.ftc.ftccommon.internal.AnnotatedHooksClassFilter; +import org.firstinspires.ftc.ftccommon.internal.FtcRobotControllerWatchdogService; +import org.firstinspires.ftc.ftccommon.internal.ProgramAndManageActivity; +import org.firstinspires.ftc.onbotjava.ExternalLibraries; +import org.firstinspires.ftc.onbotjava.OnBotJavaHelperImpl; +import org.firstinspires.ftc.onbotjava.OnBotJavaProgrammingMode; +import org.firstinspires.ftc.robotcore.external.navigation.MotionDetection; +import org.firstinspires.ftc.robotcore.internal.hardware.android.AndroidBoard; +import org.firstinspires.ftc.robotcore.internal.network.DeviceNameManagerFactory; +import org.firstinspires.ftc.robotcore.internal.network.PreferenceRemoterRC; +import org.firstinspires.ftc.robotcore.internal.network.StartResult; +import org.firstinspires.ftc.robotcore.internal.network.WifiDirectChannelChanger; +import org.firstinspires.ftc.robotcore.internal.network.WifiMuteEvent; +import org.firstinspires.ftc.robotcore.internal.network.WifiMuteStateMachine; +import org.firstinspires.ftc.robotcore.internal.opmode.ClassManager; +import org.firstinspires.ftc.robotcore.internal.opmode.OnBotJavaHelper; +import org.firstinspires.ftc.robotcore.internal.system.AppAliveNotifier; +import org.firstinspires.ftc.robotcore.internal.system.AppUtil; +import org.firstinspires.ftc.robotcore.internal.system.Assert; +import org.firstinspires.ftc.robotcore.internal.system.PreferencesHelper; +import org.firstinspires.ftc.robotcore.internal.system.ServiceController; +import org.firstinspires.ftc.robotcore.internal.ui.ThemedActivity; +import org.firstinspires.ftc.robotcore.internal.ui.UILocation; +import org.firstinspires.ftc.robotcore.internal.webserver.RobotControllerWebInfo; +import org.firstinspires.ftc.robotserver.internal.programmingmode.ProgrammingModeManager; +import org.firstinspires.inspection.RcInspectionActivity; +import org.threeten.bp.YearMonth; +import org.xmlpull.v1.XmlPullParserException; + +import java.io.FileNotFoundException; +import java.util.List; +import java.util.Queue; +import java.util.concurrent.ConcurrentLinkedQueue; + +@SuppressWarnings("WeakerAccess") +public class FtcRobotControllerActivity extends Activity + { + public static final String TAG = "RCActivity"; + public String getTag() { return TAG; } + + private static final int REQUEST_CONFIG_WIFI_CHANNEL = 1; + private static final int NUM_GAMEPADS = 2; + + protected WifiManager.WifiLock wifiLock; + protected RobotConfigFileManager cfgFileMgr; + + private OnBotJavaHelper onBotJavaHelper; + + protected ProgrammingModeManager programmingModeManager; + + protected UpdateUI.Callback callback; + protected Context context; + protected Utility utility; + protected StartResult prefRemoterStartResult = new StartResult(); + protected StartResult deviceNameStartResult = new StartResult(); + protected PreferencesHelper preferencesHelper; + protected final SharedPreferencesListener sharedPreferencesListener = new SharedPreferencesListener(); + + protected ImageButton buttonMenu; + protected TextView textDeviceName; + protected TextView textNetworkConnectionStatus; + protected TextView textRobotStatus; + protected TextView[] textGamepad = new TextView[NUM_GAMEPADS]; + protected TextView textOpMode; + protected TextView textErrorMessage; + protected ImmersiveMode immersion; + + protected UpdateUI updateUI; + protected Dimmer dimmer; + protected LinearLayout entireScreenLayout; + + protected FtcRobotControllerService controllerService; + protected NetworkType networkType; + + protected FtcEventLoop eventLoop; + protected Queue receivedUsbAttachmentNotifications; + + protected WifiMuteStateMachine wifiMuteStateMachine; + protected MotionDetection motionDetection; + + private static boolean permissionsValidated = false; + + private WifiDirectChannelChanger wifiDirectChannelChanger; + + protected class RobotRestarter implements Restarter { + + public void requestRestart() { + requestRobotRestart(); + } + + } + + protected boolean serviceShouldUnbind = false; + protected ServiceConnection connection = new ServiceConnection() { + @Override + public void onServiceConnected(ComponentName name, IBinder service) { + FtcRobotControllerBinder binder = (FtcRobotControllerBinder) service; + onServiceBind(binder.getService()); + } + + @Override + public void onServiceDisconnected(ComponentName name) { + RobotLog.vv(FtcRobotControllerService.TAG, "%s.controllerService=null", TAG); + controllerService = null; + } + }; + + @Override + protected void onNewIntent(Intent intent) { + super.onNewIntent(intent); + + if (UsbManager.ACTION_USB_DEVICE_ATTACHED.equals(intent.getAction())) { + UsbDevice usbDevice = intent.getParcelableExtra(UsbManager.EXTRA_DEVICE); + RobotLog.vv(TAG, "ACTION_USB_DEVICE_ATTACHED: %s", usbDevice.getDeviceName()); + + if (usbDevice != null) { // paranoia + // We might get attachment notifications before the event loop is set up, so + // we hold on to them and pass them along only when we're good and ready. + if (receivedUsbAttachmentNotifications != null) { // *total* paranoia + receivedUsbAttachmentNotifications.add(usbDevice); + passReceivedUsbAttachmentsToEventLoop(); + } + } + } + } + + protected void passReceivedUsbAttachmentsToEventLoop() { + if (this.eventLoop != null) { + for (;;) { + UsbDevice usbDevice = receivedUsbAttachmentNotifications.poll(); + if (usbDevice == null) + break; + this.eventLoop.onUsbDeviceAttached(usbDevice); + } + } + else { + // Paranoia: we don't want the pending list to grow without bound when we don't + // (yet) have an event loop + while (receivedUsbAttachmentNotifications.size() > 100) { + receivedUsbAttachmentNotifications.poll(); + } + } + } + + /** + * There are cases where a permission may be revoked and the system restart will restart the + * FtcRobotControllerActivity, instead of the launch activity. Detect when that happens, and throw + * the device back to the permission validator activity. + */ + protected boolean enforcePermissionValidator() { + if (!permissionsValidated) { + RobotLog.vv(TAG, "Redirecting to permission validator"); + Intent permissionValidatorIntent = new Intent(AppUtil.getDefContext(), PermissionValidatorWrapper.class); + startActivity(permissionValidatorIntent); + finish(); + return true; + } else { + RobotLog.vv(TAG, "Permissions validated already"); + return false; + } + } + + public static void setPermissionsValidated() { + permissionsValidated = true; + } + + @Override + protected void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + + if (enforcePermissionValidator()) { + return; + } + + RobotLog.onApplicationStart(); // robustify against onCreate() following onDestroy() but using the same app instance, which apparently does happen + RobotLog.vv(TAG, "onCreate()"); + ThemedActivity.appAppThemeToActivity(getTag(), this); // do this way instead of inherit to help AppInventor + + // Oddly, sometimes after a crash & restart the root activity will be something unexpected, like from the before crash? We don't yet understand + RobotLog.vv(TAG, "rootActivity is of class %s", AppUtil.getInstance().getRootActivity().getClass().getSimpleName()); + RobotLog.vv(TAG, "launchActivity is of class %s", FtcRobotControllerWatchdogService.launchActivity()); + Assert.assertTrue(FtcRobotControllerWatchdogService.isLaunchActivity(AppUtil.getInstance().getRootActivity())); + Assert.assertTrue(AppUtil.getInstance().isRobotController()); + + // Quick check: should we pretend we're not here, and so allow the Lynx to operate as + // a stand-alone USB-connected module? + if (LynxConstants.isRevControlHub()) { + // Double-sure check that we can talk to the DB over the serial TTY + AndroidBoard.getInstance().getAndroidBoardIsPresentPin().setState(true); + } + + context = this; + utility = new Utility(this); + + DeviceNameManagerFactory.getInstance().start(deviceNameStartResult); + + PreferenceRemoterRC.getInstance().start(prefRemoterStartResult); + + receivedUsbAttachmentNotifications = new ConcurrentLinkedQueue(); + eventLoop = null; + + setContentView(R.layout.activity_ftc_controller); + + preferencesHelper = new PreferencesHelper(TAG, context); + preferencesHelper.writeBooleanPrefIfDifferent(context.getString(R.string.pref_rc_connected), true); + preferencesHelper.getSharedPreferences().registerOnSharedPreferenceChangeListener(sharedPreferencesListener); + + // Check if this RC app is from a later FTC season that what was installed previously + int ftcSeasonYearOfPreviouslyInstalledRc = preferencesHelper.readInt(getString(R.string.pref_ftc_season_year_of_current_rc), 0); + int ftcSeasonYearOfCurrentlyInstalledRc = AppUtil.getInstance().getFtcSeasonYear(YearMonth.now()).getValue(); + if (ftcSeasonYearOfCurrentlyInstalledRc > ftcSeasonYearOfPreviouslyInstalledRc) { + preferencesHelper.writeIntPrefIfDifferent(getString(R.string.pref_ftc_season_year_of_current_rc), ftcSeasonYearOfCurrentlyInstalledRc); + // Since it's a new FTC season, we should reset certain settings back to their default values. + preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_2_4_ghz_band), true); + preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_obsolete_software), true); + preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_mismatched_app_versions), true); + preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_incorrect_clocks), true); + } + + entireScreenLayout = (LinearLayout) findViewById(R.id.entire_screen); + buttonMenu = (ImageButton) findViewById(R.id.menu_buttons); + buttonMenu.setOnClickListener(new View.OnClickListener() { + @Override + public void onClick(View v) { + PopupMenu popupMenu = new PopupMenu(FtcRobotControllerActivity.this, v); + popupMenu.setOnMenuItemClickListener(new PopupMenu.OnMenuItemClickListener() { + @Override + public boolean onMenuItemClick(MenuItem item) { + return onOptionsItemSelected(item); // Delegate to the handler for the hardware menu button + } + }); + popupMenu.inflate(R.menu.ftc_robot_controller); + AnnotatedHooksClassFilter.getInstance().callOnCreateMenuMethods( + FtcRobotControllerActivity.this, popupMenu.getMenu()); + popupMenu.show(); + } + }); + + updateMonitorLayout(getResources().getConfiguration()); + + BlocksOpMode.setActivityAndWebView(this, (WebView) findViewById(R.id.webViewBlocksRuntime)); + + ExternalLibraries.getInstance().onCreate(); + onBotJavaHelper = new OnBotJavaHelperImpl(); + + /* + * Paranoia as the ClassManagerFactory requires EXTERNAL_STORAGE permissions + * and we've seen on the DS where the finish() call above does not short-circuit + * the onCreate() call for the activity and then we crash here because we don't + * have permissions. So... + */ + if (permissionsValidated) { + ClassManager.getInstance().setOnBotJavaClassHelper(onBotJavaHelper); + ClassManagerFactory.registerFilters(); + ClassManagerFactory.processAllClasses(); + } + + cfgFileMgr = new RobotConfigFileManager(this); + + // Clean up 'dirty' status after a possible crash + RobotConfigFile configFile = cfgFileMgr.getActiveConfig(); + if (configFile.isDirty()) { + configFile.markClean(); + cfgFileMgr.setActiveConfig(false, configFile); + } + + textDeviceName = (TextView) findViewById(R.id.textDeviceName); + textNetworkConnectionStatus = (TextView) findViewById(R.id.textNetworkConnectionStatus); + textRobotStatus = (TextView) findViewById(R.id.textRobotStatus); + textOpMode = (TextView) findViewById(R.id.textOpMode); + textErrorMessage = (TextView) findViewById(R.id.textErrorMessage); + textGamepad[0] = (TextView) findViewById(R.id.textGamepad1); + textGamepad[1] = (TextView) findViewById(R.id.textGamepad2); + immersion = new ImmersiveMode(getWindow().getDecorView()); + dimmer = new Dimmer(this); + dimmer.longBright(); + + programmingModeManager = new ProgrammingModeManager(); + programmingModeManager.register(new ProgrammingWebHandlers()); + programmingModeManager.register(new OnBotJavaProgrammingMode()); + + updateUI = createUpdateUI(); + callback = createUICallback(updateUI); + + PreferenceManager.setDefaultValues(this, R.xml.app_settings, false); + + WifiManager wifiManager = (WifiManager) getApplicationContext().getSystemService(Context.WIFI_SERVICE); + wifiLock = wifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, ""); + + hittingMenuButtonBrightensScreen(); + + wifiLock.acquire(); + callback.networkConnectionUpdate(NetworkConnection.NetworkEvent.DISCONNECTED); + readNetworkType(); + ServiceController.startService(FtcRobotControllerWatchdogService.class); + bindToService(); + logPackageVersions(); + logDeviceSerialNumber(); + AndroidBoard.getInstance().logAndroidBoardInfo(); + RobotLog.logDeviceInfo(); + + if (preferencesHelper.readBoolean(getString(R.string.pref_wifi_automute), false)) { + initWifiMute(true); + } + + FtcAboutActivity.setBuildTimeFromBuildConfig(BuildConfig.APP_BUILD_TIME); + + // check to see if there is a preferred Wi-Fi to use. + checkPreferredChannel(); + + AnnotatedHooksClassFilter.getInstance().callOnCreateMethods(this); + } + + protected UpdateUI createUpdateUI() { + Restarter restarter = new RobotRestarter(); + UpdateUI result = new UpdateUI(this, dimmer); + result.setRestarter(restarter); + result.setTextViews(textNetworkConnectionStatus, textRobotStatus, textGamepad, textOpMode, textErrorMessage, textDeviceName); + return result; + } + + protected UpdateUI.Callback createUICallback(UpdateUI updateUI) { + UpdateUI.Callback result = updateUI.new Callback(); + result.setStateMonitor(new SoundPlayingRobotMonitor()); + return result; + } + + @Override + protected void onStart() { + super.onStart(); + RobotLog.vv(TAG, "onStart()"); + + entireScreenLayout.setOnTouchListener(new View.OnTouchListener() { + @Override + public boolean onTouch(View v, MotionEvent event) { + dimmer.handleDimTimer(); + return false; + } + }); + } + + @Override + protected void onResume() { + super.onResume(); + RobotLog.vv(TAG, "onResume()"); + + // In case the user just got back from fixing their clock, refresh ClockWarningSource + ClockWarningSource.getInstance().onPossibleRcClockUpdate(); + } + + @Override + protected void onPause() { + super.onPause(); + RobotLog.vv(TAG, "onPause()"); + } + + @Override + protected void onStop() { + // Note: this gets called even when the configuration editor is launched. That is, it gets + // called surprisingly often. So, we don't actually do much here. + super.onStop(); + RobotLog.vv(TAG, "onStop()"); + } + + @Override + protected void onDestroy() { + super.onDestroy(); + RobotLog.vv(TAG, "onDestroy()"); + + shutdownRobot(); // Ensure the robot is put away to bed + if (callback != null) callback.close(); + + PreferenceRemoterRC.getInstance().stop(prefRemoterStartResult); + DeviceNameManagerFactory.getInstance().stop(deviceNameStartResult); + + unbindFromService(); + // If the app manually (?) is stopped, then we don't need the auto-starting function (?) + ServiceController.stopService(FtcRobotControllerWatchdogService.class); + if (wifiLock != null) wifiLock.release(); + if (preferencesHelper != null) preferencesHelper.getSharedPreferences().unregisterOnSharedPreferenceChangeListener(sharedPreferencesListener); + + RobotLog.cancelWriteLogcatToDisk(); + + AnnotatedHooksClassFilter.getInstance().callOnDestroyMethods(this); + } + + protected void bindToService() { + readNetworkType(); + Intent intent = new Intent(this, FtcRobotControllerService.class); + intent.putExtra(NetworkConnectionFactory.NETWORK_CONNECTION_TYPE, networkType); + serviceShouldUnbind = bindService(intent, connection, Context.BIND_AUTO_CREATE); + } + + protected void unbindFromService() { + if (serviceShouldUnbind) { + unbindService(connection); + serviceShouldUnbind = false; + } + } + + protected void logPackageVersions() { + RobotLog.logBuildConfig(com.qualcomm.ftcrobotcontroller.BuildConfig.class); + RobotLog.logBuildConfig(com.qualcomm.robotcore.BuildConfig.class); + RobotLog.logBuildConfig(com.qualcomm.hardware.BuildConfig.class); + RobotLog.logBuildConfig(com.qualcomm.ftccommon.BuildConfig.class); + RobotLog.logBuildConfig(com.google.blocks.BuildConfig.class); + RobotLog.logBuildConfig(org.firstinspires.inspection.BuildConfig.class); + } + + protected void logDeviceSerialNumber() { + RobotLog.ii(TAG, "Android device serial number: " + Device.getSerialNumberOrUnknown()); + } + + protected void readNetworkType() { + // Control hubs are always running the access point model. Everything else, for the time + // being always runs the Wi-Fi Direct model. + if (Device.isRevControlHub() == true) { + networkType = NetworkType.RCWIRELESSAP; + } else { + networkType = NetworkType.fromString(preferencesHelper.readString(context.getString(R.string.pref_pairing_kind), NetworkType.globalDefaultAsString())); + } + + // update the app_settings + preferencesHelper.writeStringPrefIfDifferent(context.getString(R.string.pref_pairing_kind), networkType.toString()); + } + + @Override + public void onWindowFocusChanged(boolean hasFocus) { + super.onWindowFocusChanged(hasFocus); + + if (hasFocus) { + immersion.hideSystemUI(); + getWindow().setFlags(WindowManager.LayoutParams.FLAG_TRANSLUCENT_NAVIGATION, WindowManager.LayoutParams.FLAG_TRANSLUCENT_NAVIGATION); + } + } + + @Override + public boolean onCreateOptionsMenu(Menu menu) { + getMenuInflater().inflate(R.menu.ftc_robot_controller, menu); + AnnotatedHooksClassFilter.getInstance().callOnCreateMenuMethods(this, menu); + return true; + } + + private boolean isRobotRunning() { + if (controllerService == null) { + return false; + } + + Robot robot = controllerService.getRobot(); + + if ((robot == null) || (robot.eventLoopManager == null)) { + return false; + } + + RobotState robotState = robot.eventLoopManager.state; + + if (robotState != RobotState.RUNNING) { + return false; + } else { + return true; + } + } + + @Override + public boolean onOptionsItemSelected(MenuItem item) { + int id = item.getItemId(); + + if (id == R.id.action_program_and_manage) { + if (isRobotRunning()) { + Intent programmingModeIntent = new Intent(AppUtil.getDefContext(), ProgramAndManageActivity.class); + RobotControllerWebInfo webInfo = programmingModeManager.getWebServer().getConnectionInformation(); + programmingModeIntent.putExtra(LaunchActivityConstantsList.RC_WEB_INFO, webInfo.toJson()); + startActivity(programmingModeIntent); + } else { + AppUtil.getInstance().showToast(UILocation.ONLY_LOCAL, context.getString(R.string.toastWifiUpBeforeProgrammingMode)); + } + } else if (id == R.id.action_inspection_mode) { + Intent inspectionModeIntent = new Intent(AppUtil.getDefContext(), RcInspectionActivity.class); + startActivity(inspectionModeIntent); + return true; + } else if (id == R.id.action_restart_robot) { + dimmer.handleDimTimer(); + AppUtil.getInstance().showToast(UILocation.BOTH, context.getString(R.string.toastRestartingRobot)); + requestRobotRestart(); + return true; + } + else if (id == R.id.action_configure_robot) { + EditParameters parameters = new EditParameters(); + Intent intentConfigure = new Intent(AppUtil.getDefContext(), FtcLoadFileActivity.class); + parameters.putIntent(intentConfigure); + startActivityForResult(intentConfigure, RequestCode.CONFIGURE_ROBOT_CONTROLLER.ordinal()); + } + else if (id == R.id.action_settings) { + // historical: this once erroneously used FTC_CONFIGURE_REQUEST_CODE_ROBOT_CONTROLLER + Intent settingsIntent = new Intent(AppUtil.getDefContext(), FtcRobotControllerSettingsActivity.class); + startActivityForResult(settingsIntent, RequestCode.SETTINGS_ROBOT_CONTROLLER.ordinal()); + return true; + } + else if (id == R.id.action_about) { + Intent intent = new Intent(AppUtil.getDefContext(), FtcAboutActivity.class); + startActivity(intent); + return true; + } + else if (id == R.id.action_exit_app) { + + //Clear backstack and everything to prevent edge case where VM might be + //restarted (after it was exited) if more than one activity was on the + //backstack for some reason. + finishAffinity(); + + //For lollipop and up, we can clear ourselves from the recents list too + if (android.os.Build.VERSION.SDK_INT >= android.os.Build.VERSION_CODES.LOLLIPOP) { + ActivityManager manager = (ActivityManager) getSystemService(ACTIVITY_SERVICE); + List tasks = manager.getAppTasks(); + + for (ActivityManager.AppTask task : tasks) { + task.finishAndRemoveTask(); + } + } + + // Allow the user to use the Control Hub operating system's UI, instead of relaunching the app + AppAliveNotifier.getInstance().disableAppWatchdogUntilNextAppStart(); + + //Finally, nuke the VM from orbit + AppUtil.getInstance().exitApplication(); + + return true; + } + + return super.onOptionsItemSelected(item); + } + + @Override + public void onConfigurationChanged(Configuration newConfig) { + super.onConfigurationChanged(newConfig); + // don't destroy assets on screen rotation + updateMonitorLayout(newConfig); + } + + /** + * Updates the orientation of monitorContainer (which contains cameraMonitorView and + * tfodMonitorView) based on the given configuration. Makes the children split the space. + */ + private void updateMonitorLayout(Configuration configuration) { + LinearLayout monitorContainer = (LinearLayout) findViewById(R.id.monitorContainer); + if (configuration.orientation == Configuration.ORIENTATION_LANDSCAPE) { + // When the phone is landscape, lay out the monitor views horizontally. + monitorContainer.setOrientation(LinearLayout.HORIZONTAL); + for (int i = 0; i < monitorContainer.getChildCount(); i++) { + View view = monitorContainer.getChildAt(i); + view.setLayoutParams(new LayoutParams(0, LayoutParams.MATCH_PARENT, 1 /* weight */)); + } + } else { + // When the phone is portrait, lay out the monitor views vertically. + monitorContainer.setOrientation(LinearLayout.VERTICAL); + for (int i = 0; i < monitorContainer.getChildCount(); i++) { + View view = monitorContainer.getChildAt(i); + view.setLayoutParams(new LayoutParams(LayoutParams.MATCH_PARENT, 0, 1 /* weight */)); + } + } + monitorContainer.requestLayout(); + } + + @Override + protected void onActivityResult(int request, int result, Intent intent) { + if (request == REQUEST_CONFIG_WIFI_CHANNEL) { + if (result == RESULT_OK) { + AppUtil.getInstance().showToast(UILocation.BOTH, context.getString(R.string.toastWifiConfigurationComplete)); + } + } + // was some historical confusion about launch codes here, so we err safely + if (request == RequestCode.CONFIGURE_ROBOT_CONTROLLER.ordinal() || request == RequestCode.SETTINGS_ROBOT_CONTROLLER.ordinal()) { + // We always do a refresh, whether it was a cancel or an OK, for robustness + shutdownRobot(); + cfgFileMgr.getActiveConfigAndUpdateUI(); + updateUIAndRequestRobotSetup(); + } + } + + public void onServiceBind(final FtcRobotControllerService service) { + RobotLog.vv(FtcRobotControllerService.TAG, "%s.controllerService=bound", TAG); + controllerService = service; + updateUI.setControllerService(controllerService); + + controllerService.setOnBotJavaHelper(onBotJavaHelper); + + updateUIAndRequestRobotSetup(); + programmingModeManager.setState(new FtcRobotControllerServiceState() { + @NonNull + @Override + public WebServer getWebServer() { + return service.getWebServer(); + } + + @Nullable + @Override + public OnBotJavaHelper getOnBotJavaHelper() { + return service.getOnBotJavaHelper(); + } + + @Override + public EventLoopManager getEventLoopManager() { + return service.getRobot().eventLoopManager; + } + }); + + AnnotatedHooksClassFilter.getInstance().callWebHandlerRegistrarMethods(this, + service.getWebServer().getWebHandlerManager()); + } + + private void updateUIAndRequestRobotSetup() { + if (controllerService != null) { + callback.networkConnectionUpdate(controllerService.getNetworkConnectionStatus()); + callback.updateRobotStatus(controllerService.getRobotStatus()); + // Only show this first-time toast on headless systems: what we have now on non-headless suffices + requestRobotSetup(LynxConstants.isRevControlHub() + ? new Runnable() { + @Override public void run() { + showRestartRobotCompleteToast(R.string.toastRobotSetupComplete); + } + } + : null); + } + } + + private void requestRobotSetup(@Nullable Runnable runOnComplete) { + if (controllerService == null) return; + + RobotConfigFile file = cfgFileMgr.getActiveConfigAndUpdateUI(); + HardwareFactory hardwareFactory = new HardwareFactory(context); + try { + hardwareFactory.setXmlPullParser(file.getXml()); + } catch (FileNotFoundException | XmlPullParserException e) { + RobotLog.ww(TAG, e, "Unable to set configuration file %s. Falling back on noConfig.", file.getName()); + file = RobotConfigFile.noConfig(cfgFileMgr); + try { + hardwareFactory.setXmlPullParser(file.getXml()); + cfgFileMgr.setActiveConfigAndUpdateUI(false, file); + } catch (FileNotFoundException | XmlPullParserException e1) { + RobotLog.ee(TAG, e1, "Failed to fall back on noConfig"); + } + } + + OpModeRegister userOpModeRegister = createOpModeRegister(); + eventLoop = new FtcEventLoop(hardwareFactory, userOpModeRegister, callback, this); + FtcEventLoopIdle idleLoop = new FtcEventLoopIdle(hardwareFactory, userOpModeRegister, callback, this); + + controllerService.setCallback(callback); + controllerService.setupRobot(eventLoop, idleLoop, runOnComplete); + + passReceivedUsbAttachmentsToEventLoop(); + AndroidBoard.showErrorIfUnknownControlHub(); + + AnnotatedHooksClassFilter.getInstance().callOnCreateEventLoopMethods(this, eventLoop); + } + + protected OpModeRegister createOpModeRegister() { + return new FtcOpModeRegister(); + } + + private void shutdownRobot() { + if (controllerService != null) controllerService.shutdownRobot(); + } + + private void requestRobotRestart() { + AppUtil.getInstance().showToast(UILocation.BOTH, AppUtil.getDefContext().getString(R.string.toastRestartingRobot)); + // + RobotLog.clearGlobalErrorMsg(); + RobotLog.clearGlobalWarningMsg(); + shutdownRobot(); + requestRobotSetup(new Runnable() { + @Override public void run() { + showRestartRobotCompleteToast(R.string.toastRestartRobotComplete); + } + }); + } + + private void showRestartRobotCompleteToast(@StringRes int resid) { + AppUtil.getInstance().showToast(UILocation.BOTH, AppUtil.getDefContext().getString(resid)); + } + + private void checkPreferredChannel() { + // For P2P network, check to see what preferred channel is. + if (networkType == NetworkType.WIFIDIRECT) { + int prefChannel = preferencesHelper.readInt(getString(com.qualcomm.ftccommon.R.string.pref_wifip2p_channel), -1); + if (prefChannel == -1) { + prefChannel = 0; + RobotLog.vv(TAG, "pref_wifip2p_channel: No preferred channel defined. Will use a default value of %d", prefChannel); + } else { + RobotLog.vv(TAG, "pref_wifip2p_channel: Found existing preferred channel (%d).", prefChannel); + } + + // attempt to set the preferred channel. + RobotLog.vv(TAG, "pref_wifip2p_channel: attempting to set preferred channel..."); + wifiDirectChannelChanger = new WifiDirectChannelChanger(); + wifiDirectChannelChanger.changeToChannel(prefChannel); + } + } + + protected void hittingMenuButtonBrightensScreen() { + ActionBar actionBar = getActionBar(); + if (actionBar != null) { + actionBar.addOnMenuVisibilityListener(new ActionBar.OnMenuVisibilityListener() { + @Override + public void onMenuVisibilityChanged(boolean isVisible) { + if (isVisible) { + dimmer.handleDimTimer(); + } + } + }); + } + } + + protected class SharedPreferencesListener implements SharedPreferences.OnSharedPreferenceChangeListener { + @Override public void onSharedPreferenceChanged(SharedPreferences sharedPreferences, String key) { + if (key.equals(context.getString(R.string.pref_app_theme))) { + ThemedActivity.restartForAppThemeChange(getTag(), getString(R.string.appThemeChangeRestartNotifyRC)); + } else if (key.equals(context.getString(R.string.pref_wifi_automute))) { + if (preferencesHelper.readBoolean(context.getString(R.string.pref_wifi_automute), false)) { + initWifiMute(true); + } else { + initWifiMute(false); + } + } + } + } + + protected void initWifiMute(boolean enable) { + if (enable) { + wifiMuteStateMachine = new WifiMuteStateMachine(); + wifiMuteStateMachine.initialize(); + wifiMuteStateMachine.start(); + + motionDetection = new MotionDetection(2.0, 10); + motionDetection.startListening(); + motionDetection.registerListener(new MotionDetection.MotionDetectionListener() { + @Override + public void onMotionDetected(double vector) + { + wifiMuteStateMachine.consumeEvent(WifiMuteEvent.USER_ACTIVITY); + } + }); + } else { + wifiMuteStateMachine.stop(); + wifiMuteStateMachine = null; + motionDetection.stopListening(); + motionDetection.purgeListeners(); + motionDetection = null; + } + } + + @Override + public void onUserInteraction() { + if (wifiMuteStateMachine != null) { + wifiMuteStateMachine.consumeEvent(WifiMuteEvent.USER_ACTIVITY); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/PermissionValidatorWrapper.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/PermissionValidatorWrapper.java new file mode 100644 index 0000000..a0094bc --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/PermissionValidatorWrapper.java @@ -0,0 +1,91 @@ +/* + * Copyright (c) 2018 Craig MacFarlane + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, are permitted + * (subject to the limitations in the disclaimer below) provided that the following conditions are + * met: + * + * Redistributions of source code must retain the above copyright notice, this list of conditions + * and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this list of conditions + * and the following disclaimer in the documentation and/or other materials provided with the + * distribution. + * + * Neither the name of Craig MacFarlane nor the names of its contributors may be used to + * endorse or promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS LICENSE. THIS + * SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED + * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF + * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +package org.firstinspires.ftc.robotcontroller.internal; + +import android.Manifest; +import android.os.Bundle; + +import com.qualcomm.ftcrobotcontroller.R; + +import org.firstinspires.ftc.robotcore.internal.system.Misc; +import org.firstinspires.ftc.robotcore.internal.system.PermissionValidatorActivity; + +import java.util.ArrayList; +import java.util.List; + +public class PermissionValidatorWrapper extends PermissionValidatorActivity { + + private final String TAG = "PermissionValidatorWrapper"; + + /* + * The list of dangerous permissions the robot controller needs. + */ + protected List robotControllerPermissions = new ArrayList() {{ + add(Manifest.permission.WRITE_EXTERNAL_STORAGE); + add(Manifest.permission.READ_EXTERNAL_STORAGE); + add(Manifest.permission.CAMERA); + add(Manifest.permission.ACCESS_COARSE_LOCATION); + add(Manifest.permission.ACCESS_FINE_LOCATION); + add(Manifest.permission.READ_PHONE_STATE); + }}; + + private final static Class startApplication = FtcRobotControllerActivity.class; + + public String mapPermissionToExplanation(final String permission) { + if (permission.equals(Manifest.permission.WRITE_EXTERNAL_STORAGE)) { + return Misc.formatForUser(R.string.permRcWriteExternalStorageExplain); + } else if (permission.equals(Manifest.permission.READ_EXTERNAL_STORAGE)) { + return Misc.formatForUser(R.string.permRcReadExternalStorageExplain); + } else if (permission.equals(Manifest.permission.CAMERA)) { + return Misc.formatForUser(R.string.permRcCameraExplain); + } else if (permission.equals(Manifest.permission.ACCESS_COARSE_LOCATION)) { + return Misc.formatForUser(R.string.permAccessLocationExplain); + } else if (permission.equals(Manifest.permission.ACCESS_FINE_LOCATION)) { + return Misc.formatForUser(R.string.permAccessLocationExplain); + } else if (permission.equals(Manifest.permission.READ_PHONE_STATE)) { + return Misc.formatForUser(R.string.permReadPhoneState); + } + return Misc.formatForUser(R.string.permGenericExplain); + } + + @Override + protected void onCreate(Bundle savedInstanceState) + { + super.onCreate(savedInstanceState); + + permissions = robotControllerPermissions; + } + + protected Class onStartApplication() + { + FtcRobotControllerActivity.setPermissionsValidated(); + return startApplication; + } +} diff --git a/FtcRobotController/src/main/res/drawable-xhdpi/icon_menu.png b/FtcRobotController/src/main/res/drawable-xhdpi/icon_menu.png new file mode 100644 index 0000000..6b9e997 Binary files /dev/null and b/FtcRobotController/src/main/res/drawable-xhdpi/icon_menu.png differ diff --git a/FtcRobotController/src/main/res/drawable-xhdpi/icon_robotcontroller.png b/FtcRobotController/src/main/res/drawable-xhdpi/icon_robotcontroller.png new file mode 100644 index 0000000..022552f Binary files /dev/null and b/FtcRobotController/src/main/res/drawable-xhdpi/icon_robotcontroller.png differ diff --git a/FtcRobotController/src/main/res/layout/activity_ftc_controller.xml b/FtcRobotController/src/main/res/layout/activity_ftc_controller.xml new file mode 100644 index 0000000..935bb2b --- /dev/null +++ b/FtcRobotController/src/main/res/layout/activity_ftc_controller.xml @@ -0,0 +1,191 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/FtcRobotController/src/main/res/menu/ftc_robot_controller.xml b/FtcRobotController/src/main/res/menu/ftc_robot_controller.xml new file mode 100644 index 0000000..d14a89f --- /dev/null +++ b/FtcRobotController/src/main/res/menu/ftc_robot_controller.xml @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + diff --git a/FtcRobotController/src/main/res/raw/gold.wav b/FtcRobotController/src/main/res/raw/gold.wav new file mode 100644 index 0000000..3a7baf8 Binary files /dev/null and b/FtcRobotController/src/main/res/raw/gold.wav differ diff --git a/FtcRobotController/src/main/res/raw/silver.wav b/FtcRobotController/src/main/res/raw/silver.wav new file mode 100644 index 0000000..25918a7 Binary files /dev/null and b/FtcRobotController/src/main/res/raw/silver.wav differ diff --git a/FtcRobotController/src/main/res/values/dimens.xml b/FtcRobotController/src/main/res/values/dimens.xml new file mode 100644 index 0000000..63f1bab --- /dev/null +++ b/FtcRobotController/src/main/res/values/dimens.xml @@ -0,0 +1,40 @@ + + + + + + 16dp + 5dp + + \ No newline at end of file diff --git a/FtcRobotController/src/main/res/values/strings.xml b/FtcRobotController/src/main/res/values/strings.xml new file mode 100644 index 0000000..1aa7500 --- /dev/null +++ b/FtcRobotController/src/main/res/values/strings.xml @@ -0,0 +1,72 @@ + + + + + + + FTC Robot Controller + + + Self Inspect + Program & Manage + Blocks + Settings + Restart Robot + Configure Robot + About + Exit + + + Configuration Complete + Restarting Robot + The Robot Controller must be fully up and running before entering Program and Manage Mode. + + + + @style/AppThemeRedRC + @style/AppThemeGreenRC + @style/AppThemeBlueRC + @style/AppThemePurpleRC + @style/AppThemeOrangeRC + @style/AppThemeTealRC + + + pref_ftc_season_year_of_current_rc + + @string/packageNameRobotController + + diff --git a/FtcRobotController/src/main/res/values/styles.xml b/FtcRobotController/src/main/res/values/styles.xml new file mode 100644 index 0000000..07689c0 --- /dev/null +++ b/FtcRobotController/src/main/res/values/styles.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/FtcRobotController/src/main/res/xml/app_settings.xml b/FtcRobotController/src/main/res/xml/app_settings.xml new file mode 100644 index 0000000..58d3aa9 --- /dev/null +++ b/FtcRobotController/src/main/res/xml/app_settings.xml @@ -0,0 +1,93 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/FtcRobotController/src/main/res/xml/device_filter.xml b/FtcRobotController/src/main/res/xml/device_filter.xml new file mode 100644 index 0000000..7677dad --- /dev/null +++ b/FtcRobotController/src/main/res/xml/device_filter.xml @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + diff --git a/README.md b/README.md new file mode 100644 index 0000000..4b70698 --- /dev/null +++ b/README.md @@ -0,0 +1,1132 @@ +## NOTICE + +This repository contains the public FTC SDK for the Freight Frenzy (2021-2022) competition season. + +## Welcome! +This GitHub repository contains the source code that is used to build an Android app to control a *FIRST* Tech Challenge competition robot. To use this SDK, download/clone the entire project to your local computer. + +## Getting Started +If you are new to robotics or new to the *FIRST* Tech Challenge, then you should consider reviewing the [FTC Blocks Tutorial](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Blocks-Tutorial) to get familiar with how to use the control system: + +      [FTC Blocks Online Tutorial](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Blocks-Tutorial) + +Even if you are an advanced Java programmer, it is helpful to start with the [FTC Blocks tutorial](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Blocks-Tutorial), and then migrate to the [OnBot Java Tool](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/OnBot-Java-Tutorial) or to [Android Studio](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Android-Studio-Tutorial) afterwards. + +## Downloading the Project +If you are an Android Studio programmer, there are several ways to download this repo. Note that if you use the Blocks or OnBot Java Tool to program your robot, then you do not need to download this repository. + +* If you are a git user, you can clone the most current version of the repository: + +

                git clone https://github.com/FIRST-Tech-Challenge/FtcRobotController.git

    + +* Or, if you prefer, you can use the "Download Zip" button available through the main repository page. Downloading the project as a .ZIP file will keep the size of the download manageable. + +* You can also download the project folder (as a .zip or .tar.gz archive file) from the Downloads subsection of the [Releases](https://github.com/FIRST-Tech-Challenge/FtcRobotController/releases) page for this repository. + +* The Releases page also contains prebuilt APKs. + +Once you have downloaded and uncompressed (if needed) your folder, you can use Android Studio to import the folder ("Import project (Eclipse ADT, Gradle, etc.)"). + +## Getting Help +### User Documentation and Tutorials +*FIRST* maintains online documentation with information and tutorials on how to use the *FIRST* Tech Challenge software and robot control system. You can access this documentation using the following link: + +      [FtcRobotController Online Documentation](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki) + +Note that the online documentation is an "evergreen" document that is constantly being updated and edited. It contains the most current information about the *FIRST* Tech Challenge software and control system. + +### Javadoc Reference Material +The Javadoc reference documentation for the FTC SDK is now available online. Click on the following link to view the FTC SDK Javadoc documentation as a live website: + +      [FTC Javadoc Documentation](https://javadoc.io/org.firstinspires.ftc) + +### Online User Forum +For technical questions regarding the Control System or the FTC SDK, please visit the FTC Technology forum: + +      [FTC Technology Forum](https://ftcforum.firstinspires.org/forum/ftc-technology) + +### Sample OpModes +This project contains a large selection of Sample OpModes (robot code examples) which can be cut and pasted into your /teamcode folder to be used as-is, or modified to suit your team's needs. + +Samples Folder:    [/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples](FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples) + +The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc/teamcode](TeamCode/src/main/java/org/firstinspires/ftc/teamcode) folder contains an explanation of the sample naming convention, and instructions on how to copy them to your own project space. + +# Release Information + +## Version 7.0 (20210915-141025) + +### Enhancements and New Features +* Adds support for external libraries to OnBotJava and Blocks. + * Upload .jar and .aar files in OnBotJava. + * Known limitation - RobotController device must be running Android 7.0 or greater. + * Known limitation - .aar files with assets are not supported. + * External libraries can provide support for hardware devices by using the annotation in the + com.qualcomm.robotcore.hardware.configuration.annotations package. + * External libraries can include .so files for native code. + * External libraries can be used from OnBotJava op modes. + * External libraries that use the following annotations can be used from Blocks op modes. + * org.firstinspires.ftc.robotcore.external.ExportClassToBlocks + * org.firstinspires.ftc.robotcore.external.ExportToBlocks + * External libraries that use the following annotations can add new hardware devices: + * com.qualcomm.robotcore.hardware.configuration.annotations.AnalogSensorType + * com.qualcomm.robotcore.hardware.configuration.annotations.DeviceProperties + * com.qualcomm.robotcore.hardware.configuration.annotations.DigitalIoDeviceType + * com.qualcomm.robotcore.hardware.configuration.annotations.I2cDeviceType + * com.qualcomm.robotcore.hardware.configuration.annotations.MotorType + * com.qualcomm.robotcore.hardware.configuration.annotations.ServoType + * External libraries that use the following annotations can add new functionality to the Robot Controller: + * org.firstinspires.ftc.ftccommon.external.OnCreate + * org.firstinspires.ftc.ftccommon.external.OnCreateEventLoop + * org.firstinspires.ftc.ftccommon.external.OnCreateMenu + * org.firstinspires.ftc.ftccommon.external.OnDestroy + * org.firstinspires.ftc.ftccommon.external.WebHandlerRegistrar +* Adds support for REV Robotics Driver Hub +* Adds fully custom userspace USB gamepad driver to Driver Station (see "Advanced Gamepad Features" menu in DS settings) + * Allows gamepads to work on devices without native Linux kernel support (e.g. some Romanian Motorola devices) + * Allows the DS to read the unique serial number of each gamepad, enabling auto-recovery of dropped gamepads even if two gamepads of the same model drop. *(NOTE: unfortunately this does not apply to Etpark gamepads, because they do not have a unique serial)* + * Reading the unique serial number also provides the ability to configure the DS to assign gamepads to a certain position by default (so no need to do start+a/b at all) + * The LED ring on the Xbox360 gamepad and the RGB LED bar on the PS4 gamepad is used to indicate the driver position the gamepad is bound to + * The rumble motors on the Xbox360, PS4, and Etpark gamepads can be controlled from OpModes + * The 2-point touchpad on the PS4 gamepad can be read from OpModes + * The "back" and "guide" buttons on the gamepad can now be safely bound to robot controls (Previously, on many devices, Android would intercept these buttons as home button presses and close the app) + * Advanced Gamepad features are enabled by default, but may be disabled through the settings menu in order to revert to gamepad support provided natively by Android +* Improves accuracy of ping measurement + * Fixes issue where the ping time showed as being higher than reality when initially connecting to or restarting the robot + * To see the full improvement, you must update both the Robot Controller and Driver Station apps +* Updates samples located at [/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples](FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples) + * Added ConceptGamepadRumble and ConceptGamepadTouchpad samples to illustrtate the use of these new gampad capabilities. + * Condensed existing Vuforia samples into just 2 samples (ConceptVuforiaFieldNavigation & ConceptVuforiaFieldNavigationWebcam) showing how to determine the robot's location on the field using Vuforia. These both use the current season's Target images. + * Added ConceptVuforiaDriveToTargetWebcam to illustrate an easy way to drive directly to any visible Vuforia target. +* Makes many improvements to the warning system and individual warnings + * Warnings are now much more spaced out, so that they are easier to read + * New warnings were added for conditions that should be resolved before competing + * The mismatched apps warning now uses the major and minor app versions, not the version code + * The warnings are automatically re-enabled when a Robot Controller app from a new FTC season is installed +* Adds support for I2C transactions on the Expansion Hub / Control Hub without specifying a register address + * See section 3 of the [TI I2C spec](https://www.ti.com/lit/an/slva704/slva704.pdf) + * Calling these new methods when using Modern Robotics hardware will result in an UnsupportedOperationException +* Changes VuforiaLocalizer `close()` method to be public +* Adds support for TensorFlow v2 object detection models. +* Reduces ambiguity of the Self Inspect language and graphics. +* OnBotJava now warns about potentially unintended file overwrites +* Improves behavior of the Wi-Fi band and channel selector on the Manage webpage. + +### Bug fixes + * Fixes Robot Controller app crash on Android 9+ when a Driver Station connects + * Fixes issue where an Op Mode was responsible for calling shutdown on the + TensorFlow TFObjectDetector. Now this is done automatically. + * Fixes Vuforia initialization blocks to allow user to chose AxesOrder. Updated + relevant blocks sample opmodes. + * Fixes [FtcRobotController issue #114](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/114) + LED blocks and Java class do not work + * Fixes match logging for Op Modes that contain special characters in their names + * Fixes Driver Station OpMode controls becoming unresponsive if the Driver Station was set to the landscape layout and an OnBotJava build was triggered while an OpMode was running + * Fixes the Driver Station app closing itself when it is switched away from, or the screen is turned off + * Fixes "black swirl of doom" (Infinite "configuring Wi-Fi Direct" message) on older devices + * Updates the wiki comment on the OnBotJava intro page + +## Version 6.2 (20210218-074821) + +### Enhancements +* Attempts to automatically fix the condition where a Control Hub's internal Expansion Hub is not + working by re-flashing its firmware +* Makes various improvements to the Wi-Fi Direct pairing screen, especially in landscape mode +* Makes the Robot Controller service no longer be categorically restarted when the main activity is brought to foreground + * (e.g. the service is no longer restarted simply by viewing the Self Inspect screen and pressing the back button) + * It is still restarted if the Settings menu or Configure Robot menu is opened + + +### Bug fixes +* Fixes [FtcRobotController issue #71](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/71) + Cannot open OpModes in v6.1 Blocks offline editor +* Fixes [FtcRobotController issue #79](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/79) + 6.1 causes a soft reboot on the Motorola E5 Play +* Fixes issue where the Control Hub OS's watchdog would restart the Robot Controller app if + the Control Hub was not able to communicate with its internal Expansion Hub +* Fixes certain I2C devices not showing up in the appropriate `HardwareMap` fields (such as `hardwareMap.colorSensor`) +* Fixes issue where performing a Wi-Fi factory reset on the Control Hub would not set the Wi-Fi band to 2.4 GHz +* Fixes issue where OnBotJava might fail to create a new file if the option to "Setup Code for Configured Hardware" was selected +* Fixes issue where performing certain operations after an Op Mode crashes would temporarily break Control/Expansion Hub communication +* Fixes issue where a Control Hub with a configured USB-connected Expansion Hub would not work if the Expansion Hub was missing at startup +* Fixes potential issues caused by having mismatched Control/Expansion Hub firmware versions +* Fixes [ftc_app issue 673](https://github.com/ftctechnh/ftc_app/issues/673) Latest matchlog is being deleted instead of old ones by RobotLog +* Fixes ConceptVuforiaUltimateGoalNavigationWebcam sample opmode by correctly orienting camera on robot. +* Fixes issue where logcat would be spammed with InterruptedExceptions when stop is requested from the Driver Station (this behavior was accidentally introduced in v5.3). This change has no impact on functionality. +* Fixes issue where the blocks editor fails to load if the name of any TeleOp opmode contains an apostrophe. + +## Version 6.1 (20201209-113742) +* Makes the scan button on the configuration screen update the list of Expansion Hubs connected via RS-485 + * Fixes [SkyStone issue #143](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/143) +* Improves web interface compatibility with older browser and Android System WebView versions. +* Fixes issue in UVC driver where some cameras (e.g. certain MS Lifecams) which reported frame intervals as rounded rather than truncated values (e.g. `666667*100ns` instead of `666666*100ns` for 15FPS) would fail to start streaming. +* Adds support in UVC driver for virtual PTZ control +* Adds support in UVC driver for gain (ISO) control +* Adds support in UVC driver for enabling/disable AE priority. This setting provides a means to tell the camera firmware either + * A) It can undershoot the requested frame rate in order to provide a theoretically better image (i.e. with a longer exposure than the inter-frame period of the selected frame rate allows) + * B) It *must* meet the inter-frame deadline for the selected frame rate, even if the image may be underexposed as a result +* Adds support for the Control Hub OS 1.1.2 Robot Controller watchdog + * The Robot Controller app will be restarted if it stops responding for more than 10 seconds +* Adds support for using the Driver Station app on Android 10+ +* Introduces an automatic TeleOp preselection feature + * For details and usage guide, please see [this wiki entry](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Automatically-Loading-a-Driver-Controlled-Op-Mode) +* Shows icon next to OpMode name in the OpMode list dropdown on the Driver Station to indicate the source of the OpMode (i.e. the programming tool used to create it) +* Fixes issue where the Driver Station app would exit after displaying the Configuring Wi-Fi Direct screen +* Fixes Blocks and OnBotJava prompts when accessed via the REV Hardware Client + +## Version 6.0 (20200921-085816) + +### Important Notes +* Version 6.0 is the version for the Ultimate Goal season. +* Requires Android Studio 4.0. +* Android Studio users need to be connected to the Internet the first time they build the app (in order to download needed packages for the build). +* Version 5.5 was a moderately large off-season, August 2020, drop. It's worth reviewing those release notes below also. +* Version 5.5 and greater will not work on older Android 4.x and 5.x phones. Users must upgrade to an approved Android 6.x device or newer. +* The default PIDF values for REV motors have been reverted to the default PID values that were used in the 2018-2019 season + * This change was made because the 2018-2019 values turned out to work better for many mechanisms + * This brings the behavior of the REV motors in line with the behavior of all other motors + * If you prefer the 2019-2020 season's behavior for REV motors, here are the PIDF values that were in place, so that you can manually set them in your OpModes: +
    + **HD Hex motors (all gearboxes):** + Velocity PIDF values: `P = 1.17`, `I = 0.117`, `F = 11.7` + Position PIDF values: `P = 5.0` + **Core Hex motor:** + Velocity PIDF values: `P = 4.96`, `I = 0.496`, `F = 49.6` + Position PIDF values: `P = 5.0` + +### New features +* Includes TensorFlow inference model and sample op modes to detect Ultimate Goal Starter Stacks (four rings vs single ring stack). +* Includes Vuforia Ultimate Goal vision targets and sample op modes. +* Introduces a digital zoom feature for TensorFlow object detection (to detect objects more accurately at greater distances). +* Adds configuration entry for the REV UltraPlanetary HD Hex motor + +### Enhancements +* Adds setGain() and getGain() methods to the NormalizedColorSensor interface + * By setting the gain of a color sensor, you can adjust for different lighting conditions. + For example, if you detect lower color values than expected, you can increase the gain. + * The gain value is only applied to the argb() and getNormalizedColors() methods, not to the raw color methods. + The getNormalizedColors() method is recommended for ease-of-use and clarity, since argb() has to be converted. + * Updates SensorColor Java sample to demonstrate gain usage +* Merges SensorREVColorDistance Java sample into SensorColor Java sample, which showcases best practices for all color sensors +* Improves retrieving values from the REV Color Sensor V3 + * Updates the normalization calculation of the RGB channels + * Improves the calculation of the alpha channel (can be used as an overall brightness indicator) + * Fixes the default sensor resolution, which caused issues with bright environments + * Adds support for changing the resolution and measuring rate of the Broadcom sensor chip + * Removes IR readings and calculations not meant for the Broadcom sensor chip + +### Bug fixes +* Improves reliability of BNO055IMU IMU initialization to prevent random initialization failures (which manifested as `Problem with 'imu'`). + +## Version 5.5 (20200824-090813) + +Version 5.5 requires Android Studio 4.0 or later. + +### New features +* Adds support for calling custom Java classes from Blocks OpModes (fixes [SkyStone issue #161](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/161)). + * Classes must be in the org.firstinspires.ftc.teamcode package. + * To have easy access to the opMode, hardwareMap, telemetry, gamepad1, and gamepad2, classes can + extends org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion. + * Methods must be public static and have no more than 21 parameters. + * Methods must be annotated with org.firstinspires.ftc.robotcore.external.ExportToBlocks. + * Parameters declared as OpMode, LinearOpMode, Telemetry, and HardwareMap are supported and the + argument is provided automatically, regardless of the order of the parameters. On the block, + the sockets for those parameters are automatically filled in. + * Parameters declared as char or java.lang.Character will accept any block that returns text + and will only use the first character in the text. + * Parameters declared as boolean or java.lang.Boolean will accept any block that returns boolean. + * Parameters declared as byte, java.lang.Byte, short, java.lang.Short, int, java.lang.Integer, + long, or java.lang.Long, will accept any block that returns a number and will round that + value to the nearest whole number. + * Parameters declared as float, java.lang.Float, double, java.lang.Double will accept any + block that returns a number. +* Adds telemetry API method for setting display format + * Classic + * Monospace + * HTML (certain tags only) +* Adds blocks support for switching cameras. +* Adds Blocks support for TensorFlow Object Detection with a custom model. +* Adds support for uploading a custom TensorFlow Object Detection model in the Manage page, which + is especially useful for Blocks and OnBotJava users. +* Shows new Control Hub blink codes when the Wi-Fi band is switched using the Control Hub's button (only possible on Control Hub OS 1.1.2) +* Adds new warnings which can be disabled in the Advanced RC Settings + * Mismatched app versions warning + * Unnecessary 2.4 GHz Wi-Fi usage warning + * REV Hub is running outdated firmware (older than version 1.8.2) +* Adds support for Sony PS4 gamepad, and reworks how gamepads work on the Driver Station + * Removes preference which sets gamepad type based on driver position. Replaced with menu which allows specifying type for gamepads with unknown VID and PID + * Attempts to auto-detect gamepad type based on USB VID and PID + * If gamepad VID and PID is not known, use type specified by user for that VID and PID + * If gamepad VID and PID is not known AND the user has not specified a type for that VID and PID, an educated guess is made about how to map the gamepad +* Driver Station will now attempt to automatically recover from a gamepad disconnecting, and re-assign it to the position it was assigned to when it dropped + * If only one gamepad is assigned and it drops: it can be recovered + * If two gamepads are assigned, and have **different** VID/PID signatures, and only one drops: it will be recovered + * If two gamepads are assigned, and have **different** VID/PID signatures, and BOTH drop: both will be recovered + * If two gamepads are assigned, and have **the same** VID/PID signatures, and only one drops: it will be recovered + * If two gamepads are assigned, and have **the same** VID/PID signatures, and BOTH drop: **neither** will be recovered, because of the ambiguity of the gamepads when they re-appear on the USB bus. + * There is currently one known edge case: if there are **two** gamepads with **the same** VID/PID signature plugged in, **but only one is assigned**, and they BOTH drop, it's a 50-50 chance of which one will be chosen for automatic recovery to the assigned position: it is determined by whichever one is re-enumerated first by the USB bus controller. +* Adds landscape user interface to Driver Station + * New feature: practice timer with audio cues + * New feature (Control Hub only): wireless network connection strength indicator (0-5 bars) + * New feature (Control Hub only): tapping on the ping/channel display will switch to an alternate display showing radio RX dBm and link speed (tap again to switch back) + * The layout will NOT autorotate. You can switch the layout from the Driver Station's settings menu. +### Breaking changes +* Removes support for Android versions 4.4 through 5.1 (KitKat and Lollipop). The minSdkVersion is now 23. +* Removes the deprecated `LinearOpMode` methods `waitOneFullHardwareCycle()` and `waitForNextHardwareCycle()` +### Enhancements +* Handles RS485 address of Control Hub automatically + * The Control Hub is automatically given a reserved address + * Existing configuration files will continue to work + * All addresses in the range of 1-10 are still available for Expansion Hubs + * The Control Hub light will now normally be solid green, without blinking to indicate the address + * The Control Hub will not be shown on the Expansion Hub Address Change settings page +* Improves REV Hub firmware updater + * The user can now choose between all available firmware update files + * Version 1.8.2 of the REV Hub firmware is bundled into the Robot Controller app. + * Text was added to clarify that Expansion Hubs can only be updated via USB. + * Firmware update speed was reduced to improve reliability + * Allows REV Hub firmware to be updated directly from the Manage webpage +* Improves log viewer on Robot Controller + * Horizontal scrolling support (no longer word wrapped) + * Supports pinch-to-zoom + * Uses a monospaced font + * Error messages are highlighted + * New color scheme +* Attempts to force-stop a runaway/stuck OpMode without restarting the entire app + * Not all types of runaway conditions are stoppable, but if the user code attempts to talk to hardware during the runaway, the system should be able to capture it. +* Makes various tweaks to the Self Inspect screen + * Renames "OS version" entry to "Android version" + * Renames "Wi-Fi Direct Name" to "Wi-Fi Name" + * Adds Control Hub OS version, when viewing the report of a Control Hub + * Hides the airplane mode entry, when viewing the report of a Control Hub + * Removes check for ZTE Speed Channel Changer + * Shows firmware version for **all** Expansion and Control Hubs +* Reworks network settings portion of Manage page + * All network settings are now applied with a single click + * The Wi-Fi Direct channel of phone-based Robot Controllers can now be changed from the Manage page + * Wi-Fi channels are filtered by band (2.4 vs 5 GHz) and whether they overlap with other channels + * The current Wi-Fi channel is pre-selected on phone-based Robot Controllers, and Control Hubs running OS 1.1.2 or later. + * On Control Hubs running OS 1.1.2 or later, you can choose to have the system automatically select a channel on the 5 GHz band +* Improves OnBotJava + * New light and dark themes replace the old themes (chaos, github, chrome,...) + * the new default theme is `light` and will be used when you first update to this version + * OnBotJava now has a tabbed editor + * Read-only offline mode +* Improves function of "exit" menu item on Robot Controller and Driver Station + * Now guaranteed to be fully stopped and unloaded from memory +* Shows a warning message if a LinearOpMode exists prematurely due to failure to monitor for the start condition +* Improves error message shown when the Driver Station and Robot Controller are incompatible with each other +* Driver Station OpMode Control Panel now disabled while a Restart Robot is in progress +* Disables advanced settings related to Wi-Fi Direct when the Robot Controller is a Control Hub. +* Tint phone battery icons on Driver Station when low/critical. +* Uses names "Control Hub Portal" and "Control Hub" (when appropriate) in new configuration files +* Improve I2C read performance + * Very large improvement on Control Hub; up to ~2x faster with small (e.g. 6 byte) reads + * Not as apparent on Expansion Hubs connected to a phone +* Update/refresh build infrastructure + * Update to 'androidx' support library from 'com.android.support:appcompat', which is end-of-life + * Update targetSdkVersion and compileSdkVersion to 28 + * Update Android Studio's Android plugin to latest + * Fix reported build timestamp in 'About' screen +* Add sample illustrating manual webcam use: ConceptWebcam + + +### Bug fixes +* Fixes [SkyStone issue #248](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/248) +* Fixes [SkyStone issue #232](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/232) and + modifies bulk caching semantics to allow for cache-preserving MANUAL/AUTO transitions. +* Improves performance when REV 2M distance sensor is unplugged +* Improves readability of Toast messages on certain devices +* Allows a Driver Station to connect to a Robot Controller after another has disconnected +* Improves generation of fake serial numbers for UVC cameras which do not provide a real serial number + * Previously some devices would assign such cameras a serial of `0:0` and fail to open and start streaming + * Fixes [ftc_app issue #638](https://github.com/ftctechnh/ftc_app/issues/638). +* Fixes a slew of bugs with the Vuforia camera monitor including: + * Fixes bug where preview could be displayed with a wonky aspect ratio + * Fixes bug where preview could be cut off in landscape + * Fixes bug where preview got totally messed up when rotating phone + * Fixes bug where crosshair could drift off target when using webcams +* Fixes issue in UVC driver on some devices ([ftc_app 681](https://github.com/ftctechnh/ftc_app/issues/681)) if streaming was started/stopped multiple times in a row + * Issue manifested as kernel panic on devices which do not have [this kernel patch](https://lore.kernel.org/patchwork/patch/352400/). + * On affected devices which **do** have the patch, the issue was manifest as simply a failure to start streaming. + * The Tech Team believes that the root cause of the issue is a bug in the Linux kernel XHCI driver. A workaround was implemented in the SDK UVC driver. +* Fixes bug in UVC driver where often half the frames from the camera would be dropped (e.g. only 15FPS delivered during a streaming session configured for 30FPS). +* Fixes issue where TensorFlow Object Detection would show results whose confidence was lower than + the minimum confidence parameter. +* Fixes a potential exploitation issue of [CVE-2019-11358](https://www.cvedetails.com/cve/CVE-2019-11358/) in OnBotJava +* Fixes changing the address of an Expansion Hub with additional Expansion Hubs connected to it +* Preserves the Control Hub's network connection when "Restart Robot" is selected +* Fixes issue where device scans would fail while the Robot was restarting +* Fix RenderScript usage + * Use androidx.renderscript variant: increased compatibility + * Use RenderScript in Java mode, not native: simplifies build +* Fixes webcam-frame-to-bitmap conversion problem: alpha channel wasn't being initialized, only R, G, & B +* Fixes possible arithmetic overflow in Deadline +* Fixes deadlock in Vuforia webcam support which could cause 5-second delays when stopping OpMode + +## Version 5.4 (20200108-101156) +* Fixes [SkyStone issue #88](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/88) +* Adds an inspection item that notes when a robot controller (Control Hub) is using the factory default password. +* Fixes [SkyStone issue #61](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/61) +* Fixes [SkyStone issue #142](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/142) +* Fixes [ftc_app issue #417](https://github.com/ftctechnh/ftc_app/issues/417) by adding more current and voltage monitoring capabilities for REV Hubs. +* Fixes [a crash sometimes caused by OnBotJava activity](https://ftcforum.firstinspires.org/forum/ftc-technology/76217-onbotjava-crashes-robot-controller) +* Improves OnBotJava autosave functionality [ftc_app #738](https://github.com/ftctechnh/ftc_app/issues/738) +* Fixes system responsiveness issue when an Expansion Hub is disconnected +* Fixes issue where IMU initialization could prevent Op Modes from stopping +* Fixes issue where AndroidTextToSpeech.speak() would fail if it was called too early +* Adds telemetry.speak() methods and blocks, which cause the Driver Station (if also updated) to speak text +* Adds and improves Expansion Hub-related warnings + * Improves Expansion Hub low battery warning + * Displays the warning immediately after the hub reports it + * Specifies whether the condition is current or occurred temporarily during an OpMode run + * Displays which hubs reported low battery + * Displays warning when hub loses and regains power during an OpMode run + * Fixes the hub's LED pattern after this condition + * Displays warning when Expansion Hub is not responding to commands + * Specifies whether the condition is current or occurred temporarily during an OpMode run + * Clarifies warning when Expansion Hub is not present at startup + * Specifies that this condition requires a Robot Restart before the hub can be used. + * The hub light will now accurately reflect this state + * Improves logging and reduces log spam during these conditions +* Syncs the Control Hub time and timezone to a connected web browser programming the robot, if a Driver Station is not available. +* Adds bulk read functionality for REV Hubs + * A bulk caching mode must be set at the Hub level with `LynxModule#setBulkCachingMode()`. This applies to all relevant SDK hardware classes that reference that Hub. + * The following following Hub bulk caching modes are available: + * `BulkCachingMode.OFF` (default): All hardware calls operate as usual. Bulk data can read through `LynxModule#getBulkData()` and processed manually. + * `BulkCachingMode.AUTO`: Applicable hardware calls are served from a bulk read cache that is cleared/refreshed automatically to ensure identical commands don't hit the same cache. The cache can also be cleared manually with `LynxModule#clearBulkCache()`, although this is not recommended. + * (advanced users) `BulkCachingMode.MANUAL`: Same as `BulkCachingMode.AUTO` except the cache is never cleared automatically. To avoid getting stale data, the cache must be manually cleared at the beginning of each loop body or as the user deems appropriate. +* Removes PIDF Annotation values added in Rev 5.3 (to AndyMark, goBILDA and TETRIX motor configurations). + * The new motor types will still be available but their Default control behavior will revert back to Rev 5.2 +* Adds new `ConceptMotorBulkRead` sample Opmode to demonstrate and compare Motor Bulk-Read modes for reducing I/O latencies. + +## Version 5.3 (20191004-112306) +* Fixes external USB/UVC webcam support +* Makes various bugfixes and improvements to Blocks page, including but not limited to: + * Many visual tweaks + * Browser zoom and window resize behave better + * Resizing the Java preview pane works better and more consistently across browsers + * The Java preview pane consistently gets scrollbars when needed + * The Java preview pane is hidden by default on phones + * Internet Explorer 11 should work + * Large dropdown lists display properly on lower res screens + * Disabled buttons are now visually identifiable as disabled + * A warning is shown if a user selects a TFOD sample, but their device is not compatible + * Warning messages in a Blocks op mode are now visible by default. +* Adds goBILDA 5201 and 5202 motors to Robot Configurator +* Adds PIDF Annotation values to AndyMark, goBILDA and TETRIX motor configurations. + This has the effect of causing the RUN_USING_ENCODERS and RUN_TO_POSITION modes to use + PIDF vs PID closed loop control on these motors. This should provide more responsive, yet stable, speed control. + PIDF adds Feedforward control to the basic PID control loop. + Feedforward is useful when controlling a motor's speed because it "anticipates" how much the control voltage + must change to achieve a new speed set-point, rather than requiring the integrated error to change sufficiently. + The PIDF values were chosen to provide responsive, yet stable, speed control on a lightly loaded motor. + The more heavily a motor is loaded (drag or friction), the more noticable the PIDF improvement will be. +* Fixes startup crash on Android 10 +* Fixes [ftc_app issue #712](https://github.com/ftctechnh/ftc_app/issues/712) (thanks to FROGbots-4634) +* Fixes [ftc_app issue #542](https://github.com/ftctechnh/ftc_app/issues/542) +* Allows "A" and lowercase letters when naming device through RC and DS apps. + +## Version 5.2 (20190905-083277) +* Fixes extra-wide margins on settings activities, and placement of the new configuration button +* Adds Skystone Vuforia image target data. + * Includes sample Skystone Vuforia Navigation op modes (Java). + * Includes sample Skystone Vuforia Navigation op modes (Blocks). +* Adds TensorFlow inference model (.tflite) for Skystone game elements. + * Includes sample Skystone TensorFlow op modes (Java). + * Includes sample Skystone TensorFlow op modes (Blocks). +* Removes older (season-specific) sample op modes. +* Includes 64-bit support (to comply with [Google Play requirements](https://android-developers.googleblog.com/2019/01/get-your-apps-ready-for-64-bit.html)). +* Protects against Stuck OpModes when a Restart Robot is requested. (Thanks to FROGbots-4634) ([ftc_app issue #709](https://github.com/ftctechnh/ftc_app/issues/709)) +* Blocks related changes: + * Fixes bug with blocks generated code when hardware device name is a java or javascript reserved word. + * Shows generated java code for blocks, even when hardware items are missing from the active configuration. + * Displays warning icon when outdated Vuforia and TensorFlow blocks are used ([SkyStone issue #27](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/27)) + +## Version 5.1 (20190820-222104) +* Defines default PIDF parameters for the following motors: + * REV Core Hex Motor + * REV 20:1 HD Hex Motor + * REV 40:1 HD Hex Motor +* Adds back button when running on a device without a system back button (such as a Control Hub) +* Allows a REV Control Hub to update the firmware on a REV Expansion Hub via USB +* Fixes [SkyStone issue #9](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/9) +* Fixes [ftc_app issue #715](https://github.com/ftctechnh/ftc_app/issues/715) +* Prevents extra DS User clicks by filtering based on current state. +* Prevents incorrect DS UI state changes when receiving new OpMode list from RC +* Adds support for REV Color Sensor V3 +* Adds a manual-refresh DS Camera Stream for remotely viewing RC camera frames. + * To show the stream on the DS, initialize **but do not run** a stream-enabled opmode, select the Camera Stream option in the DS menu, and tap the image to refresh. This feature is automatically enabled when using Vuforia or TFOD—no additional RC configuration is required for typical use cases. To hide the stream, select the same menu item again. + * Note that gamepads are disabled and the selected opmode cannot be started while the stream is open as a safety precaution. + * To use custom streams, consult the API docs for `CameraStreamServer#setSource` and `CameraStreamSource`. +* Adds many Star Wars sounds to RobotController resources. +* Added Skystone Sounds Chooser Sample Program. +* Switches out startup, connect chimes, and error/warning sounds for Star Wars sounds +* Updates OnBot Java to use a WebSocket for communication with the robot + * The OnBot Java page no longer has to do a full refresh when a user switches from editing one file to another + +Known issues: +* Camera Stream + * The Vuforia camera stream inherits the issues present in the phone preview (namely [ftc_app issue #574](https://github.com/ftctechnh/ftc_app/issues/574)). This problem does not affect the TFOD camera stream even though it receives frames from Vuforia. + * The orientation of the stream frames may not always match the phone preview. For now, these frames may be rotated manually via a custom `CameraStreamSource` if desired. +* OnBotJava + * Browser back button may not always work correctly + * It's possible for a build to be queued, but not started. The OnBot Java build console will display a warning if this occurs. + * A user might not realize they are editing a different file if the user inadvertently switches from one file to another since this switch is now seamless. The name of the currently open file is displayed in the browser tab. + +## Version 5.0 (built on 19.06.14) + * Support for the REV Robotics Control Hub. + * Adds a Java preview pane to the Blocks editor. + * Adds a new offline export feature to the Blocks editor. + * Display Wi-Fi channel in Network circle on Driver Station. + * Adds calibration for Logitech C270 + * Updates build tooling and target SDK. + * Compliance with Google's permissions infrastructure (Required after build tooling update). + * Keep Alives to mitigate the Motorola Wi-Fi scanning problem. Telemetry substitute no longer necessary. + * Improves Vuforia error reporting. + * Fixes ftctechnh/ftc_app issues 621, 713. + * Miscellaneous bug fixes and improvements. + +## Version 4.3 (built on 18.10.31) + * Includes missing TensorFlow-related libraries and files. + +## Version 4.2 (built on 18.10.30) + * Includes fix to avoid deadlock situation with WatchdogMonitor which could result in USB communication errors. + - Comm error appeared to require that user disconnect USB cable and restart the Robot Controller app to recover. + - robotControllerLog.txt would have error messages that included the words "E RobotCore: lynx xmit lock: #### abandoning lock:" + * Includes fix to correctly list the parent module address for a REV Robotics Expansion Hub in a configuration (.xml) file. + - Bug in versions 4.0 and 4.1 would incorrect list the address module for a parent REV Robotics device as "1". + - If the parent module had a higher address value than the daisy-chained module, then this bug would prevent the Robot Controller from communicating with the downstream Expansion Hub. + * Added requirement for ACCESS_COARSE_LOCATION to allow a Driver Station running Android Oreo to scan for Wi-Fi Direct devices. + * Added google() repo to build.gradle because aapt2 must be downloaded from the google() repository beginning with version 3.2 of the Android Gradle Plugin. + - Important Note: Android Studio users will need to be connected to the Internet the first time build the ftc_app project. + - Internet connectivity is required for the first build so the appropriate files can be downloaded from the Google repository. + - Users should not need to be connected to the Internet for subsequent builds. + - This should also fix buid issue where Android Studio would complain that it "Could not find com.android.tools.lint:lint-gradle:26.1.4" (or similar). + * Added support for REV Spark Mini motor controller as part of the configuration menu for a servo/PWM port on the REV Expansion Hub. + * Provide examples for playing audio files in an Op Mode. + * Block Development Tool Changes + - Includes a fix for a problem with the Velocity blocks that were reported in the FTC Technology forum (Blocks Programming subforum). + - Change the "Save completed successfully." message to a white color so it will contrast with a green background. + - Fixed the "Download image" feature so it will work if there are text blocks in the op mode. + * Introduce support for Google's TensorFlow Lite technology for object detetion for 2018-2019 game. + - TensorFlow lite can recognize Gold Mineral and Silver Mineral from 2018-2019 game. + - Example Java and Block op modes are included to show how to determine the relative position of the gold block (left, center, right). + +## Version 4.1 (released on 18.09.24) + +Changes include: + * Fix to prevent crash when deprecated configuration annotations are used. + * Change to allow FTC Robot Controller APK to be auto-updated using FIRST Global Control Hub update scripts. + * Removed samples for non supported / non legal hardware. + * Improvements to Telemetry.addData block with "text" socket. + * Updated Blocks sample op mode list to include Rover Ruckus Vuforia example. + * Update SDK library version number. + +## Version 4.0 (released on 18.09.12) + +Changes include: + * Initial support for UVC compatible cameras + - If UVC camera has a unique serial number, RC will detect and enumerate by serial number. + - If UVC camera lacks a unique serial number, RC will only support one camera of that type connected. + - Calibration settings for a few cameras are included (see TeamCode/src/main/res/xml/teamwebcamcalibrations.xml for details). + - User can upload calibration files from Program and Manage web interface. + - UVC cameras seem to draw a fair amount of electrical current from the USB bus. + + This does not appear to present any problems for the REV Robotics Control Hub. + + This does seem to create stability problems when using some cameras with an Android phone-based Robot Controller. + + FTC Tech Team is investigating options to mitigate this issue with the phone-based Robot Controllers. + - Updated sample Vuforia Navigation and VuMark Op Modes to demonstrate how to use an internal phone-based camera and an external UVC webcam. + + * Support for improved motor control. + - REV Robotics Expansion Hub firmware 1.8 and greater will support a feed forward mechanism for closed loop motor control. + - FTC SDK has been modified to support PIDF coefficients (proportional, integral, derivative, and feed forward). + - FTC Blocks development tool modified to include PIDF programming blocks. + - Deprecated older PID-related methods and variables. + - REV's 1.8.x PIDF-related changes provide a more linear and accurate way to control a motor. + + * Wireless + - Added 5GHz support for wireless channel changing for those devices that support it. + + Tested with Moto G5 and E4 phones. + + Also tested with other (currently non-approved) phones such as Samsung Galaxy S8. + +* Improved Expansion Hub firmware update support in Robot Controller app + - Changes to make the system more robust during the firmware update process (when performed through Robot Controller app). + - User no longer has to disconnect a downstream daisy-chained Expansion Hub when updating an Expansion Hub's firmware. + + If user is updating an Expansion Hub's firmware through a USB connection, he/she does not have to disconnect RS485 connection to other Expansion Hubs. + + The user still must use a USB connection to update an Expansion Hub's firmware. + + The user cannot update the Expansion Hub firmware for a downstream device that is daisy chained through an RS485 connection. + - If an Expansion Hub accidentally gets "bricked" the Robot Controller app is now more likely to recognize the Hub when it scans the USB bus. + + Robot Controller app should be able to detect an Expansion Hub, even if it accidentally was bricked in a previous update attempt. + + Robot Controller app should be able to install the firmware onto the Hub, even if if accidentally was bricked in a previous update attempt. + + * Resiliency + - FTC software can detect and enable an FTDI reset feature that is available with REV Robotics v1.8 Expansion Hub firmware and greater. + + When enabled, the Expansion Hub can detect if it hasn't communicated with the Robot Controller over the FTDI (USB) connection. + + If the Hub hasn't heard from the Robot Controller in a while, it will reset the FTDI connection. + + This action helps system recover from some ESD-induced disruptions. + - Various fixes to improve reliability of FTC software. + + * Blocks + - Fixed errors with string and list indices in blocks export to java. + - Support for USB connected UVC webcams. + - Refactored optimized Blocks Vuforia code to support Rover Ruckus image targets. + - Added programming blocks to support PIDF (proportional, integral, derivative and feed forward) motor control. + - Added formatting options (under Telemetry and Miscellaneous categories) so user can set how many decimal places to display a numerical value. + - Support to play audio files (which are uploaded through Blocks web interface) on Driver Station in addition to the Robot Controller. + - Fixed bug with Download Image of Blocks feature. + - Support for REV Robotics Blinkin LED Controller. + - Support for REV Robotics 2m Distance Sensor. + - Added support for a REV Touch Sensor (no longer have to configure as a generic digital device). + - Added blocks for DcMotorEx methods. + + These are enhanced methods that you can use when supported by the motor controller hardware. + + The REV Robotics Expansion Hub supports these enhanced methods. + + Enhanced methods include methods to get/set motor velocity (in encoder pulses per second), get/set PIDF coefficients, etc.. + + * Modest Improvements in Logging + - Decrease frequency of battery checker voltage statements. + - Removed non-FTC related log statements (wherever possible). + - Introduced a "Match Logging" feature. + + Under "Settings" a user can enable/disable this feature (it's disabled by default). + + If enabled, user provides a "Match Number" through the Driver Station user interface (top of the screen). + * The Match Number is used to create a log file specifically with log statements from that particular Op Mode run. + * Match log files are stored in /sdcard/FIRST/matlogs on the Robot Controller. + * Once an op mode run is complete, the Match Number is cleared. + * This is a convenient way to create a separate match log with statements only related to a specific op mode run. + + * New Devices + - Support for REV Robotics Blinkin LED Controller. + - Support for REV Robotics 2m Distance Sensor. + - Added configuration option for REV 20:1 HD Hex Motor. + - Added support for a REV Touch Sensor (no longer have to configure as a generic digital device). + + * Miscellaneous + - Fixed some errors in the definitions for acceleration and velocity in our javadoc documentation. + - Added ability to play audio files on Driver Station + - When user is configuring an Expansion Hub, the LED on the Expansion Hub will change blink pattern (purple-cyan) to indicate which Hub is currently being configured. + - Renamed I2cSensorType to I2cDeviceType. + - Added an external sample Op Mode that demonstrates localization using 2018-2019 (Rover Ruckus presented by QualComm) Vuforia targets. + - Added an external sample Op Mode that demonstrates how to use the REV Robotics 2m Laser Distance Sensor. + - Added an external sample Op Mode that demonstrates how to use the REV Robotics Blinkin LED Controller. + - Re-categorized external Java sample Op Modes to "TeleOp" instead of "Autonomous". + +Known issues: + * Initial support for UVC compatible cameras + - UVC cameras seem to draw significant amount of current from the USB bus. + + This does not appear to present any problems for the REV Robotics Control Hub. + + This does seem to create stability problems when using some cameras with an Android phone-based Robot Controller. + + FTC Tech Team is investigating options to mitigate this issue with the phone-based Robot Controllers. + - There might be a possible deadlock which causes the RC to become unresponsive when using a UVC webcam with a Nougat Android Robot Controller. + + * Wireless + - When user selects a wireless channel, this channel does not necessarily persist if the phone is power cycled. + + Tech Team is hoping to eventually address this issue in a future release. + + Issue has been present since apps were introduced (i.e., it is not new with the v4.0 release). + - Wireless channel is not currently displayed for Wi-Fi Direct connections. + + * Miscellaneous + - The blink indication feature that shows which Expansion Hub is currently being configured does not work for a newly created configuration file. + + User has to first save a newly created configuration file and then close and re-edit the file in order for blink indicator to work. + +## Version 3.6 (built on 17.12.18) + +Changes include: + * Blocks Changes + - Uses updated Google Blockly software to allow users to edit their op modes on Apple iOS devices (including iPad and iPhone). + - Improvement in Blocks tool to handle corrupt op mode files. + - Autonomous op modes should no longer get switched back to tele-op after re-opening them to be edited. + - The system can now detect type mismatches during runtime and alert the user with a message on the Driver Station. + * Updated javadoc documentation for setPower() method to reflect correct range of values (-1 to +1). + * Modified VuforiaLocalizerImpl to allow for user rendering of frames + - Added a user-overrideable onRenderFrame() method which gets called by the class's renderFrame() method. + +## Version 3.5 (built on 17.10.30) + +Changes with version 3.5 include: + * Introduced a fix to prevent random op mode stops, which can occur after the Robot Controller app has been paused and then resumed (for example, when a user temporarily turns off the display of the Robot Controller phone, and then turns the screen back on). + * Introduced a fix to prevent random op mode stops, which were previously caused by random peer disconnect events on the Driver Station. + * Fixes issue where log files would be closed on pause of the RC or DS, but not re-opened upon resume. + * Fixes issue with battery handler (voltage) start/stop race. + * Fixes issue where Android Studio generated op modes would disappear from available list in certain situations. + * Fixes problem where OnBot Java would not build on REV Robotics Control Hub. + * Fixes problem where OnBot Java would not build if the date and time on the Robot Controller device was "rewound" (set to an earlier date/time). + * Improved error message on OnBot Java that occurs when renaming a file fails. + * Removed unneeded resources from android.jar binaries used by OnBot Java to reduce final size of Robot Controller app. + * Added MR_ANALOG_TOUCH_SENSOR block to Blocks Programming Tool. + +## Version 3.4 (built on 17.09.06) + +Changes with version 3.4 include: + * Added telemetry.update() statement for BlankLinearOpMode template. + * Renamed sample Block op modes to be more consistent with Java samples. + * Added some additional sample Block op modes. + * Reworded OnBot Java readme slightly. + +## Version 3.3 (built on 17.09.04) + +This version of the software includes improves for the FTC Blocks Programming Tool and the OnBot Java Programming Tool. + +Changes with verion 3.3 include: + * Android Studio ftc_app project has been updated to use Gradle Plugin 2.3.3. + * Android Studio ftc_app project is already using gradle 3.5 distribution. + * Robot Controller log has been renamed to /sdcard/RobotControllerLog.txt (note that this change was actually introduced w/ v3.2). + * Improvements in I2C reliability. + * Optimized I2C read for REV Expansion Hub, with v1.7 firmware or greater. + * Updated all external/samples (available through OnBot and in Android project folder). + * Vuforia + - Added support for VuMarks that will be used for the 2017-2018 season game. + * Blocks + - Update to latest Google Blockly release. + - Sample op modes can be selected as a template when creating new op mode. + - Fixed bug where the blocks would disappear temporarily when mouse button is held down. + - Added blocks for Range.clip and Range.scale. + - User can now disable/enable Block op modes. + - Fix to prevent occasional Blocks deadlock. + * OnBot Java + - Significant improvements with autocomplete function for OnBot Java editor. + - Sample op modes can be selected as a template when creating new op mode. + - Fixes and changes to complete hardware setup feature. + - Updated (and more useful) onBot welcome message. + +Known issues: + * Android Studio + - After updating to the new v3.3 Android Studio project folder, if you get error messages indicating "InvalidVirtualFileAccessException" then you might need to do a File->Invalidate Caches / Restart to clear the error. + * OnBot Java + - Sometimes when you push the build button to build all op modes, the RC returns an error message that the build failed. If you press the build button a second time, the build typically suceeds. + +## Version 3.2 (built on 17.08.02) + +This version of the software introduces the "OnBot Java" Development Tool. Similar to the FTC Blocks Development Tool, the FTC OnBot Java Development Tool allows a user to create, edit and build op modes dynamically using only a Javascript-enabled web browser. + +The OnBot Java Development Tool is an integrated development environment (IDE) that is served up by the Robot Controller. Op modes are created and edited using a Javascript-enabled browser (Google Chromse is recommended). Op modes are saved on the Robot Controller Android device directly. + +The OnBot Java Development Tool provides a Java programming environment that does NOT need Android Studio. + + + +Changes with version 3.2 include: + * Enhanced web-based development tools + - Introduction of OnBot Java Development Tool. + - Web-based programming and management features are "always on" (user no longer needs to put Robot Controller into programming mode). + - Web-based management interface (where user can change Robot Controller name and also easily download Robot Controller log file). + - OnBot Java, Blocks and Management features available from web based interface. + +* Blocks Programming Development Tool: + - Changed "LynxI2cColorRangeSensor" block to "REV Color/range sensor" block. + - Fixed tooltip for ColorSensor.isLightOn block. + Added blocks for ColorSensor.getNormalizedColors and LynxI2cColorRangeSensor.getNormalizedColors. + +* Added example op modes for digital touch sensor and REV Robotics Color Distance sensor. +* User selectable color themes. +* Includes many minor enhancements and fixes (too numerous to list). + +Known issues: +* Auto complete function is incomplete and does not support the following (for now): + - Access via *this* keyword + - Access via *super* keyword + - Members of the super cloass, not overridden by the class + - Any methods provided in the current class + - Inner classes + - Can't handle casted objects + - Any objects coming from an parenthetically enclosed expression + +## Version 3.10 (built on 17.05.09) + +This version of the software provides support for the REV Robotics Expansion Hub. This version also includes improvements in the USB communication layer in an effort to enhance system resiliency. If you were using a 2.x version of the software previously, updating to version 3.1 requires that you also update your Driver Station software in addition to updating the Robot Controller software. + +Also note that in version 3.10 software, the setMaxSpeed and getMaxSpeed methods are no longer available (not deprecated, they have been removed from the SDK). Also note that the the new 3.x software incorporates motor profiles that a user can select as he/she configures the robot. + +Changes include: + * Blocks changes + - Added VuforiaTrackableDefaultListener.getPose and Vuforia.trackPose blocks. + - Added optimized blocks support for Vuforia extended tracking. + - Added atan2 block to the math category. + - Added useCompetitionFieldTargetLocations parameter to Vuforia.initialize block. If set to false, the target locations are placed at (0,0,0) with target orientation as specified in https://github.com/gearsincorg/FTCVuforiaDemo/blob/master/Robot_Navigation.java tutorial op mode. + * Incorporates additional improvements to USB comm layer to improve system resiliency (to recover from a greater number of communication disruptions). + +************************************************************************************** + +Additional Notes Regarding Version 3.00 (built on 17.04.13) + +In addition to the release changes listed below (see section labeled "Version 3.00 (built on 17.04.013)"), version 3.00 has the following important changes: + +1. Version 3.00 software uses a new version of the FTC Robocol (robot protocol). If you upgrade to v3.0 on the Robot Controller and/or Android Studio side, you must also upgrade the Driver Station software to match the new Robocol. +2. Version 3.00 software removes the setMaxSpeed and getMaxSpeed methods from the DcMotor class. If you have an op mode that formerly used these methods, you will need to remove the references/calls to these methods. Instead, v3.0 provides the max speed information through the use of motor profiles that are selected by the user during robot configuration. +3. Version 3.00 software currently does not have a mechanism to disable extra i2c sensors. We hope to re-introduce this function with a release in the near future. + +************************************************************************************** + +## Version 3.00 (built on 17.04.13) + +*** Use this version of the software at YOUR OWN RISK!!! *** + +This software is being released as an "alpha" version. Use this version at your own risk! + +This pre-release software contains SIGNIFICANT changes, including changes to the Wi-Fi Direct pairing mechanism, rewrites of the I2C sensor classes, changes to the USB/FTDI layer, and the introduction of support for the REV Robotics Expansion Hub and the REV Robotics color-range-light sensor. These changes were implemented to improve the reliability and resiliency of the FTC control system. + +Please note, however, that version 3.00 is considered "alpha" code. This code is being released so that the FIRST community will have an opportunity to test the new REV Expansion Hub electronics module when it becomes available in May. The developers do not recommend using this code for critical applications (i.e., competition use). + +*** Use this version of the software at YOUR OWN RISK!!! *** + +Changes include: + * Major rework of sensor-related infrastructure. Includes rewriting sensor classes to implement synchronous I2C communication. + * Fix to reset Autonomous timer back to 30 seconds. + * Implementation of specific motor profiles for approved 12V motors (includes Tetrix, AndyMark, Matrix and REV models). + * Modest improvements to enhance Wi-Fi P2P pairing. + * Fixes telemetry log addition race. + * Publishes all the sources (not just a select few). + * Includes Block programming improvements + - Addition of optimized Vuforia blocks. + - Auto scrollbar to projects and sounds pages. + - Fixed blocks paste bug. + - Blocks execute after while-opModeIsActive loop (to allow for cleanup before exiting op mode). + - Added gyro integratedZValue block. + - Fixes bug with projects page for Firefox browser. + - Added IsSpeaking block to AndroidTextToSpeech. + * Implements support for the REV Robotics Expansion Hub + - Implements support for integral REV IMU (physically installed on I2C bus 0, uses same Bosch BNO055 9 axis absolute orientation sensor as Adafruit 9DOF abs orientation sensor). - Implements support for REV color/range/light sensor. + - Provides support to update Expansion Hub firmware through FTC SDK. + - Detects REV firmware version and records in log file. + - Includes support for REV Control Hub (note that the REV Control Hub is not yet approved for FTC use). + - Implements FTC Blocks programming support for REV Expansion Hub and sensor hardware. + - Detects and alerts when I2C device disconnect. + +## Version 2.62 (built on 17.01.07) + * Added null pointer check before calling modeToByte() in finishModeSwitchIfNecessary method for ModernRoboticsUsbDcMotorController class. + * Changes to enhance Modern Robotics USB protocol robustness. + +## Version 2.61 (released on 16.12.19) + * Blocks Programming mode changes: + - Fix to correct issue when an exception was thrown because an OpticalDistanceSensor object appears twice in the hardware map (the second time as a LightSensor). + +## Version 2.6 (released on 16.12.16) + * Fixes for Gyro class: + - Improve (decrease) sensor refresh latency. + - fix isCalibrating issues. + * Blocks Programming mode changes: + - Blocks now ignores a device in the configuration xml if the name is empty. Other devices work in configuration work fine. + +## Version 2.5 (internal release on released on 16.12.13) + * Blocks Programming mode changes: + - Added blocks support for AdafruitBNO055IMU. + - Added Download Op Mode button to FtcBocks.html. + - Added support for copying blocks in one OpMode and pasting them in an other OpMode. The clipboard content is stored on the phone, so the programming mode server must be running. + - Modified Utilities section of the toolbox. + - In Programming Mode, display information about the active connections. + - Fixed paste location when workspace has been scrolled. + - Added blocks support for the android Accelerometer. + - Fixed issue where Blocks Upload Op Mode truncated name at first dot. + - Added blocks support for Android SoundPool. + - Added type safety to blocks for Acceleration. + - Added type safety to blocks for AdafruitBNO055IMU.Parameters. + - Added type safety to blocks for AnalogInput. + - Added type safety to blocks for AngularVelocity. + - Added type safety to blocks for Color. + - Added type safety to blocks for ColorSensor. + - Added type safety to blocks for CompassSensor. + - Added type safety to blocks for CRServo. + - Added type safety to blocks for DigitalChannel. + - Added type safety to blocks for ElapsedTime. + - Added type safety to blocks for Gamepad. + - Added type safety to blocks for GyroSensor. + - Added type safety to blocks for IrSeekerSensor. + - Added type safety to blocks for LED. + - Added type safety to blocks for LightSensor. + - Added type safety to blocks for LinearOpMode. + - Added type safety to blocks for MagneticFlux. + - Added type safety to blocks for MatrixF. + - Added type safety to blocks for MrI2cCompassSensor. + - Added type safety to blocks for MrI2cRangeSensor. + - Added type safety to blocks for OpticalDistanceSensor. + - Added type safety to blocks for Orientation. + - Added type safety to blocks for Position. + - Added type safety to blocks for Quaternion. + - Added type safety to blocks for Servo. + - Added type safety to blocks for ServoController. + - Added type safety to blocks for Telemetry. + - Added type safety to blocks for Temperature. + - Added type safety to blocks for TouchSensor. + - Added type safety to blocks for UltrasonicSensor. + - Added type safety to blocks for VectorF. + - Added type safety to blocks for Velocity. + - Added type safety to blocks for VoltageSensor. + - Added type safety to blocks for VuforiaLocalizer.Parameters. + - Added type safety to blocks for VuforiaTrackable. + - Added type safety to blocks for VuforiaTrackables. + - Added type safety to blocks for enums in AdafruitBNO055IMU.Parameters. + - Added type safety to blocks for AndroidAccelerometer, AndroidGyroscope, AndroidOrientation, and AndroidTextToSpeech. + +## Version 2.4 (released on 16.11.13) + * Fix to avoid crashing for nonexistent resources. + * Blocks Programming mode changes: + - Added blocks to support OpenGLMatrix, MatrixF, and VectorF. + - Added blocks to support AngleUnit, AxesOrder, AxesReference, CameraDirection, CameraMonitorFeedback, DistanceUnit, and TempUnit. + - Added blocks to support Acceleration. + - Added blocks to support LinearOpMode.getRuntime. + - Added blocks to support MagneticFlux and Position. + - Fixed typos. + - Made blocks for ElapsedTime more consistent with other objects. + - Added blocks to support Quaternion, Velocity, Orientation, AngularVelocity. + - Added blocks to support VuforiaTrackables, VuforiaTrackable, VuforiaLocalizer, VuforiaTrackableDefaultListener. + - Fixed a few blocks. + - Added type checking to new blocks. + - Updated to latest blockly. + - Added default variable blocks to navigation and matrix blocks. + - Fixed toolbox entry for openGLMatrix_rotation_withAxesArgs. + - When user downloads Blocks-generated op mode, only the .blk file is downloaded. + - When user uploads Blocks-generated op mode (.blk file), Javascript code is auto generated. + - Added DbgLog support. + - Added logging when a blocks file is read/written. + - Fixed bug to properly render blocks even if missing devices from configuration file. + - Added support for additional characters (not just alphanumeric) for the block file names (for download and upload). + - Added support for OpMode flavor (“Autonomous” or “TeleOp”) and group. + * Changes to Samples to prevent tutorial issues. + * Incorporated suggested changes from public pull 216 (“Replace .. paths”). + * Remove Servo Glitches when robot stopped. + * if user hits “Cancels” when editing a configuration file, clears the unsaved changes and reverts to original unmodified configuration. + * Added log info to help diagnose why the Robot Controller app was terminated (for example, by watch dog function). + * Added ability to transfer log from the controller. + * Fixed inconsistency for AngularVelocity + * Limit unbounded growth of data for telemetry. If user does not call telemetry.update() for LinearOpMode in a timely manner, data added for telemetry might get lost if size limit is exceeded. + +## Version 2.35 (released on 16.10.06) + * Blockly programming mode - Removed unnecesary idle() call from blocks for new project. + +## Version 2.30 (released on 16.10.05) + * Blockly programming mode: + - Mechanism added to save Blockly op modes from Programming Mode Server onto local device + - To avoid clutter, blocks are displayed in categorized folders + - Added support for DigitalChannel + - Added support for ModernRoboticsI2cCompassSensor + - Added support for ModernRoboticsI2cRangeSensor + - Added support for VoltageSensor + - Added support for AnalogInput + - Added support for AnalogOutput + - Fix for CompassSensor setMode block + * Vuforia + - Fix deadlock / make camera data available while Vuforia is running. + - Update to Vuforia 6.0.117 (recommended by Vuforia and Google to close security loophole). + * Fix for autonomous 30 second timer bug (where timer was in effect, even though it appeared to have timed out). + * opModeIsActive changes to allow cleanup after op mode is stopped (with enforced 2 second safety timeout). + * Fix to avoid reading i2c twice. + * Updated sample Op Modes. + * Improved logging and fixed intermittent freezing. + * Added digital I/O sample. + * Cleaned up device names in sample op modes to be consistent with Pushbot guide. + * Fix to allow use of IrSeekerSensorV3. + +## Version 2.20 (released on 16.09.08) + * Support for Modern Robotics Compass Sensor. + * Support for Modern Robotics Range Sensor. + * Revise device names for Pushbot templates to match the names used in Pushbot guide. + * Fixed bug so that IrSeekerSensorV3 device is accessible as IrSeekerSensor in hardwareMap. + * Modified computer vision code to require an individual Vuforia license (per legal requirement from PTC). + * Minor fixes. + * Blockly enhancements: + - Support for Voltage Sensor. + - Support for Analog Input. + - Support for Analog Output. + - Support for Light Sensor. + - Support for Servo Controller. + +## Version 2.10 (released on 16.09.03) + * Support for Adafruit IMU. + * Improvements to ModernRoboticsI2cGyro class + - Block on reset of z axis. + - isCalibrating() returns true while gyro is calibration. + * Updated sample gyro program. + * Blockly enhancements + - support for android.graphics.Color. + - added support for ElapsedTime. + - improved look and legibility of blocks. + - support for compass sensor. + - support for ultrasonic sensor. + - support for IrSeeker. + - support for LED. + - support for color sensor. + - support for CRServo + - prompt user to configure robot before using programming mode. + * Provides ability to disable audio cues. + * various bug fixes and improvements. + +## Version 2.00 (released on 16.08.19) + * This is the new release for the upcoming 2016-2017 FIRST Tech Challenge Season. + * Channel change is enabled in the FTC Robot Controller app for Moto G 2nd and 3rd Gen phones. + * Users can now use annotations to register/disable their Op Modes. + * Changes in the Android SDK, JDK and build tool requirements (minsdk=19, java 1.7, build tools 23.0.3). + * Standardized units in analog input. + * Cleaned up code for existing analog sensor classes. + * setChannelMode and getChannelMode were REMOVED from the DcMotorController class. This is important - we no longer set the motor modes through the motor controller. + * setMode and getMode were added to the DcMotor class. + * ContinuousRotationServo class has been added to the FTC SDK. + * Range.clip() method has been overloaded so it can support this operation for int, short and byte integers. + * Some changes have been made (new methods added) on how a user can access items from the hardware map. + * Users can now set the zero power behavior for a DC motor so that the motor will brake or float when power is zero. + * Prototype Blockly Programming Mode has been added to FTC Robot Controller. Users can place the Robot Controller into this mode, and then use a device (such as a laptop) that has a Javascript enabled browser to write Blockly-based Op Modes directly onto the Robot Controller. + * Users can now configure the robot remotely through the FTC Driver Station app. + * Android Studio project supports Android Studio 2.1.x and compile SDK Version 23 (Marshmallow). + * Vuforia Computer Vision SDK integrated into FTC SDK. Users can use sample vision targets to get localization information on a standard FTC field. + * Project structure has been reorganized so that there is now a TeamCode package that users can use to place their local/custom Op Modes into this package. + * Inspection function has been integrated into the FTC Robot Controller and Driver Station Apps (Thanks Team HazMat… 9277 & 10650!). + * Audio cues have been incorporated into FTC SDK. + * Swap mechanism added to FTC Robot Controller configuration activity. For example, if you have two motor controllers on a robot, and you misidentified them in your configuration file, you can use the Swap button to swap the devices within the configuration file (so you do not have to manually re-enter in the configuration info for the two devices). + * Fix mechanism added to all user to replace an electronic module easily. For example, suppose a servo controller dies on your robot. You replace the broken module with a new module, which has a different serial number from the original servo controller. You can use the Fix button to automatically reconfigure your configuration file to use the serial number of the new module. + * Improvements made to fix resiliency and responsiveness of the system. + * For LinearOpMode the user now must for a telemetry.update() to update the telemetry data on the driver station. This update() mechanism ensures that the driver station gets the updated data properly and at the same time. + * The Auto Configure function of the Robot Controller is now template based. If there is a commonly used robot configuration, a template can be created so that the Auto Configure mechanism can be used to quickly configure a robot of this type. + * The logic to detect a runaway op mode (both in the LinearOpMode and OpMode types) and to abort the run, then auto recover has been improved/implemented. + * Fix has been incorporated so that Logitech F310 gamepad mappings will be correct for Marshmallow users. + +## Release 16.07.08 + + * For the ftc_app project, the gradle files have been modified to support Android Studio 2.1.x. + +## Release 16.03.30 + + * For the MIT App Inventor, the design blocks have new icons that better represent the function of each design component. + * Some changes were made to the shutdown logic to ensure the robust shutdown of some of our USB services. + * A change was made to LinearOpMode so as to allow a given instance to be executed more than once, which is required for the App Inventor. + * Javadoc improved/updated. + +## Release 16.03.09 + + * Changes made to make the FTC SDK synchronous (significant change!) + - waitOneFullHardwareCycle() and waitForNextHardwareCycle() are no longer needed and have been deprecated. + - runOpMode() (for a LinearOpMode) is now decoupled from the system's hardware read/write thread. + - loop() (for an OpMode) is now decoupled from the system's hardware read/write thread. + - Methods are synchronous. + - For example, if you call setMode(DcMotorController.RunMode.RESET_ENCODERS) for a motor, the encoder is guaranteed to be reset when the method call is complete. + - For legacy module (NXT compatible), user no longer has to toggle between read and write modes when reading from or writing to a legacy device. + * Changes made to enhance reliability/robustness during ESD event. + * Changes made to make code thread safe. + * Debug keystore added so that user-generated robot controller APKs will all use the same signed key (to avoid conflicts if a team has multiple developer laptops for example). + * Firmware version information for Modern Robotics modules are now logged. + * Changes made to improve USB comm reliability and robustness. + * Added support for voltage indicator for legacy (NXT-compatible) motor controllers. + * Changes made to provide auto stop capabilities for op modes. + - A LinearOpMode class will stop when the statements in runOpMode() are complete. User does not have to push the stop button on the driver station. + - If an op mode is stopped by the driver station, but there is a run away/uninterruptible thread persisting, the app will log an error message then force itself to crash to stop the runaway thread. + * Driver Station UI modified to display lowest measured voltage below current voltage (12V battery). + * Driver Station UI modified to have color background for current voltage (green=good, yellow=caution, red=danger, extremely low voltage). + * javadoc improved (edits and additional classes). + * Added app build time to About activity for driver station and robot controller apps. + * Display local IP addresses on Driver Station About activity. + * Added I2cDeviceSynchImpl. + * Added I2cDeviceSync interface. + * Added seconds() and milliseconds() to ElapsedTime for clarity. + * Added getCallbackCount() to I2cDevice. + * Added missing clearI2cPortActionFlag. + * Added code to create log messages while waiting for LinearOpMode shutdown. + * Fix so Wi-Fi Direct Config activity will no longer launch multiple times. + * Added the ability to specify an alternate i2c address in software for the Modern Robotics gyro. + +## Release 16.02.09 + + * Improved battery checker feature so that voltage values get refreshed regularly (every 250 msec) on Driver Station (DS) user interface. + * Improved software so that Robot Controller (RC) is much more resilient and “self-healing” to USB disconnects: + - If user attempts to start/restart RC with one or more module missing, it will display a warning but still start up. + - When running an op mode, if one or more modules gets disconnected, the RC & DS will display warnings,and robot will keep on working in spite of the missing module(s). + - If a disconnected module gets physically reconnected the RC will auto detect the module and the user will regain control of the recently connected module. + - Warning messages are more helpful (identifies the type of module that’s missing plus its USB serial number). + * Code changes to fix the null gamepad reference when users try to reference the gamepads in the init() portion of their op mode. + * NXT light sensor output is now properly scaled. Note that teams might have to readjust their light threshold values in their op modes. + * On DS user interface, gamepad icon for a driver will disappear if the matching gamepad is disconnected or if that gamepad gets designated as a different driver. + * Robot Protocol (ROBOCOL) version number info is displayed in About screen on RC and DS apps. + * Incorporated a display filter on pairing screen to filter out devices that don’t use the “-“ format. This filter can be turned off to show all Wi-Fi Direct devices. + * Updated text in License file. + * Fixed formatting error in OpticalDistanceSensor.toString(). + * Fixed issue on with a blank (“”) device name that would disrupt Wi-Fi Direct Pairing. + * Made a change so that the Wi-Fi info and battery info can be displayed more quickly on the DS upon connecting to RC. + * Improved javadoc generation. + * Modified code to make it easier to support language localization in the future. + +## Release 16.01.04 + + * Updated compileSdkVersion for apps + * Prevent Wi-Fi from entering power saving mode + * removed unused import from driver station + * Corrrected "Dead zone" joystick code. + * LED.getDeviceName and .getConnectionInfo() return null + * apps check for ROBOCOL_VERSION mismatch + * Fix for Telemetry also has off-by-one errors in its data string sizing / short size limitations error + * User telemetry output is sorted. + * added formatting variants to DbgLog and RobotLog APIs + * code modified to allow for a long list of op mode names. + * changes to improve thread safety of RobocolDatagramSocket + * Fix for "missing hardware leaves robot controller disconnected from driver station" error + * fix for "fast tapping of Init/Start causes problems" (toast is now only instantiated on UI thread). + * added some log statements for thread life cycle. + * moved gamepad reset logic inside of initActiveOpMode() for robustness + * changes made to mitigate risk of race conditions on public methods. + * changes to try and flag when Wi-Fi Direct name contains non-printable characters. + * fix to correct race condition between .run() and .close() in ReadWriteRunnableStandard. + * updated FTDI driver + * made ReadWriteRunnableStanard interface public. + * fixed off-by-one errors in Command constructor + * moved specific hardware implmentations into their own package. + * moved specific gamepad implemnatations to the hardware library. + * changed LICENSE file to new BSD version. + * fixed race condition when shutting down Modern Robotics USB devices. + * methods in the ColorSensor classes have been synchronized. + * corrected isBusy() status to reflect end of motion. + * corrected "back" button keycode. + * the notSupported() method of the GyroSensor class was changed to protected (it should not be public). + +## Release 15.11.04.001 + + * Added Support for Modern Robotics Gyro. + - The GyroSensor class now supports the MR Gyro Sensor. + - Users can access heading data (about Z axis) + - Users can also access raw gyro data (X, Y, & Z axes). + - Example MRGyroTest.java op mode included. + * Improved error messages + - More descriptive error messages for exceptions in user code. + * Updated DcMotor API + * Enable read mode on new address in setI2cAddress + * Fix so that driver station app resets the gamepads when switching op modes. + * USB-related code changes to make USB comm more responsive and to display more explicit error messages. + - Fix so that USB will recover properly if the USB bus returns garbage data. + - Fix USB initializtion race condition. + - Better error reporting during FTDI open. + - More explicit messages during USB failures. + - Fixed bug so that USB device is closed if event loop teardown method was not called. + * Fixed timer UI issue + * Fixed duplicate name UI bug (Legacy Module configuration). + * Fixed race condition in EventLoopManager. + * Fix to keep references stable when updating gamepad. + * For legacy Matrix motor/servo controllers removed necessity of appending "Motor" and "Servo" to controller names. + * Updated HT color sensor driver to use constants from ModernRoboticsUsbLegacyModule class. + * Updated MR color sensor driver to use constants from ModernRoboticsUsbDeviceInterfaceModule class. + * Correctly handle I2C Address change in all color sensors + * Updated/cleaned up op modes. + - Updated comments in LinearI2cAddressChange.java example op mode. + - Replaced the calls to "setChannelMode" with "setMode" (to match the new of the DcMotor method). + - Removed K9AutoTime.java op mode. + - Added MRGyroTest.java op mode (demonstrates how to use MR Gyro Sensor). + - Added MRRGBExample.java op mode (demonstrates how to use MR Color Sensor). + - Added HTRGBExample.java op mode (demonstrates how to use HT legacy color sensor). + - Added MatrixControllerDemo.java (demonstrates how to use legacy Matrix controller). + * Updated javadoc documentation. + * Updated release .apk files for Robot Controller and Driver Station apps. + +## Release 15.10.06.002 + + * Added support for Legacy Matrix 9.6V motor/servo controller. + * Cleaned up build.gradle file. + * Minor UI and bug fixes for driver station and robot controller apps. + * Throws error if Ultrasonic sensor (NXT) is not configured for legacy module port 4 or 5. + + +## Release 15.08.03.001 + + * New user interfaces for FTC Driver Station and FTC Robot Controller apps. + * An init() method is added to the OpMode class. + - For this release, init() is triggered right before the start() method. + - Eventually, the init() method will be triggered when the user presses an "INIT" button on driver station. + - The init() and loop() methods are now required (i.e., need to be overridden in the user's op mode). + - The start() and stop() methods are optional. + * A new LinearOpMode class is introduced. + - Teams can use the LinearOpMode mode to create a linear (not event driven) program model. + - Teams can use blocking statements like Thread.sleep() within a linear op mode. + * The API for the Legacy Module and Core Device Interface Module have been updated. + - Support for encoders with the Legacy Module is now working. + * The hardware loop has been updated for better performance. diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle new file mode 100644 index 0000000..bf12070 --- /dev/null +++ b/TeamCode/build.gradle @@ -0,0 +1,21 @@ +// +// build.gradle in TeamCode +// +// Most of the definitions for building your module reside in a common, shared +// file 'build.common.gradle'. Being factored in this way makes it easier to +// integrate updates to the FTC into your code. If you really need to customize +// the build definitions, you can place those customizations in this file, but +// please think carefully as to whether such customizations are really necessary +// before doing so. + + +// Custom definitions may go here + +// Include common definitions from above. +apply from: '../build.common.gradle' +apply from: '../build.dependencies.gradle' + +dependencies { + implementation project(':FtcRobotController') + annotationProcessor files('lib/OpModeAnnotationProcessor.jar') +} diff --git a/TeamCode/lib/OpModeAnnotationProcessor.jar b/TeamCode/lib/OpModeAnnotationProcessor.jar new file mode 100644 index 0000000..4825cc3 Binary files /dev/null and b/TeamCode/lib/OpModeAnnotationProcessor.jar differ diff --git a/TeamCode/src/main/AndroidManifest.xml b/TeamCode/src/main/AndroidManifest.xml new file mode 100644 index 0000000..6c3420e --- /dev/null +++ b/TeamCode/src/main/AndroidManifest.xml @@ -0,0 +1,12 @@ + + + + + + + + diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MyFIRSTJavaOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MyFIRSTJavaOpMode.java new file mode 100644 index 0000000..2c98b72 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MyFIRSTJavaOpMode.java @@ -0,0 +1,55 @@ +package org.firstinspires.ftc.teamcode; + +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DigitalChannel; +import com.qualcomm.robotcore.hardware.DistanceSensor; +import com.qualcomm.robotcore.hardware.Gyroscope; +import com.qualcomm.robotcore.hardware.Servo; + +@TeleOp + +public class MyFIRSTJavaOpMode extends LinearOpMode { + private Gyroscope imu; + private DcMotor frontRight; + private DcMotor frontLeft; + private DcMotor rearRight; + private DcMotor rearLeft; + private DigitalChannel digitalTouch; + private DistanceSensor sensorColorRange; + private Servo servoTest; + + + @Override + public void runOpMode() { + //imu = hardwareMap.get(Gyroscope.class, "imu"); + frontRight = hardwareMap.get(DcMotor.class, "frontRight"); + frontLeft = hardwareMap.get(DcMotor.class, "frontLeft"); + rearRight = hardwareMap.get(DcMotor.class, "rearRight"); + rearLeft = hardwareMap.get(DcMotor.class, "rearLeft"); + + //digitalTouch = hardwareMap.get(DigitalChannel.class, "digitalTouch"); + //sensorColorRange = hardwareMap.get(DistanceSensor.class, "sensorColorRange"); + //servoTest = hardwareMap.get(Servo.class, "servoTest"); + + frontRight.setPower(0.5); + frontLeft.setPower(0.5); + rearLeft.setPower(0.5); + rearRight.setPower(0.5); + + telemetry.addData("Status", "Initialized"); + telemetry.update(); + // Wait for the game to start (driver presses PLAY) + waitForStart(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + telemetry.addData("Status", "Running"); + telemetry.update(); + + } + + + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/controllerOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/controllerOpMode.java new file mode 100644 index 0000000..2e64d13 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/controllerOpMode.java @@ -0,0 +1,47 @@ +package org.firstinspires.ftc.teamcode; + +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotor; + +@TeleOp +public class controllerOpMode extends OpMode { + private DcMotor frontRight, frontLeft, rearRight, rearLeft; + private double drive,strafe; + private double driveMult = 0.25; + public void init(){ + frontRight = hardwareMap.get(DcMotor.class, "frontRight"); + frontLeft = hardwareMap.get(DcMotor.class, "frontLeft"); + rearRight = hardwareMap.get(DcMotor.class, "rearRight"); + rearLeft = hardwareMap.get(DcMotor.class, "rearLeft"); + telemetry.addData("Status", "Initialized"); + telemetry.update(); + } + public void loop() { + strafe = gamepad1.left_stick_x; + drive = gamepad1.left_stick_y; + + if (gamepad1.dpad_up){ + if (driveMult<=1) { + driveMult += 0.0005; + } + } + if (gamepad1.dpad_down){ + if (driveMult>=0) { + driveMult -= 0.0005; + } + } + + telemetry.addData("Speed", "Current Speed = " + Math.round(driveMult*100)); + telemetry.update(); + + + frontRight.setPower(driveMult*(drive - strafe)); + frontLeft.setPower(-1*driveMult*(drive + strafe)); + rearRight.setPower(driveMult*(drive + strafe)); + rearLeft.setPower(-1*driveMult*(drive - strafe)); + } + + + +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md new file mode 100644 index 0000000..e98f35d --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md @@ -0,0 +1,121 @@ +file## TeamCode Module + +Welcome! + +This module, TeamCode, is the place where you will write/paste the code for your team's +robot controller App. This module is currently empty (a clean slate) but the +process for adding OpModes is straightforward. + +## Creating your own OpModes + +The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own. + +Sample opmodes exist in the FtcRobotController module. +To locate these samples, find the FtcRobotController module in the "Project/Android" tab. + +Expand the following tree elements: + FtcRobotController / java / org.firstinspires.ftc.robotcontroller / external / samples + +A range of different samples classes can be seen in this folder. +The class names follow a naming convention which indicates the purpose of each class. +The full description of this convention is found in the samples/sample_convention.md file. + +A brief synopsis of the naming convention is given here: +The prefix of the name will be one of the following: + +* Basic: This is a minimally functional OpMode used to illustrate the skeleton/structure + of a particular style of OpMode. These are bare bones examples. +* Sensor: This is a Sample OpMode that shows how to use a specific sensor. + It is not intended as a functioning robot, it is simply showing the minimal code + required to read and display the sensor values. +* Hardware: This is not an actual OpMode, but a helper class that is used to describe + one particular robot's hardware devices: eg: for a Pushbot. Look at any + Pushbot sample to see how this can be used in an OpMode. + Teams can copy one of these to create their own robot definition. +* Pushbot: This is a Sample OpMode that uses the Pushbot robot structure as a base. +* Concept: This is a sample OpMode that illustrates performing a specific function or concept. + These may be complex, but their operation should be explained clearly in the comments, + or the header should reference an external doc, guide or tutorial. +* Library: This is a class, or set of classes used to implement some strategy. + These will typically NOT implement a full OpMode. Instead they will be included + by an OpMode to provide some stand-alone capability. + +Once you are familiar with the range of samples available, you can choose one to be the +basis for your own robot. In all cases, the desired sample(s) needs to be copied into +your TeamCode module to be used. + +This is done inside Android Studio directly, using the following steps: + + 1) Locate the desired sample class in the Project/Android tree. + + 2) Right click on the sample class and select "Copy" + + 3) Expand the TeamCode / java folder + + 4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste" + + 5) You will be prompted for a class name for the copy. + Choose something meaningful based on the purpose of this class. + Start with a capital letter, and remember that there may be more similar classes later. + +Once your copy has been created, you should prepare it for use on your robot. +This is done by adjusting the OpMode's name, and enabling it to be displayed on the +Driver Station's OpMode list. + +Each OpMode sample class begins with several lines of code like the ones shown below: + +``` + @TeleOp(name="Template: Linear OpMode", group="Linear Opmode") + @Disabled +``` + +The name that will appear on the driver station's "opmode list" is defined by the code: + ``name="Template: Linear OpMode"`` +You can change what appears between the quotes to better describe your opmode. +The "group=" portion of the code can be used to help organize your list of OpModes. + +As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the + ``@Disabled`` annotation which has been included. +This line can simply be deleted , or commented out, to make the OpMode visible. + + + +## ADVANCED Multi-Team App management: Cloning the TeamCode Module + +In some situations, you have multiple teams in your club and you want them to all share +a common code organization, with each being able to *see* the others code but each having +their own team module with their own code that they maintain themselves. + +In this situation, you might wish to clone the TeamCode module, once for each of these teams. +Each of the clones would then appear along side each other in the Android Studio module list, +together with the FtcRobotController module (and the original TeamCode module). + +Selective Team phones can then be programmed by selecting the desired Module from the pulldown list +prior to clicking to the green Run arrow. + +Warning: This is not for the inexperienced Software developer. +You will need to be comfortable with File manipulations and managing Android Studio Modules. +These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this. + +Also.. Make a full project backup before you start this :) + +To clone TeamCode, do the following: + +Note: Some names start with "Team" and others start with "team". This is intentional. + +1) Using your operating system file management tools, copy the whole "TeamCode" + folder to a sibling folder with a corresponding new name, eg: "Team0417". + +2) In the new Team0417 folder, delete the TeamCode.iml file. + +3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder + to a matching name with a lowercase 'team' eg: "team0417". + +4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that contains + package="org.firstinspires.ftc.teamcode" + to be + package="org.firstinspires.ftc.team0417" + +5) Add: include ':Team0417' to the "/settings.gradle" file. + +6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project"" \ No newline at end of file diff --git a/TeamCode/src/main/res/raw/readme.md b/TeamCode/src/main/res/raw/readme.md new file mode 100644 index 0000000..355a3c4 --- /dev/null +++ b/TeamCode/src/main/res/raw/readme.md @@ -0,0 +1 @@ +Place your sound files in this folder to use them as project resources. \ No newline at end of file diff --git a/TeamCode/src/main/res/values/strings.xml b/TeamCode/src/main/res/values/strings.xml new file mode 100644 index 0000000..d781ec5 --- /dev/null +++ b/TeamCode/src/main/res/values/strings.xml @@ -0,0 +1,4 @@ + + + + diff --git a/TeamCode/src/main/res/xml/teamwebcamcalibrations.xml b/TeamCode/src/main/res/xml/teamwebcamcalibrations.xml new file mode 100644 index 0000000..22ae7a8 --- /dev/null +++ b/TeamCode/src/main/res/xml/teamwebcamcalibrations.xml @@ -0,0 +1,161 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/build.common.gradle b/build.common.gradle new file mode 100644 index 0000000..e281523 --- /dev/null +++ b/build.common.gradle @@ -0,0 +1,130 @@ +/** + * build.common.gradle + * + * Try to avoid editing this file, as it may be updated from time to time as the FTC SDK + * evolves. Rather, if it is necessary to customize the build process, do those edits in + * the build.gradle file in TeamCode. + * + * This file contains the necessary content of the 'build.gradle' files for robot controller + * applications built using the FTC SDK. Each individual 'build.gradle' in those applications + * can simply contain the one line: + * + * apply from: '../build.common.gradle' + * + * which will pick up this file here. This approach allows makes it easier to integrate + * updates to the FTC SDK into your code. + */ + +import java.util.regex.Pattern + +apply plugin: 'com.android.application' + +android { + + compileSdkVersion 29 + + signingConfigs { + release { + def apkStoreFile = System.getenv("APK_SIGNING_STORE_FILE") + if (apkStoreFile != null) { + keyAlias System.getenv("APK_SIGNING_KEY_ALIAS") + keyPassword System.getenv("APK_SIGNING_KEY_PASSWORD") + storeFile file(System.getenv("APK_SIGNING_STORE_FILE")) + storePassword System.getenv("APK_SIGNING_STORE_PASSWORD") + } else { + keyAlias 'androiddebugkey' + keyPassword 'android' + storeFile rootProject.file('libs/ftc.debug.keystore') + storePassword 'android' + } + } + + debug { + keyAlias 'androiddebugkey' + keyPassword 'android' + storeFile rootProject.file('libs/ftc.debug.keystore') + storePassword 'android' + } + } + + aaptOptions { + noCompress "tflite" + } + + defaultConfig { + signingConfig signingConfigs.debug + applicationId 'com.qualcomm.ftcrobotcontroller' + minSdkVersion 23 + //noinspection ExpiredTargetSdkVersion + targetSdkVersion 28 + + /** + * We keep the versionCode and versionName of robot controller applications in sync with + * the master information published in the AndroidManifest.xml file of the FtcRobotController + * module. This helps avoid confusion that might arise from having multiple versions of + * a robot controller app simultaneously installed on a robot controller device. + * + * We accomplish this with the help of a funky little Groovy script that maintains that + * correspondence automatically. + * + * @see Configure Your Build + * @see Versioning Your App + */ + def manifestFile = project(':FtcRobotController').file('src/main/AndroidManifest.xml'); + def manifestText = manifestFile.getText() + // + def vCodePattern = Pattern.compile("versionCode=\"(\\d+(\\.\\d+)*)\"") + def matcher = vCodePattern.matcher(manifestText) + matcher.find() + def vCode = Integer.parseInt(matcher.group(1)) + // + def vNamePattern = Pattern.compile("versionName=\"(.*)\"") + matcher = vNamePattern.matcher(manifestText); + matcher.find() + def vName = matcher.group(1) + // + versionCode vCode + versionName vName + } + + // Advanced user code might just want to use Vuforia directly, so we set up the libs as needed + // http://google.github.io/android-gradle-dsl/current/com.android.build.gradle.internal.dsl.BuildType.html + buildTypes { + release { + signingConfig signingConfigs.release + + ndk { + abiFilters "armeabi-v7a", "arm64-v8a" + } + } + debug { + debuggable true + jniDebuggable true + renderscriptDebuggable true + ndk { + abiFilters "armeabi-v7a", "arm64-v8a" + } + } + } + + compileOptions { + sourceCompatibility JavaVersion.VERSION_1_8 + targetCompatibility JavaVersion.VERSION_1_8 + } + + packagingOptions { + pickFirst '**/*.so' + } + sourceSets.main { + jni.srcDirs = [] + jniLibs.srcDir rootProject.file('libs') + } + ndkVersion '21.3.6528147' +} + +repositories { + flatDir { + dirs rootProject.file('libs') + } +} + diff --git a/build.dependencies.gradle b/build.dependencies.gradle new file mode 100644 index 0000000..85153aa --- /dev/null +++ b/build.dependencies.gradle @@ -0,0 +1,23 @@ +repositories { + mavenCentral() + google() // Needed for androidx + jcenter() // Needed for tensorflow-lite + flatDir { + dirs rootProject.file('libs') + } +} + +dependencies { + implementation 'org.firstinspires.ftc:Inspection:7.0.0' + implementation 'org.firstinspires.ftc:Blocks:7.0.0' + implementation 'org.firstinspires.ftc:Tfod:7.0.0' + implementation 'org.firstinspires.ftc:RobotCore:7.0.0' + implementation 'org.firstinspires.ftc:RobotServer:7.0.0' + implementation 'org.firstinspires.ftc:OnBotJava:7.0.0' + implementation 'org.firstinspires.ftc:Hardware:7.0.0' + implementation 'org.firstinspires.ftc:FtcCommon:7.0.0' + implementation 'org.tensorflow:tensorflow-lite-task-vision:0.2.0' + implementation 'androidx.appcompat:appcompat:1.2.0' + implementation 'org.firstinspires.ftc:gameAssets-FreightFrenzy:1.0.0' +} + diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..87f0507 --- /dev/null +++ b/build.gradle @@ -0,0 +1,69 @@ +/** + * Top-level build file for ftc_app project. + * + * It is extraordinarily rare that you will ever need to edit this file. + */ + +configurations { + doc { transitive false } +} + +buildscript { + repositories { + mavenCentral() + google() + jcenter() + } + dependencies { + classpath 'com.android.tools.build:gradle:4.0.1' + } +} + +// This is now required because aapt2 has to be downloaded from the +// google() repository beginning with version 3.2 of the Android Gradle Plugin +allprojects { + repositories { + mavenCentral() + google() + jcenter() + } +} + +repositories { + mavenCentral() + + flatDir { + dirs '../libs' + } +} + +dependencies { + doc 'org.firstinspires.ftc:Hardware:6.2.0' + doc 'org.firstinspires.ftc:RobotCore:6.2.0' + doc 'org.firstinspires.ftc:FtcCommon:6.2.0' + doc 'org.firstinspires.ftc:OnBotJava:6.2.0' + doc 'org.firstinspires.ftc:Inspection:6.2.0' +} + +task extractJavadoc { + doLast { + def componentIds = configurations.doc.incoming.resolutionResult.allDependencies.collect { it.selected.id } + + def result = dependencies.createArtifactResolutionQuery() + .forComponents(componentIds) + .withArtifacts(JvmLibrary, SourcesArtifact, JavadocArtifact) + .execute() + + for (component in result.resolvedComponents) { + component.getArtifacts(JavadocArtifact).each { artifact -> + def version = artifact.identifier.componentIdentifier.version + def libName = artifact.identifier.componentIdentifier.moduleIdentifier.name + copy { + from zipTree(artifact.file) + into "docs/$version/$libName/" + } + } + } + } +} + diff --git a/doc/legal/AudioBlocksSounds.txt b/doc/legal/AudioBlocksSounds.txt new file mode 100644 index 0000000..4eab3bc --- /dev/null +++ b/doc/legal/AudioBlocksSounds.txt @@ -0,0 +1,21 @@ +The sound files listed below in this SDK were purchased from www.audioblocks.com under the +following license. + + http://support.audioblocks.com/customer/en/portal/topics/610636-licensing-faq-s/articles + + How am I allowed to use your content? + Last Updated: Aug 11, 2016 01:51PM EDT + Our content may be used for nearly any project, commercial or otherwise, including feature + films, broadcast, commercial, industrial, educational video, print projects, multimedia, + games, and the internet, so long as substantial value is added to the content. (For example, + incorporating an audio clip into a commercial qualifies, while reposting our audio clip on + YouTube with no modification or no visual component does not.) Once you download a file it is + yours to keep and use forever, royalty- free, even if you change your subscription or cancel + your account. + +List of applicable sound files + + chimeconnect.wav + chimedisconnect.wav + errormessage.wav + warningmessage.wav \ No newline at end of file diff --git a/doc/legal/Exhibit A - LEGO Open Source License Agreement.txt b/doc/legal/Exhibit A - LEGO Open Source License Agreement.txt new file mode 100644 index 0000000..10c13b9 --- /dev/null +++ b/doc/legal/Exhibit A - LEGO Open Source License Agreement.txt @@ -0,0 +1,15 @@ +EXHIBIT A - LEGO® Open Source License Agreement + +The contents of the file 'nxtstartupsound.wav' contained in this SDK are subject to the +LEGO® Open Source License Agreement Version 1.0 (the "License"); you may not use this +file except in compliance with the License. You may obtain a copy of the License +at "LEGO Open Source License.pdf" contained in the same directory as this exhibit. + +Software distributed under the License is distributed on an "AS IS" basis, WITHOUT +WARRANTY OF ANY KIND, either express or implied. See the License for the specific +language governing rights and limitations under the License. + +The Original Code is \AT91SAM7S256\Resource\SOUNDS\!Startup.rso. +LEGO is the owner of the Original Code. Portions created by Robert Atkinson are +Copyright (C) 2015. All Rights Reserved. +Contributor(s): Robert Atkinson. \ No newline at end of file diff --git a/doc/legal/LEGO Open Source License.pdf b/doc/legal/LEGO Open Source License.pdf new file mode 100644 index 0000000..9188498 Binary files /dev/null and b/doc/legal/LEGO Open Source License.pdf differ diff --git a/doc/media/PullRequest.PNG b/doc/media/PullRequest.PNG new file mode 100644 index 0000000..8cba3a9 Binary files /dev/null and b/doc/media/PullRequest.PNG differ diff --git a/doc/media/chips.jpg b/doc/media/chips.jpg new file mode 100644 index 0000000..95005b9 Binary files /dev/null and b/doc/media/chips.jpg differ diff --git a/doc/media/stones.jpg b/doc/media/stones.jpg new file mode 100644 index 0000000..0eeb19f Binary files /dev/null and b/doc/media/stones.jpg differ diff --git a/doc/media/target_chips_A4.pdf b/doc/media/target_chips_A4.pdf new file mode 100644 index 0000000..7dfbaf9 Binary files /dev/null and b/doc/media/target_chips_A4.pdf differ diff --git a/doc/media/target_chips_USLetter.pdf b/doc/media/target_chips_USLetter.pdf new file mode 100644 index 0000000..281895b Binary files /dev/null and b/doc/media/target_chips_USLetter.pdf differ diff --git a/doc/media/target_stones_A4.pdf b/doc/media/target_stones_A4.pdf new file mode 100644 index 0000000..200415b Binary files /dev/null and b/doc/media/target_stones_A4.pdf differ diff --git a/doc/media/target_stones_USLetter.pdf b/doc/media/target_stones_USLetter.pdf new file mode 100644 index 0000000..599d335 Binary files /dev/null and b/doc/media/target_stones_USLetter.pdf differ diff --git a/gradle.properties b/gradle.properties new file mode 100644 index 0000000..0bd596f --- /dev/null +++ b/gradle.properties @@ -0,0 +1,7 @@ +# AndroidX package structure to make it clearer which packages are bundled with the +# Android operating system, and which are packaged with your app's APK +# https://developer.android.com/topic/libraries/support-library/androidx-rn +android.useAndroidX=true + +# Automatically convert third-party libraries to use AndroidX +android.enableJetifier=true diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..01b8bf6 Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..530fb22 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,6 @@ +#Fri Jul 24 14:30:03 PDT 2020 +distributionBase=GRADLE_USER_HOME +distributionPath=wrapper/dists +zipStoreBase=GRADLE_USER_HOME +zipStorePath=wrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-6.1.1-all.zip diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..91a7e26 --- /dev/null +++ b/gradlew @@ -0,0 +1,164 @@ +#!/usr/bin/env bash + +############################################################################## +## +## Gradle start up script for UN*X +## +############################################################################## + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS="" + +APP_NAME="Gradle" +APP_BASE_NAME=`basename "$0"` + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn ( ) { + echo "$*" +} + +die ( ) { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; +esac + +# For Cygwin, ensure paths are in UNIX format before anything is touched. +if $cygwin ; then + [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"` +fi + +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >&- +APP_HOME="`pwd -P`" +cd "$SAVED" >&- + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD="$JAVA_HOME/jre/sh/java" + else + JAVACMD="$JAVA_HOME/bin/java" + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# For Cygwin, switch paths to Windows format before running java +if $cygwin ; then + APP_HOME=`cygpath --path --mixed "$APP_HOME"` + CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + i=$((i+1)) + done + case $i in + (0) set -- ;; + (1) set -- "$args0" ;; + (2) set -- "$args0" "$args1" ;; + (3) set -- "$args0" "$args1" "$args2" ;; + (4) set -- "$args0" "$args1" "$args2" "$args3" ;; + (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + esac +fi + +# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules +function splitJvmOpts() { + JVM_OPTS=("$@") +} +eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS +JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME" + +exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..8a0b282 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,90 @@ +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS= + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto init + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto init + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:init +@rem Get command-line arguments, handling Windowz variants + +if not "%OS%" == "Windows_NT" goto win9xME_args +if "%@eval[2+2]" == "4" goto 4NT_args + +:win9xME_args +@rem Slurp the command line arguments. +set CMD_LINE_ARGS= +set _SKIP=2 + +:win9xME_args_slurp +if "x%~1" == "x" goto execute + +set CMD_LINE_ARGS=%* +goto execute + +:4NT_args +@rem Get arguments from the 4NT Shell from JP Software +set CMD_LINE_ARGS=%$ + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS% + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/libs/README.txt b/libs/README.txt new file mode 100644 index 0000000..3d34852 --- /dev/null +++ b/libs/README.txt @@ -0,0 +1 @@ +Location of external libs diff --git a/libs/Vuforia.jar b/libs/Vuforia.jar new file mode 100644 index 0000000..43bf627 Binary files /dev/null and b/libs/Vuforia.jar differ diff --git a/libs/arm64-v8a/libVuforia.so b/libs/arm64-v8a/libVuforia.so new file mode 100644 index 0000000..db2facf Binary files /dev/null and b/libs/arm64-v8a/libVuforia.so differ diff --git a/libs/armeabi-v7a/libVuforia.so b/libs/armeabi-v7a/libVuforia.so new file mode 100644 index 0000000..b8ef4f7 Binary files /dev/null and b/libs/armeabi-v7a/libVuforia.so differ diff --git a/libs/ftc.debug.keystore b/libs/ftc.debug.keystore new file mode 100644 index 0000000..a7204e6 Binary files /dev/null and b/libs/ftc.debug.keystore differ diff --git a/old.gradle/6.1.1/fileChanges/last-build.bin b/old.gradle/6.1.1/fileChanges/last-build.bin new file mode 100644 index 0000000..f76dd23 Binary files /dev/null and b/old.gradle/6.1.1/fileChanges/last-build.bin differ diff --git a/old.gradle/6.1.1/fileHashes/fileHashes.lock b/old.gradle/6.1.1/fileHashes/fileHashes.lock new file mode 100644 index 0000000..a025ec7 Binary files /dev/null and b/old.gradle/6.1.1/fileHashes/fileHashes.lock differ diff --git a/old.gradle/6.1.1/gc.properties b/old.gradle/6.1.1/gc.properties new file mode 100644 index 0000000..e69de29 diff --git a/old.gradle/buildOutputCleanup/buildOutputCleanup.lock b/old.gradle/buildOutputCleanup/buildOutputCleanup.lock new file mode 100644 index 0000000..e7525a2 Binary files /dev/null and b/old.gradle/buildOutputCleanup/buildOutputCleanup.lock differ diff --git a/old.gradle/buildOutputCleanup/cache.properties b/old.gradle/buildOutputCleanup/cache.properties new file mode 100644 index 0000000..1ab1d92 --- /dev/null +++ b/old.gradle/buildOutputCleanup/cache.properties @@ -0,0 +1,2 @@ +#Sun Oct 03 21:21:51 CDT 2021 +gradle.version=6.1.1 diff --git a/old.gradle/checksums/checksums.lock b/old.gradle/checksums/checksums.lock new file mode 100644 index 0000000..9aa5e39 Binary files /dev/null and b/old.gradle/checksums/checksums.lock differ diff --git a/old.gradle/vcs-1/gc.properties b/old.gradle/vcs-1/gc.properties new file mode 100644 index 0000000..e69de29 diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..9e2cfb3 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,2 @@ +include ':FtcRobotController' +include ':TeamCode'