forked from gallant/freesight
FtcRobotController v8.2
This commit is contained in:
Cal Kestis
parent
0879b4797f
commit
5c8b4c448b
8
.github/CONTRIBUTING.md
vendored
8
.github/CONTRIBUTING.md
vendored
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@ -18,7 +18,7 @@ If what you've read so far makes little sense, there are some very good git lear
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[Git Book](https://git-scm.com/book/en/v2)
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[Interactive Git Tutorial](https://try.github.io)
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##### Guidlines for experienced GIT users.
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### Guidlines for experienced GIT users.
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If you are absolutely certain that you want to push the big green button above, read on. Otherwise back _slowly away from keyboard_.
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@ -38,9 +38,9 @@ This section guides you through filing a bug report. The better the report the
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#### Before submitting a bug report
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- 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.
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- Check the [forums](http://ftcforum.firstinspires.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.
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- 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.
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- Perform a search of current [issues](https://github.com/FIRST-Tech-Challenge/FtcRobotController/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.
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#### How Do I Submit A (Good) Bug Report?
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@ -65,4 +65,4 @@ FIRST volunteers are awesome. You all have great ideas and we want to hear them
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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.
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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.
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The best way to get momentum behind new features is to post a description of your idea in the discussions section of this repository. Build community support for it. The FTC Technology Team monitors the discussions. 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.
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20
.gitignore
vendored
20
.gitignore
vendored
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@ -9,8 +9,9 @@
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# Files for the ART/Dalvik VM
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*.dex
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# Java class files
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# Java/JDK files
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*.class
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*.hprof
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# Generated files
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bin/
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@ -40,17 +41,10 @@ captures/
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# IntelliJ
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*.iml
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.idea/workspace.xml
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.idea/tasks.xml
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.idea/gradle.xml
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.idea/assetWizardSettings.xml
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.idea/dictionaries
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.idea/libraries
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# Android Studio 3 in .gitignore file.
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.idea/caches
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.idea/modules.xml
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# Comment next line if keeping position of elements in Navigation Editor is relevant for you
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.idea/navEditor.xml
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.idea/
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# For Mac users
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.DS_Store
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# Keystore files
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# Uncomment the following lines if you do not want to check your keystore files in.
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@ -84,4 +78,4 @@ lint/intermediates/
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lint/generated/
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lint/outputs/
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lint/tmp/
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# lint/reports/
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# lint/reports/
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@ -8,7 +8,7 @@ apply plugin: 'com.android.library'
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android {
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defaultConfig {
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minSdkVersion 23
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minSdkVersion 24
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//noinspection ExpiredTargetSdkVersion
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targetSdkVersion 28
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buildConfigField "String", "APP_BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
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@ -17,8 +17,8 @@ android {
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compileSdkVersion 29
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compileOptions {
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sourceCompatibility JavaVersion.VERSION_1_7
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targetCompatibility JavaVersion.VERSION_1_7
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sourceCompatibility JavaVersion.VERSION_1_8
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targetCompatibility JavaVersion.VERSION_1_8
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}
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namespace = 'com.qualcomm.ftcrobotcontroller'
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}
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@ -1,8 +1,8 @@
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<?xml version="1.0" encoding="utf-8"?>
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<manifest xmlns:android="http://schemas.android.com/apk/res/android"
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xmlns:tools="http://schemas.android.com/tools"
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android:versionCode="49"
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android:versionName="8.1.1">
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android:versionCode="50"
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android:versionName="8.2">
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<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
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@ -0,0 +1,192 @@
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/* Copyright (c) 2023 FIRST. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted (subject to the limitations in the disclaimer below) provided that
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* the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright notice, this list
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* of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright notice, this
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* list of conditions and the following disclaimer in the documentation and/or
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* other materials provided with the distribution.
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*
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* Neither the name of FIRST nor the names of its contributors may be used to endorse or
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* promote products derived from this software without specific prior written permission.
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*
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* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
|
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
|
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.firstinspires.ftc.robotcontroller.external.samples;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import java.util.List;
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import android.util.Size;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
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import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
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import org.firstinspires.ftc.vision.VisionPortal;
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import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
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import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
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import org.firstinspires.ftc.vision.apriltag.AprilTagGameDatabase;
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/**
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* This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation,
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* including Java Builder structures for specifying Vision parameters.
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
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*/
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@TeleOp(name = "Concept: AprilTag", group = "Concept")
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@Disabled
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public class ConceptAprilTag extends LinearOpMode {
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private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
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/**
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* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
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*/
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private AprilTagProcessor aprilTag;
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/**
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* {@link #visionPortal} is the variable to store our instance of the vision portal.
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*/
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private VisionPortal visionPortal;
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@Override
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public void runOpMode() {
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initAprilTag();
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// Wait for the DS start button to be touched.
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telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
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telemetry.addData(">", "Touch Play to start OpMode");
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telemetry.update();
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waitForStart();
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if (opModeIsActive()) {
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while (opModeIsActive()) {
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telemetryAprilTag();
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// Push telemetry to the Driver Station.
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telemetry.update();
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// Save CPU resources; can resume streaming when needed.
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if (gamepad1.dpad_down) {
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visionPortal.stopStreaming();
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} else if (gamepad1.dpad_up) {
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visionPortal.resumeStreaming();
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}
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// Share the CPU.
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sleep(20);
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}
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}
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// Save more CPU resources when camera is no longer needed.
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visionPortal.close();
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} // end method runOpMode()
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/**
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* Initialize the AprilTag processor.
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*/
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private void initAprilTag() {
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// Create the AprilTag processor.
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aprilTag = new AprilTagProcessor.Builder()
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//.setDrawAxes(false)
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//.setDrawCubeProjection(false)
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//.setDrawTagOutline(true)
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//.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
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//.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
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//.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
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// == CAMERA CALIBRATION ==
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// If you do not manually specify calibration parameters, the SDK will attempt
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// to load a predefined calibration for your camera.
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//.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)
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// ... these parameters are fx, fy, cx, cy.
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.build();
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// Create the vision portal by using a builder.
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VisionPortal.Builder builder = new VisionPortal.Builder();
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// Set the camera (webcam vs. built-in RC phone camera).
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if (USE_WEBCAM) {
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builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
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} else {
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builder.setCamera(BuiltinCameraDirection.BACK);
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}
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// Choose a camera resolution. Not all cameras support all resolutions.
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//builder.setCameraResolution(new Size(640, 480));
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// Enable the RC preview (LiveView). Set "false" to omit camera monitoring.
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//builder.enableCameraMonitoring(true);
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// Set the stream format; MJPEG uses less bandwidth than default YUY2.
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//builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
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// Choose whether or not LiveView stops if no processors are enabled.
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// If set "true", monitor shows solid orange screen if no processors enabled.
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// If set "false", monitor shows camera view without annotations.
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//builder.setAutoStopLiveView(false);
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// Set and enable the processor.
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builder.addProcessor(aprilTag);
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// Build the Vision Portal, using the above settings.
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visionPortal = builder.build();
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// Disable or re-enable the aprilTag processor at any time.
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//visionPortal.setProcessorEnabled(aprilTag, true);
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} // end method initAprilTag()
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/**
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* Function to add telemetry about AprilTag detections.
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*/
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private void telemetryAprilTag() {
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List<AprilTagDetection> currentDetections = aprilTag.getDetections();
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telemetry.addData("# AprilTags Detected", currentDetections.size());
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// Step through the list of detections and display info for each one.
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for (AprilTagDetection detection : currentDetections) {
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if (detection.metadata != null) {
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telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
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telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
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telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
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telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
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} else {
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telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
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telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
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}
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} // end for() loop
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// Add "key" information to telemetry
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telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
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telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
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telemetry.addLine("RBE = Range, Bearing & Elevation");
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} // end method telemetryAprilTag()
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} // end class
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@ -0,0 +1,148 @@
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/* Copyright (c) 2023 FIRST. All rights reserved.
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||||
*
|
||||
* 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;
|
||||
|
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import java.util.List;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
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import org.firstinspires.ftc.vision.VisionPortal;
|
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import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
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import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
/**
|
||||
* This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation, using
|
||||
* the easy way.
|
||||
*
|
||||
* 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: AprilTag Easy", group = "Concept")
|
||||
@Disabled
|
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public class ConceptAprilTagEasy extends LinearOpMode {
|
||||
|
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private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
|
||||
|
||||
/**
|
||||
* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
|
||||
*/
|
||||
private AprilTagProcessor aprilTag;
|
||||
|
||||
/**
|
||||
* {@link #visionPortal} is the variable to store our instance of the vision portal.
|
||||
*/
|
||||
private VisionPortal visionPortal;
|
||||
|
||||
@Override
|
||||
public void runOpMode() {
|
||||
|
||||
initAprilTag();
|
||||
|
||||
// Wait for the DS start button to be touched.
|
||||
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
|
||||
telemetry.addData(">", "Touch Play to start OpMode");
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryAprilTag();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
visionPortal.close();
|
||||
|
||||
} // end method runOpMode()
|
||||
|
||||
/**
|
||||
* Initialize the AprilTag processor.
|
||||
*/
|
||||
private void initAprilTag() {
|
||||
|
||||
// Create the AprilTag processor the easy way.
|
||||
aprilTag = AprilTagProcessor.easyCreateWithDefaults();
|
||||
|
||||
// Create the vision portal the easy way.
|
||||
if (USE_WEBCAM) {
|
||||
visionPortal = VisionPortal.easyCreateWithDefaults(
|
||||
hardwareMap.get(WebcamName.class, "Webcam 1"), aprilTag);
|
||||
} else {
|
||||
visionPortal = VisionPortal.easyCreateWithDefaults(
|
||||
BuiltinCameraDirection.BACK, aprilTag);
|
||||
}
|
||||
|
||||
} // end method initAprilTag()
|
||||
|
||||
/**
|
||||
* Function to add telemetry about AprilTag detections.
|
||||
*/
|
||||
private void telemetryAprilTag() {
|
||||
|
||||
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
|
||||
telemetry.addData("# AprilTags Detected", currentDetections.size());
|
||||
|
||||
// Step through the list of detections and display info for each one.
|
||||
for (AprilTagDetection detection : currentDetections) {
|
||||
if (detection.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
|
||||
}
|
||||
} // end for() loop
|
||||
|
||||
// Add "key" information to telemetry
|
||||
telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
|
||||
telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
|
||||
telemetry.addLine("RBE = Range, Bearing & Elevation");
|
||||
|
||||
} // end method telemetryAprilTag()
|
||||
|
||||
} // end class
|
||||
|
|
@ -0,0 +1,248 @@
|
|||
/* Copyright (c) 2023 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;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
|
||||
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
import java.util.List;
|
||||
import java.util.concurrent.TimeUnit;
|
||||
|
||||
/**
|
||||
* This OpMode determines the best Exposure for minimizing image motion-blur on a Webcam
|
||||
* Note that it is not possible to control the exposure for a Phone Camera, so if you are using a Phone for the Robot Controller
|
||||
* this OpMode/Feature only applies to an externally connected Webcam
|
||||
*
|
||||
* The goal is to determine the smallest (shortest) Exposure value that still provides reliable Tag Detection.
|
||||
* Starting with the minimum Exposure and maximum Gain, the exposure is slowly increased until the Tag is
|
||||
* detected reliably from the likely operational distance.
|
||||
*
|
||||
*
|
||||
* The best way to run this optimization is to view the camera preview screen while changing the exposure and gains.
|
||||
*
|
||||
* To do this, you need to view the RobotController screen directly (not from Driver Station)
|
||||
* This can be done directly from a RC phone screen (if you are using an external Webcam), but for a Control Hub you must either plug an
|
||||
* HDMI monitor into the Control Hub HDMI port, or use an external viewer program like ScrCpy (https://scrcpy.org/)
|
||||
*
|
||||
* Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
|
||||
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
|
||||
*/
|
||||
|
||||
@TeleOp(name="Optimize AprilTag Exposure", group = "Concept")
|
||||
@Disabled
|
||||
public class ConceptAprilTagOptimizeExposure extends LinearOpMode
|
||||
{
|
||||
private VisionPortal visionPortal = null; // Used to manage the video source.
|
||||
private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process.
|
||||
private int myExposure ;
|
||||
private int minExposure ;
|
||||
private int maxExposure ;
|
||||
private int myGain ;
|
||||
private int minGain ;
|
||||
private int maxGain ;
|
||||
|
||||
boolean thisExpUp = false;
|
||||
boolean thisExpDn = false;
|
||||
boolean thisGainUp = false;
|
||||
boolean thisGainDn = false;
|
||||
|
||||
boolean lastExpUp = false;
|
||||
boolean lastExpDn = false;
|
||||
boolean lastGainUp = false;
|
||||
boolean lastGainDn = false;
|
||||
@Override public void runOpMode()
|
||||
{
|
||||
// Initialize the Apriltag Detection process
|
||||
initAprilTag();
|
||||
|
||||
// Establish Min and Max Gains and Exposure. Then set a low exposure with high gain
|
||||
getCameraSetting();
|
||||
myExposure = Math.min(5, minExposure);
|
||||
myGain = maxGain;
|
||||
setManualExposure(myExposure, myGain);
|
||||
|
||||
// Wait for the match to begin.
|
||||
telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
|
||||
telemetry.addData(">", "Touch Play to start OpMode");
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive())
|
||||
{
|
||||
telemetry.addLine("Find lowest Exposure that gives reliable detection.");
|
||||
telemetry.addLine("Use Left bump/trig to adjust Exposure.");
|
||||
telemetry.addLine("Use Right bump/trig to adjust Gain.\n");
|
||||
|
||||
// Display how many Tags Detected
|
||||
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
|
||||
int numTags = currentDetections.size();
|
||||
if (numTags > 0 )
|
||||
telemetry.addData("Tag", "####### %d Detected ######", currentDetections.size());
|
||||
else
|
||||
telemetry.addData("Tag", "----------- none - ----------");
|
||||
|
||||
telemetry.addData("Exposure","%d (%d - %d)", myExposure, minExposure, maxExposure);
|
||||
telemetry.addData("Gain","%d (%d - %d)", myGain, minGain, maxGain);
|
||||
telemetry.update();
|
||||
|
||||
// check to see if we need to change exposure or gain.
|
||||
thisExpUp = gamepad1.left_bumper;
|
||||
thisExpDn = gamepad1.left_trigger > 0.25;
|
||||
thisGainUp = gamepad1.right_bumper;
|
||||
thisGainDn = gamepad1.right_trigger > 0.25;
|
||||
|
||||
// look for clicks to change exposure
|
||||
if (thisExpUp && !lastExpUp) {
|
||||
myExposure = Range.clip(myExposure + 1, minExposure, maxExposure);
|
||||
setManualExposure(myExposure, myGain);
|
||||
} else if (thisExpDn && !lastExpDn) {
|
||||
myExposure = Range.clip(myExposure - 1, minExposure, maxExposure);
|
||||
setManualExposure(myExposure, myGain);
|
||||
}
|
||||
|
||||
// look for clicks to change the gain
|
||||
if (thisGainUp && !lastGainUp) {
|
||||
myGain = Range.clip(myGain + 1, minGain, maxGain );
|
||||
setManualExposure(myExposure, myGain);
|
||||
} else if (thisGainDn && !lastGainDn) {
|
||||
myGain = Range.clip(myGain - 1, minGain, maxGain );
|
||||
setManualExposure(myExposure, myGain);
|
||||
}
|
||||
|
||||
lastExpUp = thisExpUp;
|
||||
lastExpDn = thisExpDn;
|
||||
lastGainUp = thisGainUp;
|
||||
lastGainDn = thisGainDn;
|
||||
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the AprilTag processor.
|
||||
*/
|
||||
private void initAprilTag() {
|
||||
// Create the AprilTag processor by using a builder.
|
||||
aprilTag = new AprilTagProcessor.Builder().build();
|
||||
|
||||
// Create the WEBCAM vision portal by using a builder.
|
||||
visionPortal = new VisionPortal.Builder()
|
||||
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
|
||||
.addProcessor(aprilTag)
|
||||
.build();
|
||||
}
|
||||
|
||||
/*
|
||||
Manually set the camera gain and exposure.
|
||||
Can only be called AFTER calling initAprilTag();
|
||||
Returns true if controls are set.
|
||||
*/
|
||||
private boolean setManualExposure(int exposureMS, int gain) {
|
||||
// Ensure Vision Portal has been setup.
|
||||
if (visionPortal == null) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Wait for the camera to be open
|
||||
if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
|
||||
telemetry.addData("Camera", "Waiting");
|
||||
telemetry.update();
|
||||
while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
|
||||
sleep(20);
|
||||
}
|
||||
telemetry.addData("Camera", "Ready");
|
||||
telemetry.update();
|
||||
}
|
||||
|
||||
// Set camera controls unless we are stopping.
|
||||
if (!isStopRequested())
|
||||
{
|
||||
// Set exposure. Make sure we are in Manual Mode for these values to take effect.
|
||||
ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
|
||||
if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
|
||||
exposureControl.setMode(ExposureControl.Mode.Manual);
|
||||
sleep(50);
|
||||
}
|
||||
exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
|
||||
sleep(20);
|
||||
|
||||
// Set Gain.
|
||||
GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
|
||||
gainControl.setGain(gain);
|
||||
sleep(20);
|
||||
return (true);
|
||||
} else {
|
||||
return (false);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
Read this camera's minimum and maximum Exposure and Gain settings.
|
||||
Can only be called AFTER calling initAprilTag();
|
||||
*/
|
||||
private void getCameraSetting() {
|
||||
// Ensure Vision Portal has been setup.
|
||||
if (visionPortal == null) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Wait for the camera to be open
|
||||
if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
|
||||
telemetry.addData("Camera", "Waiting");
|
||||
telemetry.update();
|
||||
while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
|
||||
sleep(20);
|
||||
}
|
||||
telemetry.addData("Camera", "Ready");
|
||||
telemetry.update();
|
||||
}
|
||||
|
||||
// Get camera control values unless we are stopping.
|
||||
if (!isStopRequested()) {
|
||||
ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
|
||||
minExposure = (int)exposureControl.getMinExposure(TimeUnit.MILLISECONDS) + 1;
|
||||
maxExposure = (int)exposureControl.getMaxExposure(TimeUnit.MILLISECONDS);
|
||||
|
||||
GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
|
||||
minGain = gainControl.getMinGain();
|
||||
maxGain = gainControl.getMaxGain();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,195 @@
|
|||
/* Copyright (c) 2023 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.CameraName;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.VisionPortal.CameraState;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
/**
|
||||
* This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation, using
|
||||
* two webcams.
|
||||
*
|
||||
* 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: AprilTag Switchable Cameras", group = "Concept")
|
||||
@Disabled
|
||||
public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
|
||||
|
||||
/**
|
||||
* Variables used for switching cameras.
|
||||
*/
|
||||
private WebcamName webcam1, webcam2;
|
||||
private boolean oldLeftBumper;
|
||||
private boolean oldRightBumper;
|
||||
|
||||
/**
|
||||
* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
|
||||
*/
|
||||
private AprilTagProcessor aprilTag;
|
||||
|
||||
/**
|
||||
* {@link #visionPortal} is the variable to store our instance of the vision portal.
|
||||
*/
|
||||
private VisionPortal visionPortal;
|
||||
|
||||
@Override
|
||||
public void runOpMode() {
|
||||
|
||||
initAprilTag();
|
||||
|
||||
// Wait for the DS start button to be touched.
|
||||
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
|
||||
telemetry.addData(">", "Touch Play to start OpMode");
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryCameraSwitching();
|
||||
telemetryAprilTag();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
doCameraSwitching();
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
visionPortal.close();
|
||||
|
||||
} // end runOpMode()
|
||||
|
||||
/**
|
||||
* Initialize the AprilTag processor.
|
||||
*/
|
||||
private void initAprilTag() {
|
||||
|
||||
// Create the AprilTag processor by using a builder.
|
||||
aprilTag = new AprilTagProcessor.Builder().build();
|
||||
|
||||
webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
|
||||
CameraName switchableCamera = ClassFactory.getInstance()
|
||||
.getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
|
||||
|
||||
// Create the vision portal by using a builder.
|
||||
visionPortal = new VisionPortal.Builder()
|
||||
.setCamera(switchableCamera)
|
||||
.addProcessor(aprilTag)
|
||||
.build();
|
||||
|
||||
} // end method initAprilTag()
|
||||
|
||||
/**
|
||||
* Function to add telemetry about camera switching.
|
||||
*/
|
||||
private void telemetryCameraSwitching() {
|
||||
|
||||
if (visionPortal.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");
|
||||
}
|
||||
|
||||
} // end method telemetryCameraSwitching()
|
||||
|
||||
/**
|
||||
* Function to add telemetry about AprilTag detections.
|
||||
*/
|
||||
private void telemetryAprilTag() {
|
||||
|
||||
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
|
||||
telemetry.addData("# AprilTags Detected", currentDetections.size());
|
||||
|
||||
// Step through the list of detections and display info for each one.
|
||||
for (AprilTagDetection detection : currentDetections) {
|
||||
if (detection.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
|
||||
}
|
||||
} // end for() loop
|
||||
|
||||
// Add "key" information to telemetry
|
||||
telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
|
||||
telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
|
||||
telemetry.addLine("RBE = Range, Bearing & Elevation");
|
||||
|
||||
} // end method telemetryAprilTag()
|
||||
|
||||
/**
|
||||
* Function to set the active camera according to input from the gamepad.
|
||||
*/
|
||||
private void doCameraSwitching() {
|
||||
if (visionPortal.getCameraState() == CameraState.STREAMING) {
|
||||
// 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) {
|
||||
visionPortal.setActiveCamera(webcam1);
|
||||
} else if (newRightBumper && !oldRightBumper) {
|
||||
visionPortal.setActiveCamera(webcam2);
|
||||
}
|
||||
oldLeftBumper = newLeftBumper;
|
||||
oldRightBumper = newRightBumper;
|
||||
}
|
||||
|
||||
} // end method doCameraSwitching()
|
||||
|
||||
} // end class
|
||||
|
|
@ -0,0 +1,201 @@
|
|||
/* Copyright (c) 2023 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.hardware.camera.BuiltinCameraDirection;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
|
||||
|
||||
/**
|
||||
* This 2023-2024 OpMode illustrates the basics of using both AprilTag recognition and TensorFlow
|
||||
* Object Detection.
|
||||
*
|
||||
* 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: Double Vision", group = "Concept")
|
||||
@Disabled
|
||||
public class ConceptDoubleVision extends LinearOpMode {
|
||||
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
|
||||
|
||||
/**
|
||||
* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
|
||||
*/
|
||||
private AprilTagProcessor aprilTag;
|
||||
|
||||
/**
|
||||
* {@link #tfod} is the variable to store our instance of the TensorFlow Object Detection processor.
|
||||
*/
|
||||
private TfodProcessor tfod;
|
||||
|
||||
/**
|
||||
* {@link #myVisionPortal} is the variable to store our instance of the vision portal.
|
||||
*/
|
||||
private VisionPortal myVisionPortal;
|
||||
|
||||
@Override
|
||||
public void runOpMode() {
|
||||
initDoubleVision();
|
||||
|
||||
// This OpMode loops continuously, allowing the user to switch between
|
||||
// AprilTag and TensorFlow Object Detection (TFOD) image processors.
|
||||
while (!isStopRequested()) {
|
||||
|
||||
if (opModeInInit()) {
|
||||
telemetry.addData("DS preview on/off","3 dots, Camera Stream");
|
||||
telemetry.addLine();
|
||||
telemetry.addLine("----------------------------------------");
|
||||
}
|
||||
|
||||
if (myVisionPortal.getProcessorEnabled(aprilTag)) {
|
||||
// User instructions: Dpad left or Dpad right.
|
||||
telemetry.addLine("Dpad Left to disable AprilTag");
|
||||
telemetry.addLine();
|
||||
telemetryAprilTag();
|
||||
} else {
|
||||
telemetry.addLine("Dpad Right to enable AprilTag");
|
||||
}
|
||||
telemetry.addLine();
|
||||
telemetry.addLine("----------------------------------------");
|
||||
if (myVisionPortal.getProcessorEnabled(tfod)) {
|
||||
telemetry.addLine("Dpad Down to disable TFOD");
|
||||
telemetry.addLine();
|
||||
telemetryTfod();
|
||||
} else {
|
||||
telemetry.addLine("Dpad Up to enable TFOD");
|
||||
}
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
if (gamepad1.dpad_left) {
|
||||
myVisionPortal.setProcessorEnabled(aprilTag, false);
|
||||
} else if (gamepad1.dpad_right) {
|
||||
myVisionPortal.setProcessorEnabled(aprilTag, true);
|
||||
}
|
||||
if (gamepad1.dpad_down) {
|
||||
myVisionPortal.setProcessorEnabled(tfod, false);
|
||||
} else if (gamepad1.dpad_up) {
|
||||
myVisionPortal.setProcessorEnabled(tfod, true);
|
||||
}
|
||||
|
||||
sleep(20);
|
||||
|
||||
} // end while loop
|
||||
|
||||
} // end method runOpMode()
|
||||
|
||||
|
||||
/**
|
||||
* Function to initialize AprilTag and TFOD.
|
||||
*/
|
||||
private void initDoubleVision() {
|
||||
// -----------------------------------------------------------------------------------------
|
||||
// AprilTag Configuration
|
||||
// -----------------------------------------------------------------------------------------
|
||||
|
||||
aprilTag = new AprilTagProcessor.Builder()
|
||||
.build();
|
||||
|
||||
// -----------------------------------------------------------------------------------------
|
||||
// TFOD Configuration
|
||||
// -----------------------------------------------------------------------------------------
|
||||
|
||||
tfod = new TfodProcessor.Builder()
|
||||
.build();
|
||||
|
||||
// -----------------------------------------------------------------------------------------
|
||||
// Camera Configuration
|
||||
// -----------------------------------------------------------------------------------------
|
||||
|
||||
if (USE_WEBCAM) {
|
||||
myVisionPortal = new VisionPortal.Builder()
|
||||
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
|
||||
.addProcessors(tfod, aprilTag)
|
||||
.build();
|
||||
} else {
|
||||
myVisionPortal = new VisionPortal.Builder()
|
||||
.setCamera(BuiltinCameraDirection.BACK)
|
||||
.addProcessors(tfod, aprilTag)
|
||||
.build();
|
||||
}
|
||||
} // end initDoubleVision()
|
||||
|
||||
/**
|
||||
* Function to add telemetry about AprilTag detections.
|
||||
*/
|
||||
private void telemetryAprilTag() {
|
||||
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
|
||||
telemetry.addData("# AprilTags Detected", currentDetections.size());
|
||||
|
||||
// Step through the list of detections and display info for each one.
|
||||
for (AprilTagDetection detection : currentDetections) {
|
||||
if (detection.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
|
||||
}
|
||||
} // end for() loop
|
||||
|
||||
} // end method telemetryAprilTag()
|
||||
|
||||
/**
|
||||
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
|
||||
*/
|
||||
private void telemetryTfod() {
|
||||
List<Recognition> currentRecognitions = tfod.getRecognitions();
|
||||
telemetry.addData("# Objects Detected", currentRecognitions.size());
|
||||
|
||||
// Step through the list of recognitions and display info for each one.
|
||||
for (Recognition recognition : currentRecognitions) {
|
||||
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
|
||||
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
|
||||
|
||||
telemetry.addData(""," ");
|
||||
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
|
||||
telemetry.addData("- Position", "%.0f / %.0f", x, y);
|
||||
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
|
||||
} // end for() loop
|
||||
|
||||
} // end method telemetryTfod()
|
||||
|
||||
} // end class
|
||||
|
|
@ -33,157 +33,149 @@ 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.hardware.camera.BuiltinCameraDirection;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
|
||||
|
||||
/**
|
||||
* This 2022-2023 OpMode illustrates the basics of using the TensorFlow Object Detection API to
|
||||
* determine which image is being presented to the robot.
|
||||
* This 2023-2024 OpMode illustrates the basics of TensorFlow Object Detection,
|
||||
* including Java Builder structures for specifying Vision parameters.
|
||||
*
|
||||
* 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 {
|
||||
|
||||
/*
|
||||
* Specify the source for the Tensor Flow Model.
|
||||
* If the TensorFlowLite object model is included in the Robot Controller App as an "asset",
|
||||
* the OpMode must to load it using loadModelFromAsset(). However, if a team generated model
|
||||
* has been downloaded to the Robot Controller's SD FLASH memory, it must to be loaded using loadModelFromFile()
|
||||
* Here we assume it's an Asset. Also see method initTfod() below .
|
||||
*/
|
||||
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
|
||||
// private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/CustomTeamModel.tflite";
|
||||
|
||||
private static final String[] LABELS = {
|
||||
"1 Bolt",
|
||||
"2 Bulb",
|
||||
"3 Panel"
|
||||
};
|
||||
|
||||
/*
|
||||
* 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 --- ";
|
||||
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
|
||||
|
||||
/**
|
||||
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
|
||||
* localization engine.
|
||||
* {@link #tfod} is the variable to store our instance of the TensorFlow Object Detection processor.
|
||||
*/
|
||||
private VuforiaLocalizer vuforia;
|
||||
private TfodProcessor tfod;
|
||||
|
||||
/**
|
||||
* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
|
||||
* Detection engine.
|
||||
* {@link #visionPortal} is the variable to store our instance of the vision portal.
|
||||
*/
|
||||
private TFObjectDetector tfod;
|
||||
private VisionPortal visionPortal;
|
||||
|
||||
@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 increase 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(1.0, 16.0/9.0);
|
||||
}
|
||||
|
||||
/** Wait for the game to begin */
|
||||
telemetry.addData(">", "Press Play to start op mode");
|
||||
// Wait for the DS start button to be touched.
|
||||
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
|
||||
telemetry.addData(">", "Touch Play to start OpMode");
|
||||
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<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
|
||||
if (updatedRecognitions != null) {
|
||||
telemetry.addData("# Objects Detected", updatedRecognitions.size());
|
||||
|
||||
// step through the list of recognitions and display image position/size information for each one
|
||||
// Note: "Image number" refers to the randomized image orientation/number
|
||||
for (Recognition recognition : updatedRecognitions) {
|
||||
double col = (recognition.getLeft() + recognition.getRight()) / 2 ;
|
||||
double row = (recognition.getTop() + recognition.getBottom()) / 2 ;
|
||||
double width = Math.abs(recognition.getRight() - recognition.getLeft()) ;
|
||||
double height = Math.abs(recognition.getTop() - recognition.getBottom()) ;
|
||||
telemetryTfod();
|
||||
|
||||
telemetry.addData(""," ");
|
||||
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100 );
|
||||
telemetry.addData("- Position (Row/Col)","%.0f / %.0f", row, col);
|
||||
telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
|
||||
}
|
||||
telemetry.update();
|
||||
}
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
visionPortal.close();
|
||||
|
||||
} // end runOpMode()
|
||||
|
||||
/**
|
||||
* 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);
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the TensorFlow Object Detection engine.
|
||||
* Initialize the TensorFlow Object Detection processor.
|
||||
*/
|
||||
private void initTfod() {
|
||||
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
|
||||
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
|
||||
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
|
||||
tfodParameters.minResultConfidence = 0.75f;
|
||||
tfodParameters.isModelTensorFlow2 = true;
|
||||
tfodParameters.inputSize = 300;
|
||||
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
|
||||
|
||||
// Use loadModelFromAsset() if the TF Model is built in as an asset by Android Studio
|
||||
// Use loadModelFromFile() if you have downloaded a custom team model to the Robot Controller's FLASH.
|
||||
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
|
||||
// tfod.loadModelFromFile(TFOD_MODEL_FILE, LABELS);
|
||||
}
|
||||
}
|
||||
// Create the TensorFlow processor by using a builder.
|
||||
tfod = new TfodProcessor.Builder()
|
||||
|
||||
// Use setModelAssetName() if the TF Model is built in as an asset.
|
||||
// Use setModelFileName() if you have downloaded a custom team model to the Robot Controller.
|
||||
//.setModelAssetName(TFOD_MODEL_ASSET)
|
||||
//.setModelFileName(TFOD_MODEL_FILE)
|
||||
|
||||
//.setModelLabels(LABELS)
|
||||
//.setIsModelTensorFlow2(true)
|
||||
//.setIsModelQuantized(true)
|
||||
//.setModelInputSize(300)
|
||||
//.setModelAspectRatio(16.0 / 9.0)
|
||||
|
||||
.build();
|
||||
|
||||
// Create the vision portal by using a builder.
|
||||
VisionPortal.Builder builder = new VisionPortal.Builder();
|
||||
|
||||
// Set the camera (webcam vs. built-in RC phone camera).
|
||||
if (USE_WEBCAM) {
|
||||
builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
|
||||
} else {
|
||||
builder.setCamera(BuiltinCameraDirection.BACK);
|
||||
}
|
||||
|
||||
// Choose a camera resolution. Not all cameras support all resolutions.
|
||||
//builder.setCameraResolution(new Size(640, 480));
|
||||
|
||||
// Enable the RC preview (LiveView). Set "false" to omit camera monitoring.
|
||||
//builder.enableCameraMonitoring(true);
|
||||
|
||||
// Set the stream format; MJPEG uses less bandwidth than default YUY2.
|
||||
//builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
|
||||
|
||||
// Choose whether or not LiveView stops if no processors are enabled.
|
||||
// If set "true", monitor shows solid orange screen if no processors enabled.
|
||||
// If set "false", monitor shows camera view without annotations.
|
||||
//builder.setAutoStopLiveView(false);
|
||||
|
||||
// Set and enable the processor.
|
||||
builder.addProcessor(tfod);
|
||||
|
||||
// Build the Vision Portal, using the above settings.
|
||||
visionPortal = builder.build();
|
||||
|
||||
// Set confidence threshold for TFOD recognitions, at any time.
|
||||
//tfod.setMinResultConfidence(0.75f);
|
||||
|
||||
// Disable or re-enable the TFOD processor at any time.
|
||||
//visionPortal.setProcessorEnabled(tfod, true);
|
||||
|
||||
} // end method initTfod()
|
||||
|
||||
/**
|
||||
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
|
||||
*/
|
||||
private void telemetryTfod() {
|
||||
|
||||
List<Recognition> currentRecognitions = tfod.getRecognitions();
|
||||
telemetry.addData("# Objects Detected", currentRecognitions.size());
|
||||
|
||||
// Step through the list of recognitions and display info for each one.
|
||||
for (Recognition recognition : currentRecognitions) {
|
||||
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
|
||||
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
|
||||
|
||||
telemetry.addData(""," ");
|
||||
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
|
||||
telemetry.addData("- Position", "%.0f / %.0f", x, y);
|
||||
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
|
||||
} // end for() loop
|
||||
|
||||
} // end method telemetryTfod()
|
||||
|
||||
} // end class
|
||||
|
|
|
|||
|
|
@ -0,0 +1,141 @@
|
|||
/* 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.hardware.camera.BuiltinCameraDirection;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
|
||||
|
||||
/**
|
||||
* This 2023-2024 OpMode illustrates the basics of TensorFlow Object Detection, using
|
||||
* the easiest way.
|
||||
*
|
||||
* 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: TensorFlow Object Detection Easy", group = "Concept")
|
||||
@Disabled
|
||||
public class ConceptTensorFlowObjectDetectionEasy extends LinearOpMode {
|
||||
|
||||
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
|
||||
|
||||
/**
|
||||
* {@link #tfod} is the variable to store our instance of the TensorFlow Object Detection processor.
|
||||
*/
|
||||
private TfodProcessor tfod;
|
||||
|
||||
/**
|
||||
* {@link #visionPortal} is the variable to store our instance of the vision portal.
|
||||
*/
|
||||
private VisionPortal visionPortal;
|
||||
|
||||
@Override
|
||||
public void runOpMode() {
|
||||
|
||||
initTfod();
|
||||
|
||||
// Wait for the DS start button to be touched.
|
||||
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
|
||||
telemetry.addData(">", "Touch Play to start OpMode");
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryTfod();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
visionPortal.close();
|
||||
|
||||
} // end runOpMode()
|
||||
|
||||
/**
|
||||
* Initialize the TensorFlow Object Detection processor.
|
||||
*/
|
||||
private void initTfod() {
|
||||
|
||||
// Create the TensorFlow processor the easy way.
|
||||
tfod = TfodProcessor.easyCreateWithDefaults();
|
||||
|
||||
// Create the vision portal the easy way.
|
||||
if (USE_WEBCAM) {
|
||||
visionPortal = VisionPortal.easyCreateWithDefaults(
|
||||
hardwareMap.get(WebcamName.class, "Webcam 1"), tfod);
|
||||
} else {
|
||||
visionPortal = VisionPortal.easyCreateWithDefaults(
|
||||
BuiltinCameraDirection.BACK, tfod);
|
||||
}
|
||||
|
||||
} // end method initTfod()
|
||||
|
||||
/**
|
||||
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
|
||||
*/
|
||||
private void telemetryTfod() {
|
||||
|
||||
List<Recognition> currentRecognitions = tfod.getRecognitions();
|
||||
telemetry.addData("# Objects Detected", currentRecognitions.size());
|
||||
|
||||
// Step through the list of recognitions and display info for each one.
|
||||
for (Recognition recognition : currentRecognitions) {
|
||||
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
|
||||
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
|
||||
|
||||
telemetry.addData(""," ");
|
||||
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
|
||||
telemetry.addData("- Position", "%.0f / %.0f", x, y);
|
||||
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
|
||||
} // end for() loop
|
||||
|
||||
} // end method telemetryTfod()
|
||||
|
||||
} // end class
|
||||
|
|
@ -34,191 +34,152 @@ 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.CameraName;
|
||||
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;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.VisionPortal.CameraState;
|
||||
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
|
||||
|
||||
/**
|
||||
* This 2022-2023 OpMode illustrates the basics of using the TensorFlow Object Detection API to
|
||||
* determine which image is being presented to the robot.
|
||||
* This 2023-2024 OpMode illustrates the basics of TensorFlow Object Detection, using
|
||||
* two webcams.
|
||||
*
|
||||
* 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.
|
||||
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
|
||||
*/
|
||||
@TeleOp(name = "Concept: TensorFlow Object Detection Switchable Cameras", group = "Concept")
|
||||
@Disabled
|
||||
public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode {
|
||||
|
||||
/*
|
||||
* Specify the source for the Tensor Flow Model.
|
||||
* If the TensorFlowLite object model is included in the Robot Controller App as an "asset",
|
||||
* the OpMode must to load it using loadModelFromAsset(). However, if a team generated model
|
||||
* has been downloaded to the Robot Controller's SD FLASH memory, it must to be loaded using loadModelFromFile()
|
||||
* Here we assume it's an Asset. Also see method initTfod() below .
|
||||
*/
|
||||
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
|
||||
// private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/CustomTeamModel.tflite";
|
||||
|
||||
private static final String[] LABELS = {
|
||||
"1 Bolt",
|
||||
"2 Bulb",
|
||||
"3 Panel"
|
||||
};
|
||||
|
||||
/*
|
||||
* 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.
|
||||
* {@link #tfod} is the variable to store our instance of the TensorFlow Object Detection processor.
|
||||
*/
|
||||
private TFObjectDetector tfod;
|
||||
private TfodProcessor tfod;
|
||||
|
||||
/**
|
||||
* {@link #visionPortal} is the variable to store our instance of the vision portal.
|
||||
*/
|
||||
private VisionPortal visionPortal;
|
||||
|
||||
@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 increase 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(1.0, 16.0/9.0);
|
||||
}
|
||||
|
||||
/** Wait for the game to begin */
|
||||
telemetry.addData(">", "Press Play to start op mode");
|
||||
// Wait for the DS start button to be touched.
|
||||
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
|
||||
telemetry.addData(">", "Touch Play to start OpMode");
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
if (tfod != null) {
|
||||
doCameraSwitching();
|
||||
List<Recognition> recognitions = tfod.getRecognitions();
|
||||
telemetry.addData("# Objects Detected", recognitions.size());
|
||||
// step through the list of recognitions and display image size and position
|
||||
// Note: "Image number" refers to the randomized image orientation/number
|
||||
for (Recognition recognition : recognitions) {
|
||||
double col = (recognition.getLeft() + recognition.getRight()) / 2 ;
|
||||
double row = (recognition.getTop() + recognition.getBottom()) / 2 ;
|
||||
double width = Math.abs(recognition.getRight() - recognition.getLeft()) ;
|
||||
double height = Math.abs(recognition.getTop() - recognition.getBottom()) ;
|
||||
|
||||
telemetry.addData(""," ");
|
||||
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100 );
|
||||
telemetry.addData("- Position (Row/Col)","%.0f / %.0f", row, col);
|
||||
telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
|
||||
}
|
||||
telemetry.update();
|
||||
telemetryCameraSwitching();
|
||||
telemetryTfod();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
doCameraSwitching();
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
visionPortal.close();
|
||||
|
||||
} // end runOpMode()
|
||||
|
||||
/**
|
||||
* 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);
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the TensorFlow Object Detection engine.
|
||||
* Initialize the TensorFlow Object Detection processor.
|
||||
*/
|
||||
private void initTfod() {
|
||||
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
|
||||
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
|
||||
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
|
||||
tfodParameters.minResultConfidence = 0.75f;
|
||||
tfodParameters.isModelTensorFlow2 = true;
|
||||
tfodParameters.inputSize = 300;
|
||||
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
|
||||
|
||||
// Use loadModelFromAsset() if the TF Model is built in as an asset by Android Studio
|
||||
// Use loadModelFromFile() if you have downloaded a custom team model to the Robot Controller's FLASH.
|
||||
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
|
||||
// tfod.loadModelFromFile(TFOD_MODEL_FILE, LABELS);
|
||||
}
|
||||
// Create the TensorFlow processor by using a builder.
|
||||
tfod = new TfodProcessor.Builder().build();
|
||||
|
||||
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;
|
||||
webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
|
||||
CameraName switchableCamera = ClassFactory.getInstance()
|
||||
.getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
|
||||
|
||||
if (switchableCamera.getActiveCamera().equals(webcam1)) {
|
||||
// Create the vision portal by using a builder.
|
||||
visionPortal = new VisionPortal.Builder()
|
||||
.setCamera(switchableCamera)
|
||||
.addProcessor(tfod)
|
||||
.build();
|
||||
|
||||
} // end method initTfod()
|
||||
|
||||
/**
|
||||
* Function to add telemetry about camera switching.
|
||||
*/
|
||||
private void telemetryCameraSwitching() {
|
||||
if (visionPortal.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");
|
||||
}
|
||||
}
|
||||
}
|
||||
} // end method telemetryCameraSwitching()
|
||||
|
||||
/**
|
||||
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
|
||||
*/
|
||||
private void telemetryTfod() {
|
||||
|
||||
List<Recognition> currentRecognitions = tfod.getRecognitions();
|
||||
telemetry.addData("# Objects Detected", currentRecognitions.size());
|
||||
|
||||
// Step through the list of recognitions and display info for each one.
|
||||
for (Recognition recognition : currentRecognitions) {
|
||||
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
|
||||
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
|
||||
|
||||
telemetry.addData(""," ");
|
||||
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
|
||||
telemetry.addData("- Position", "%.0f / %.0f", x, y);
|
||||
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
|
||||
} // end for() loop
|
||||
|
||||
} // end method telemetryTfod()
|
||||
|
||||
/**
|
||||
* Function to set the active camera according to input from the gamepad.
|
||||
*/
|
||||
private void doCameraSwitching() {
|
||||
if (visionPortal.getCameraState() == CameraState.STREAMING) {
|
||||
// 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) {
|
||||
visionPortal.setActiveCamera(webcam1);
|
||||
} else if (newRightBumper && !oldRightBumper) {
|
||||
visionPortal.setActiveCamera(webcam2);
|
||||
}
|
||||
oldLeftBumper = newLeftBumper;
|
||||
oldRightBumper = newRightBumper;
|
||||
}
|
||||
} // end method doCameraSwitching()
|
||||
|
||||
} // end class
|
||||
|
|
|
|||
|
|
@ -1,190 +0,0 @@
|
|||
/* 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 2022-2023 OpMode illustrates the basics of using the TensorFlow Object Detection API to
|
||||
* determine which image is being presented to 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.
|
||||
*
|
||||
* 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 {
|
||||
|
||||
/*
|
||||
* Specify the source for the Tensor Flow Model.
|
||||
* If the TensorFlowLite object model is included in the Robot Controller App as an "asset",
|
||||
* the OpMode must to load it using loadModelFromAsset(). However, if a team generated model
|
||||
* has been downloaded to the Robot Controller's SD FLASH memory, it must to be loaded using loadModelFromFile()
|
||||
* Here we assume it's an Asset. Also see method initTfod() below .
|
||||
*/
|
||||
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
|
||||
// private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/CustomTeamModel.tflite";
|
||||
|
||||
|
||||
private static final String[] LABELS = {
|
||||
"1 Bolt",
|
||||
"2 Bulb",
|
||||
"3 Panel"
|
||||
};
|
||||
|
||||
/*
|
||||
* 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 increase 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(1.0, 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<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
|
||||
if (updatedRecognitions != null) {
|
||||
telemetry.addData("# Objects Detected", updatedRecognitions.size());
|
||||
|
||||
// step through the list of recognitions and display image position/size information for each one
|
||||
// Note: "Image number" refers to the randomized image orientation/number
|
||||
for (Recognition recognition : updatedRecognitions) {
|
||||
double col = (recognition.getLeft() + recognition.getRight()) / 2 ;
|
||||
double row = (recognition.getTop() + recognition.getBottom()) / 2 ;
|
||||
double width = Math.abs(recognition.getRight() - recognition.getLeft()) ;
|
||||
double height = Math.abs(recognition.getTop() - recognition.getBottom()) ;
|
||||
|
||||
telemetry.addData(""," ");
|
||||
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100 );
|
||||
telemetry.addData("- Position (Row/Col)","%.0f / %.0f", row, col);
|
||||
telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
|
||||
}
|
||||
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);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 = 0.75f;
|
||||
tfodParameters.isModelTensorFlow2 = true;
|
||||
tfodParameters.inputSize = 300;
|
||||
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
|
||||
|
||||
// Use loadModelFromAsset() if the TF Model is built in as an asset by Android Studio
|
||||
// Use loadModelFromFile() if you have downloaded a custom team model to the Robot Controller's FLASH.
|
||||
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
|
||||
// tfod.loadModelFromFile(TFOD_MODEL_FILE, LABELS);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,186 +0,0 @@
|
|||
/* 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 ConceptVuforiaFieldNavigation}; 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 ConceptVuforiaFieldNavigation
|
||||
* @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 below.
|
||||
*/
|
||||
|
||||
@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";
|
||||
}
|
||||
}
|
||||
|
|
@ -1,194 +0,0 @@
|
|||
/* 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 ConceptVuforiaFieldNavigationWebcam}; 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 ConceptVuforiaFieldNavigationWebcam
|
||||
* @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 below
|
||||
*/
|
||||
|
||||
@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";
|
||||
}
|
||||
}
|
||||
|
|
@ -1,203 +0,0 @@
|
|||
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 targetsPowerPlay = this.vuforia.loadTrackablesFromAsset("PowerPlay");
|
||||
targetsPowerPlay.get(0).setName("Red Audience Wall");
|
||||
targetsPowerPlay.get(1).setName("Red Rear Wall");
|
||||
targetsPowerPlay.get(2).setName("Blue Audience Wall");
|
||||
targetsPowerPlay.get(3).setName("Blue Rear Wall");
|
||||
|
||||
// Start tracking targets in the background
|
||||
targetsPowerPlay.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.
|
||||
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
|
||||
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
|
||||
leftDrive.setDirection(DcMotor.Direction.REVERSE);
|
||||
rightDrive.setDirection(DcMotor.Direction.FORWARD);
|
||||
|
||||
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 : targetsPowerPlay)
|
||||
{
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,283 +0,0 @@
|
|||
/* 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 FTC competition 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 trackable assets.
|
||||
targets = this.vuforia.loadTrackablesFromAsset("PowerPlay");
|
||||
|
||||
// For convenience, gather together all the trackable objects in one easily-iterable collection */
|
||||
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
|
||||
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 <em>transformation matrices.</em>
|
||||
* Transformation matrices are a central, important concept in the math here involved in localization.
|
||||
* See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
|
||||
* 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, "Red Audience Wall", -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90);
|
||||
identifyTarget(1, "Red Rear Wall", halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, -90);
|
||||
identifyTarget(2, "Blue Audience Wall", -halfField, oneAndHalfTile, mmTargetHeight, 90, 0, 90);
|
||||
identifyTarget(3, "Blue Rear Wall", halfField, oneAndHalfTile, mmTargetHeight, 90, 0, -90);
|
||||
|
||||
/*
|
||||
* 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)));
|
||||
}
|
||||
}
|
||||
|
|
@ -1,274 +0,0 @@
|
|||
/* 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("PowerPlay");
|
||||
|
||||
// For convenience, gather together all the trackable objects in one easily-iterable collection */
|
||||
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
|
||||
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 <em>transformation matrices.</em>
|
||||
* Transformation matrices are a central, important concept in the math here involved in localization.
|
||||
* See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
|
||||
* 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, "Red Audience Wall", -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90);
|
||||
identifyTarget(1, "Red Rear Wall", halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, -90);
|
||||
identifyTarget(2, "Blue Audience Wall", -halfField, oneAndHalfTile, mmTargetHeight, 90, 0, 90);
|
||||
identifyTarget(3, "Blue Rear Wall", halfField, oneAndHalfTile, mmTargetHeight, 90, 0, -90);
|
||||
|
||||
/*
|
||||
* 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)));
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
|
@ -72,7 +72,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
|
|||
* 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 Clockwise, 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
|
||||
* https://ftc-docs.firstinspires.org/field-coordinate-system
|
||||
*
|
||||
* Control Approach.
|
||||
*
|
||||
|
|
|
|||
|
|
@ -0,0 +1,293 @@
|
|||
/* Copyright (c) 2023 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;
|
||||
import com.qualcomm.robotcore.util.Range;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
import java.util.List;
|
||||
import java.util.concurrent.TimeUnit;
|
||||
|
||||
/**
|
||||
* This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
|
||||
* The code assumes a Holonomic (Mecanum or X Drive) Robot.
|
||||
*
|
||||
* The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and
|
||||
* driving towards the tag to achieve the desired distance.
|
||||
* To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
|
||||
* You can determine the best Exposure and Gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
|
||||
*
|
||||
* The code assumes a Robot Configuration with motors named: leftfront_drive and rightfront_drive, leftback_drive and rightback_drive.
|
||||
* The motor directions must be set so a positive power goes forward on all wheels.
|
||||
* This sample assumes that the current game AprilTag Library (usually for the current season) is being loaded by default,
|
||||
* so you should choose to approach a valid tag ID (usually starting at 0)
|
||||
*
|
||||
* Under manual control, the left stick will move forward/back & left/right. The right stick will rotate the robot.
|
||||
* 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.
|
||||
*
|
||||
* Under "Drive To Target" mode, the robot has three goals:
|
||||
* 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.)
|
||||
* 2) Strafe the robot towards the centerline of the Tag, so it approaches directly in front of the tag. (Use the Target Yaw to strafe the robot)
|
||||
* 3) Drive towards the Tag to get to the desired distance. (Use Tag Range to drive the robot forward/backward)
|
||||
*
|
||||
* 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, STRAFE_GAIN and TURN_GAIN constants.
|
||||
*
|
||||
* Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
|
||||
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
|
||||
*
|
||||
*/
|
||||
|
||||
@TeleOp(name="Omni Drive To AprilTag", group = "Concept")
|
||||
@Disabled
|
||||
public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
|
||||
{
|
||||
// Adjust these numbers to suit your robot.
|
||||
final double DESIRED_DISTANCE = 12.0; // this is how close the camera should get to the target (inches)
|
||||
|
||||
// Set the GAIN constants to control the relationship between the measured position error, and how much power is
|
||||
// applied to the drive motors to correct the error.
|
||||
// Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response.
|
||||
final double SPEED_GAIN = 0.02 ; // Forward Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error. (0.50 / 25.0)
|
||||
final double STRAFE_GAIN = 0.015 ; // Strafe Speed Control "Gain". eg: Ramp up to 25% power at a 25 degree Yaw error. (0.25 / 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 MAX_AUTO_SPEED = 0.5; // Clip the approach speed to this max value (adjust for your robot)
|
||||
final double MAX_AUTO_STRAFE= 0.5; // Clip the approach speed to this max value (adjust for your robot)
|
||||
final double MAX_AUTO_TURN = 0.3; // Clip the turn speed to this max value (adjust for your robot)
|
||||
|
||||
private DcMotor leftFrontDrive = null; // Used to control the left front drive wheel
|
||||
private DcMotor rightFrontDrive = null; // Used to control the right front drive wheel
|
||||
private DcMotor leftBackDrive = null; // Used to control the left back drive wheel
|
||||
private DcMotor rightBackDrive = null; // Used to control the right back drive wheel
|
||||
|
||||
private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera
|
||||
private static final int DESIRED_TAG_ID = 0; // Choose the tag you want to approach or set to -1 for ANY tag.
|
||||
private VisionPortal visionPortal; // Used to manage the video source.
|
||||
private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process.
|
||||
private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag
|
||||
|
||||
@Override public void runOpMode()
|
||||
{
|
||||
boolean targetFound = false; // Set to true when an AprilTag target is detected
|
||||
double drive = 0; // Desired forward power/speed (-1 to +1)
|
||||
double strafe = 0; // Desired strafe power/speed (-1 to +1)
|
||||
double turn = 0; // Desired turning power/speed (-1 to +1)
|
||||
|
||||
// Initialize the Apriltag Detection process
|
||||
initAprilTag();
|
||||
|
||||
// Initialize the hardware variables. Note that the strings used here as parameters
|
||||
// to 'get' must match the names assigned during the robot configuration.
|
||||
// step (using the FTC Robot Controller app on the phone).
|
||||
leftFrontDrive = hardwareMap.get(DcMotor.class, "leftfront_drive");
|
||||
rightFrontDrive = hardwareMap.get(DcMotor.class, "rightfront_drive");
|
||||
leftBackDrive = hardwareMap.get(DcMotor.class, "leftback_drive");
|
||||
rightBackDrive = hardwareMap.get(DcMotor.class, "rightback_drive");
|
||||
|
||||
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
|
||||
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
|
||||
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
|
||||
leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
|
||||
leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
|
||||
rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
|
||||
rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
|
||||
|
||||
if (USE_WEBCAM)
|
||||
setManualExposure(6, 250); // Use low exposure time to reduce motion blur
|
||||
|
||||
// Wait for driver to press start
|
||||
telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
|
||||
telemetry.addData(">", "Touch Play to start OpMode");
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive())
|
||||
{
|
||||
targetFound = false;
|
||||
desiredTag = null;
|
||||
|
||||
// Step through the list of detected tags and look for a matching tag
|
||||
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
|
||||
for (AprilTagDetection detection : currentDetections) {
|
||||
if ((detection.metadata != null)
|
||||
&& ((DESIRED_TAG_ID >= 0) || (detection.id == DESIRED_TAG_ID)) ){
|
||||
targetFound = true;
|
||||
desiredTag = detection;
|
||||
break; // don't look any further.
|
||||
}
|
||||
}
|
||||
|
||||
// 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", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
|
||||
telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range);
|
||||
telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
|
||||
telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw);
|
||||
} else {
|
||||
telemetry.addData(">","Drive using joystick to find target\n");
|
||||
}
|
||||
|
||||
// If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
|
||||
if (gamepad1.left_bumper && targetFound) {
|
||||
|
||||
// Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically.
|
||||
double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE);
|
||||
double headingError = desiredTag.ftcPose.bearing;
|
||||
double yawError = desiredTag.ftcPose.yaw;
|
||||
|
||||
// Use the speed and turn "gains" to calculate how we want the robot to move.
|
||||
drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED);
|
||||
turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ;
|
||||
strafe = Range.clip(-yawError * STRAFE_GAIN, -MAX_AUTO_STRAFE, MAX_AUTO_STRAFE);
|
||||
|
||||
telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn);
|
||||
} else {
|
||||
|
||||
// drive using manual POV Joystick mode. Slow things down to make the robot more controlable.
|
||||
drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%.
|
||||
strafe = -gamepad1.left_stick_x / 2.0; // Reduce strafe rate to 50%.
|
||||
turn = -gamepad1.right_stick_x / 3.0; // Reduce turn rate to 33%.
|
||||
telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn);
|
||||
}
|
||||
telemetry.update();
|
||||
|
||||
// Apply desired axes motions to the drivetrain.
|
||||
moveRobot(drive, strafe, turn);
|
||||
sleep(10);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Move robot according to desired axes motions
|
||||
* Positive X is forward
|
||||
* Positive Y is strafe left
|
||||
* Positive Yaw is counter-clockwise
|
||||
*/
|
||||
public void moveRobot(double x, double y, double yaw) {
|
||||
// Calculate wheel powers.
|
||||
double leftFrontPower = x -y -yaw;
|
||||
double rightFrontPower = x +y +yaw;
|
||||
double leftBackPower = x +y -yaw;
|
||||
double rightBackPower = x -y +yaw;
|
||||
|
||||
// Normalize wheel powers to be less than 1.0
|
||||
double max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
|
||||
max = Math.max(max, Math.abs(leftBackPower));
|
||||
max = Math.max(max, Math.abs(rightBackPower));
|
||||
|
||||
if (max > 1.0) {
|
||||
leftFrontPower /= max;
|
||||
rightFrontPower /= max;
|
||||
leftBackPower /= max;
|
||||
rightBackPower /= max;
|
||||
}
|
||||
|
||||
// Send powers to the wheels.
|
||||
leftFrontDrive.setPower(leftFrontPower);
|
||||
rightFrontDrive.setPower(rightFrontPower);
|
||||
leftBackDrive.setPower(leftBackPower);
|
||||
rightBackDrive.setPower(rightBackPower);
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the AprilTag processor.
|
||||
*/
|
||||
private void initAprilTag() {
|
||||
// Create the AprilTag processor by using a builder.
|
||||
aprilTag = new AprilTagProcessor.Builder().build();
|
||||
|
||||
// Create the vision portal by using a builder.
|
||||
if (USE_WEBCAM) {
|
||||
visionPortal = new VisionPortal.Builder()
|
||||
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
|
||||
.addProcessor(aprilTag)
|
||||
.build();
|
||||
} else {
|
||||
visionPortal = new VisionPortal.Builder()
|
||||
.setCamera(BuiltinCameraDirection.BACK)
|
||||
.addProcessor(aprilTag)
|
||||
.build();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
Manually set the camera gain and exposure.
|
||||
This can only be called AFTER calling initAprilTag(), and only works for Webcams;
|
||||
*/
|
||||
private void setManualExposure(int exposureMS, int gain) {
|
||||
// Wait for the camera to be open, then use the controls
|
||||
|
||||
if (visionPortal == null) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Make sure camera is streaming before we try to set the exposure controls
|
||||
if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
|
||||
telemetry.addData("Camera", "Waiting");
|
||||
telemetry.update();
|
||||
while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
|
||||
sleep(20);
|
||||
}
|
||||
telemetry.addData("Camera", "Ready");
|
||||
telemetry.update();
|
||||
}
|
||||
|
||||
// Set camera controls unless we are stopping.
|
||||
if (!isStopRequested())
|
||||
{
|
||||
ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
|
||||
if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
|
||||
exposureControl.setMode(ExposureControl.Mode.Manual);
|
||||
sleep(50);
|
||||
}
|
||||
exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
|
||||
sleep(20);
|
||||
GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
|
||||
gainControl.setGain(gain);
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,271 @@
|
|||
/* Copyright (c) 2023 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;
|
||||
import com.qualcomm.robotcore.util.Range;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
import java.util.List;
|
||||
import java.util.concurrent.TimeUnit;
|
||||
|
||||
/**
|
||||
* This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
|
||||
* The code assumes a basic two-wheel (Tank) Robot Drivetrain
|
||||
*
|
||||
* The driving goal is to rotate to keep the tag centered in the camera, while driving towards the tag to achieve the desired distance.
|
||||
* To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
|
||||
* You can determine the best exposure and gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
|
||||
*
|
||||
* The code assumes a Robot Configuration with motors named left_drive and right_drive.
|
||||
* The motor directions must be set so a positive power goes forward on both wheels;
|
||||
* This sample assumes that the default AprilTag Library (usually for the current season) is being loaded by default
|
||||
* so you should choose to approach a valid tag ID (usually starting at 0)
|
||||
*
|
||||
* Under manual control, the left stick will move forward/back, and the right stick will rotate the robot.
|
||||
* 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.
|
||||
*
|
||||
* Under "Drive To Target" mode, the robot has two goals:
|
||||
* 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.)
|
||||
* 2) Drive towards the Tag to get to the desired distance. (Use Tag Range to drive the robot forward/backward)
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
|
||||
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
|
||||
*
|
||||
*/
|
||||
|
||||
@TeleOp(name="Tank Drive To AprilTag", group = "Concept")
|
||||
@Disabled
|
||||
public class RobotAutoDriveToAprilTagTank extends LinearOpMode
|
||||
{
|
||||
// Adjust these numbers to suit your robot.
|
||||
final double DESIRED_DISTANCE = 12.0; // this is how close the camera should get to the target (inches)
|
||||
|
||||
// Set the GAIN constants to control the relationship between the measured position error, and how much power is
|
||||
// applied to the drive motors to correct the error.
|
||||
// Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response.
|
||||
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 MAX_AUTO_SPEED = 0.5; // Clip the approach speed to this max value (adjust for your robot)
|
||||
final double MAX_AUTO_TURN = 0.25; // Clip the turn speed to this max value (adjust for your robot)
|
||||
|
||||
private DcMotor leftDrive = null; // Used to control the left drive wheel
|
||||
private DcMotor rightDrive = null; // Used to control the right drive wheel
|
||||
|
||||
private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera
|
||||
private static final int DESIRED_TAG_ID = 0; // Choose the tag you want to approach or set to -1 for ANY tag.
|
||||
private VisionPortal visionPortal; // Used to manage the video source.
|
||||
private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process.
|
||||
private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag
|
||||
|
||||
@Override public void runOpMode()
|
||||
{
|
||||
boolean targetFound = false; // Set to true when an AprilTag target is detected
|
||||
double drive = 0; // Desired forward power/speed (-1 to +1) +ve is forward
|
||||
double turn = 0; // Desired turning power/speed (-1 to +1) +ve is CounterClockwise
|
||||
|
||||
// Initialize the Apriltag Detection process
|
||||
initAprilTag();
|
||||
|
||||
// Initialize the hardware variables. Note that the strings used here as parameters
|
||||
// to 'get' must match 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.
|
||||
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
|
||||
// Note: The settings here assume direct drive on left and right wheels. Single Gear Reduction or 90 Deg drives may require direction flips
|
||||
leftDrive.setDirection(DcMotor.Direction.REVERSE);
|
||||
rightDrive.setDirection(DcMotor.Direction.FORWARD);
|
||||
|
||||
if (USE_WEBCAM)
|
||||
setManualExposure(6, 250); // Use low exposure time to reduce motion blur
|
||||
|
||||
// Wait for the driver to press Start
|
||||
telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
|
||||
telemetry.addData(">", "Touch Play to start OpMode");
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive())
|
||||
{
|
||||
targetFound = false;
|
||||
desiredTag = null;
|
||||
|
||||
// Step through the list of detected tags and look for a matching tag
|
||||
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
|
||||
for (AprilTagDetection detection : currentDetections) {
|
||||
if ((detection.metadata != null)
|
||||
&& ((DESIRED_TAG_ID >= 0) || (detection.id == DESIRED_TAG_ID)) ){
|
||||
targetFound = true;
|
||||
desiredTag = detection;
|
||||
break; // don't look any further.
|
||||
}
|
||||
}
|
||||
|
||||
// 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", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
|
||||
telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range);
|
||||
telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
|
||||
} else {
|
||||
telemetry.addData(">","Drive using joystick to find target\n");
|
||||
}
|
||||
|
||||
// If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
|
||||
if (gamepad1.left_bumper && targetFound) {
|
||||
|
||||
// Determine heading and range error so we can use them to control the robot automatically.
|
||||
double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE);
|
||||
double headingError = desiredTag.ftcPose.bearing;
|
||||
|
||||
// Use the speed and turn "gains" to calculate how we want the robot to move. Clip it to the maximum
|
||||
drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED);
|
||||
turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ;
|
||||
|
||||
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();
|
||||
|
||||
// Apply desired axes motions to the drivetrain.
|
||||
moveRobot(drive, turn);
|
||||
sleep(10);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Move robot according to desired axes motions
|
||||
* Positive X is forward
|
||||
* Positive Yaw is counter-clockwise
|
||||
*/
|
||||
public void moveRobot(double x, double yaw) {
|
||||
// Calculate left and right wheel powers.
|
||||
double leftPower = x - yaw;
|
||||
double rightPower = x + yaw;
|
||||
|
||||
// Normalize wheel powers to be less than 1.0
|
||||
double max = Math.max(Math.abs(leftPower), Math.abs(rightPower));
|
||||
if (max >1.0) {
|
||||
leftPower /= max;
|
||||
rightPower /= max;
|
||||
}
|
||||
|
||||
// Send powers to the wheels.
|
||||
leftDrive.setPower(leftPower);
|
||||
rightDrive.setPower(rightPower);
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the AprilTag processor.
|
||||
*/
|
||||
private void initAprilTag() {
|
||||
// Create the AprilTag processor by using a builder.
|
||||
aprilTag = new AprilTagProcessor.Builder().build();
|
||||
|
||||
// Create the vision portal by using a builder.
|
||||
if (USE_WEBCAM) {
|
||||
visionPortal = new VisionPortal.Builder()
|
||||
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
|
||||
.addProcessor(aprilTag)
|
||||
.build();
|
||||
} else {
|
||||
visionPortal = new VisionPortal.Builder()
|
||||
.setCamera(BuiltinCameraDirection.BACK)
|
||||
.addProcessor(aprilTag)
|
||||
.build();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
Manually set the camera gain and exposure.
|
||||
This can only be called AFTER calling initAprilTag(), and only works for Webcams;
|
||||
*/
|
||||
private void setManualExposure(int exposureMS, int gain) {
|
||||
// Wait for the camera to be open, then use the controls
|
||||
|
||||
if (visionPortal == null) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Make sure camera is streaming before we try to set the exposure controls
|
||||
if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
|
||||
telemetry.addData("Camera", "Waiting");
|
||||
telemetry.update();
|
||||
while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
|
||||
sleep(20);
|
||||
}
|
||||
telemetry.addData("Camera", "Ready");
|
||||
telemetry.update();
|
||||
}
|
||||
|
||||
// Set camera controls unless we are stopping.
|
||||
if (!isStopRequested())
|
||||
{
|
||||
ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
|
||||
if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
|
||||
exposureControl.setMode(ExposureControl.Mode.Manual);
|
||||
sleep(50);
|
||||
}
|
||||
exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
|
||||
sleep(20);
|
||||
GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
|
||||
gainControl.setGain(gain);
|
||||
sleep(20);
|
||||
telemetry.addData("Camera", "Ready");
|
||||
telemetry.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,129 @@
|
|||
/*
|
||||
* Copyright (c) 2023 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.util.Size;
|
||||
|
||||
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.hardware.camera.BuiltinCameraDirection;
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
|
||||
import java.util.Locale;
|
||||
|
||||
/**
|
||||
* This Utility OpMode helps calibrate a webcam or RC phone camera, useful for AprilTag pose estimation
|
||||
* with the FTC VisionPortal. It captures a camera frame (image) and stores it on the Robot Controller
|
||||
* (Control Hub or RC phone), with each press of the gamepad button X (or Square).
|
||||
* Full calibration instructions are here:
|
||||
*
|
||||
* https://ftc-docs.firstinspires.org/camera-calibration
|
||||
*
|
||||
* In Android Studio, copy this class into your "teamcode" folder with a new name.
|
||||
* Remove or comment out the @Disabled line to add this file to the Driver Station OpMode list.
|
||||
*
|
||||
* In OnBot Java, use "Add File" to add this file from the list of Samples.
|
||||
*/
|
||||
|
||||
@TeleOp(name = "Utility: Camera Frame Capture", group = "Utility")
|
||||
@Disabled
|
||||
public class UtilityCameraFrameCapture extends LinearOpMode
|
||||
{
|
||||
/*
|
||||
* EDIT THESE PARAMETERS AS NEEDED
|
||||
*/
|
||||
final boolean USING_WEBCAM = false;
|
||||
final BuiltinCameraDirection INTERNAL_CAM_DIR = BuiltinCameraDirection.BACK;
|
||||
final int RESOLUTION_WIDTH = 640;
|
||||
final int RESOLUTION_HEIGHT = 480;
|
||||
|
||||
// Internal state
|
||||
boolean lastX;
|
||||
int frameCount;
|
||||
long capReqTime;
|
||||
|
||||
@Override
|
||||
public void runOpMode()
|
||||
{
|
||||
VisionPortal portal;
|
||||
|
||||
if (USING_WEBCAM)
|
||||
{
|
||||
portal = new VisionPortal.Builder()
|
||||
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
|
||||
.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
|
||||
.build();
|
||||
}
|
||||
else
|
||||
{
|
||||
portal = new VisionPortal.Builder()
|
||||
.setCamera(INTERNAL_CAM_DIR)
|
||||
.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
|
||||
.build();
|
||||
}
|
||||
|
||||
while (!isStopRequested())
|
||||
{
|
||||
boolean x = gamepad1.x;
|
||||
|
||||
if (x && !lastX)
|
||||
{
|
||||
portal.saveNextFrameRaw(String.format(Locale.US, "CameraFrameCapture-%06d", frameCount++));
|
||||
capReqTime = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
lastX = x;
|
||||
|
||||
telemetry.addLine("######## Camera Capture Utility ########");
|
||||
telemetry.addLine(String.format(Locale.US, " > Resolution: %dx%d", RESOLUTION_WIDTH, RESOLUTION_HEIGHT));
|
||||
telemetry.addLine(" > Press X (or Square) to capture a frame");
|
||||
telemetry.addData(" > Camera Status", portal.getCameraState());
|
||||
|
||||
if (capReqTime != 0)
|
||||
{
|
||||
telemetry.addLine("\nCaptured Frame!");
|
||||
}
|
||||
|
||||
if (capReqTime != 0 && System.currentTimeMillis() - capReqTime > 1000)
|
||||
{
|
||||
capReqTime = 0;
|
||||
}
|
||||
|
||||
telemetry.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -625,8 +625,8 @@ public class FtcRobotControllerActivity extends Activity
|
|||
}
|
||||
|
||||
/**
|
||||
* Updates the orientation of monitorContainer (which contains cameraMonitorView and
|
||||
* tfodMonitorView) based on the given configuration. Makes the children split the space.
|
||||
* Updates the orientation of monitorContainer (which contains cameraMonitorView)
|
||||
* based on the given configuration. Makes the children split the space.
|
||||
*/
|
||||
private void updateMonitorLayout(Configuration configuration) {
|
||||
LinearLayout monitorContainer = (LinearLayout) findViewById(R.id.monitorContainer);
|
||||
|
|
|
|||
|
|
@ -140,13 +140,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|||
android:layout_weight="1"
|
||||
android:orientation="vertical"
|
||||
/>
|
||||
<FrameLayout
|
||||
android:id="@+id/tfodMonitorViewId"
|
||||
android:visibility="gone"
|
||||
android:layout_width="match_parent"
|
||||
android:layout_height="0dp"
|
||||
android:layout_weight="1"
|
||||
/>
|
||||
|
||||
</LinearLayout>
|
||||
|
||||
|
|
|
|||
66
README.md
66
README.md
|
|
@ -5,6 +5,11 @@ This repository contains the public FTC SDK for the POWERPLAY (2022-2023) compet
|
|||
## 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.
|
||||
|
||||
## Requirements
|
||||
To use this Android Studio project, you will need Android Studio 2021.2 (codename Chipmunk) or later.
|
||||
|
||||
To program your robot in Blocks or OnBot Java, you do not need Android Studio.
|
||||
|
||||
## 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://ftc-docs.firstinspires.org/programming_resources/blocks/Blocks-Tutorial.html) to get familiar with how to use the control system:
|
||||
|
||||
|
|
@ -54,12 +59,69 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
|
|||
|
||||
# Release Information
|
||||
|
||||
## Version 8.2 (20230707-131020)
|
||||
|
||||
### Breaking changes
|
||||
* Non-linear (iterative) Op Modes are no longer allowed to manipulate actuators in their `stop()` method. Attempts to do so will be ignored and logged.
|
||||
* When an Op Mode attempts to illegally manipulate an actuator, the Robot Controller will print a log message
|
||||
including the text `CANCELLED_FOR_SAFETY`.
|
||||
* Additionally, LinearOpModes are no longer able to regain the ability to manipulate actuators by removing their
|
||||
thread's interrupt or using another thread.
|
||||
* Removes support for Android version 6.0 (Marshmallow). The minSdkVersion is now 24.
|
||||
* Increases the Robocol version.
|
||||
* This means an 8.2 or later Robot Controller or Driver Station will not be able to communicate with an 8.1 or earlier Driver Station or Robot Controller.
|
||||
* If you forget to update both apps at the same time, an error message will be shown explaining which app is older and should be updated.
|
||||
* FTC_FieldCoordinateSystemDefinition.pdf has been moved. It is still in the git history, but has been removed from the git snapshot corresponding with the 8.2 tag. The official version now lives at [Field Coordinate System](https://ftc-docs.firstinspires.org/field-coordinate-system).
|
||||
* `LynxUsbDevice.addConfiguredModule()` and `LynxUsbDevice.getConfiguredModule()` have been replaced with `LynxUsbDevice.getOrAddModule()`.
|
||||
|
||||
### New features
|
||||
* Adds new `VisionPortal` API for computer vision
|
||||
* **This API may be subject to change for final kickoff release!**
|
||||
* Several new samples added.
|
||||
* Adds support for detecting AprilTags.
|
||||
* `VisionPortal` is the new entry point for both AprilTag and TFOD processing.
|
||||
* Vuforia will be removed in a future release.
|
||||
* Updated TensorFlow dependencies.
|
||||
* Added support for webcam camera controls to blocks.
|
||||
* Previous blocks for Vuforia and TensorFlow Object Detection are obsolete.
|
||||
* Related documentation for associated technologies can be found at
|
||||
* [AprilTag Introduction](https://ftc-docs.firstinspires.org/apriltag-intro)
|
||||
* [AprilTag SDK Guide](https://ftc-docs.firstinspires.org/apriltag-sdk)
|
||||
* [AprilTag Detection Values](https://ftc-docs.firstinspires.org/apriltag-detection-values)
|
||||
* [AprilTag Test Images](https://ftc-docs.firstinspires.org/apriltag-test-images)
|
||||
* [Camera Calibration](https://ftc-docs.firstinspires.org/camera-calibration)
|
||||
* Adds Driver Station support for Logitech Dual Action and Sony PS5 DualSense gamepads.
|
||||
* This **does not** include support for the Sony PS5 DualSense Edge gamepad.
|
||||
* Always refer to Game Manual 1 to determine gamepad legality in competition.
|
||||
* Adds support for MJPEG payload streaming to UVC driver (external JPEG decompression routine required for use).
|
||||
* Shows a hint on the Driver Station UI about how to bind a gamepad when buttons are pressed or the sticks are moved on an unbound gamepad.
|
||||
* Adds option for fullscreening "Camera Stream" on Driver Station.
|
||||
* OnBotJava source code is automatically saved as a ZIP file on every build with a rolling window of the last 30 builds kept; allows recovering source code from previous builds if code is accidentally deleted or corrupted.
|
||||
* Adds support for changing the addresses of Expansion Hubs that are not connected directly via USB.
|
||||
* The Expansion Hub Address Change screen now has an Apply button that changes the addresses without leaving the screen.
|
||||
* Addresses that are assigned to other hubs connected to the same USB connection or Control Hub are no longer able to be selected.
|
||||
* Increases maximum size of Blocks inline comments to 100 characters
|
||||
* Saves position of open Blocks comment balloons
|
||||
* Adds new AprilTag Driving samples: RobotDriveToAprilTagTank & RobotDriveToAprilTagOmni
|
||||
* Adds Sample to illustrate optimizing camera exposure for AprilTags: ConceptAprilTagOptimizeExposure
|
||||
|
||||
### Bug Fixes
|
||||
* Corrects inspection screen to report app version using the SDK version defined in the libraries instead of the version specified in `AndroidManifest.xml`. This corrects the case where the app could show matching versions numbers to the user but still state that the versions did not match.
|
||||
* If the version specified in `AndroidManifest.xml` does not match the SDK version, an SDK version entry will be displayed on the Manage webpage.
|
||||
* Fixes no error being displayed when saving a configuration file with duplicate names from the Driver Station.
|
||||
* Fixes a deadlock in the UVC driver which manifested in https://github.com/OpenFTC/EasyOpenCV/issues/57.
|
||||
* Fixes a deadlock in the UVC driver that could occur when hot-plugging cameras.
|
||||
* Fixes UVC driver compatibility with Arducam OV9281 global shutter camera.
|
||||
* Fixes Emergency Stop condition when an OnBotJava build with duplicate Op Mode names occurs.
|
||||
* Fixes known causes of "Attempted use of a closed LynxModule instance" logspam.
|
||||
* Fixes the visual identification LED pattern when configuring Expansion Hubs connected via RS-485.
|
||||
|
||||
## Version 8.1.1 (20221201-150726)
|
||||
|
||||
This is a bug fix only release to address the following four issues.
|
||||
|
||||
* [Issue #495](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/495) - Can't create new blocks opmodes.
|
||||
* [Issue #492](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/492) - Remove the final modifier from the OpMode's Telemetry object.
|
||||
* [Issue #492](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/492) - Can't create new blocks opmodes.
|
||||
* [Issue #495](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/495) - Remove the final modifier from the OpMode's Telemetry object.
|
||||
* [Issue #500](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/500) - Some devices cannot be configured when the Driver Station app has been updated to 8.1
|
||||
* Updating either the Robot Controller app or the Driver Station app to 8.1.1 or later will fix this issue.
|
||||
* The Modern Robotics touch sensor was configurable as a Digital Device. It can only be used as an Analog Device.
|
||||
|
|
|
|||
|
|
@ -54,7 +54,7 @@ android {
|
|||
defaultConfig {
|
||||
signingConfig signingConfigs.debug
|
||||
applicationId 'com.qualcomm.ftcrobotcontroller'
|
||||
minSdkVersion 23
|
||||
minSdkVersion 24
|
||||
//noinspection ExpiredTargetSdkVersion
|
||||
targetSdkVersion 28
|
||||
|
||||
|
|
@ -122,8 +122,5 @@ android {
|
|||
}
|
||||
|
||||
repositories {
|
||||
flatDir {
|
||||
dirs rootProject.file('libs')
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,22 +1,21 @@
|
|||
repositories {
|
||||
mavenCentral()
|
||||
google() // Needed for androidx
|
||||
flatDir {
|
||||
dirs rootProject.file('libs')
|
||||
}
|
||||
}
|
||||
|
||||
dependencies {
|
||||
implementation 'org.firstinspires.ftc:Inspection:8.1.1'
|
||||
implementation 'org.firstinspires.ftc:Blocks:8.1.1'
|
||||
implementation 'org.firstinspires.ftc:Tfod:8.1.1'
|
||||
implementation 'org.firstinspires.ftc:RobotCore:8.1.1'
|
||||
implementation 'org.firstinspires.ftc:RobotServer:8.1.1'
|
||||
implementation 'org.firstinspires.ftc:OnBotJava:8.1.1'
|
||||
implementation 'org.firstinspires.ftc:Hardware:8.1.1'
|
||||
implementation 'org.firstinspires.ftc:FtcCommon:8.1.1'
|
||||
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.2.0'
|
||||
implementation 'org.firstinspires.ftc:Inspection:8.2.0'
|
||||
implementation 'org.firstinspires.ftc:Blocks:8.2.0'
|
||||
implementation 'org.firstinspires.ftc:Tfod:8.2.0'
|
||||
implementation 'org.firstinspires.ftc:RobotCore:8.2.0'
|
||||
implementation 'org.firstinspires.ftc:RobotServer:8.2.0'
|
||||
implementation 'org.firstinspires.ftc:OnBotJava:8.2.0'
|
||||
implementation 'org.firstinspires.ftc:Hardware:8.2.0'
|
||||
implementation 'org.firstinspires.ftc:FtcCommon:8.2.0'
|
||||
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
|
||||
runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
|
||||
implementation 'androidx.appcompat:appcompat:1.2.0'
|
||||
implementation 'org.firstinspires.ftc:gameAssets-PowerPlay:1.0.0'
|
||||
implementation 'org.firstinspires.ftc:Vision:8.2.0'
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -10,6 +10,7 @@ buildscript {
|
|||
google()
|
||||
}
|
||||
dependencies {
|
||||
// Note for FTC Teams: Do not modify this yourself.
|
||||
classpath 'com.android.tools.build:gradle:7.2.0'
|
||||
}
|
||||
}
|
||||
|
|
@ -25,8 +26,4 @@ allprojects {
|
|||
|
||||
repositories {
|
||||
mavenCentral()
|
||||
|
||||
flatDir {
|
||||
dirs '../libs'
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue