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FtcRobotController v7.0

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This commit is contained in:
Cal Kestis 2021-09-15 15:02:44 -07:00
parent cd037e0e74
commit 724f759dea
21 changed files with 899 additions and 1081 deletions
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3
FtcRobotController/build.gradle
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@ -9,8 +9,9 @@ android {
defaultConfig {
minSdkVersion 23
//noinspection ExpiredTargetSdkVersion
targetSdkVersion 28
buildConfigField "String", "BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
buildConfigField "String", "APP_BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
}
compileSdkVersion 29

19
FtcRobotController/src/main/AndroidManifest.xml
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@ -2,8 +2,8 @@
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
package="com.qualcomm.ftcrobotcontroller"
android:versionCode="40"
android:versionName="6.2">
android:versionCode="42"
android:versionName="7.0">
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
@ -61,6 +61,21 @@
android:name="com.qualcomm.ftccommon.FtcRobotControllerService"
android:enabled="true" />
<!-- Assistant that autostarts the robot controller on android boot (if it's supposed to) -->
<receiver
android:enabled="true"
android:exported="true"
android:name="org.firstinspires.ftc.ftccommon.internal.RunOnBoot"
android:permission="android.permission.RECEIVE_BOOT_COMPLETED">
<intent-filter>
<category android:name="android.intent.category.DEFAULT" />
<action android:name="android.intent.action.BOOT_COMPLETED" />
<action android:name="android.intent.action.QUICKBOOT_POWERON" />
</intent-filter>
</receiver>
</application>
</manifest>

200
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadRumble.java vendored Normal file
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@ -0,0 +1,200 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This sample illustrates using the rumble feature of many gamepads.
*
* Note: Some gamepads "rumble" better than others.
* The Xbox & PS4 have a left (rumble1) and right (rumble2) rumble motor.
* These two gamepads have two distinct rumble modes: Large on the left, and small on the right
* The ETpark gamepad may only respond to rumble1, and may only run at full power.
* The Logitech F310 gamepad does not have *any* rumble ability.
*
* Moral: You should use this sample to experiment with your specific gamepads to explore their rumble features.
*
* The rumble motors are accessed through the standard gamepad1 and gamepad2 objects.
* Several new methods were added to the Gamepad class in FTC SDK Rev 7
* The key methods are as follows:
*
* .rumble(double rumble1, double rumble2, int durationMs)
* This method sets the rumble power of both motors for a specific time duration.
* Both rumble arguments are motor-power levels in the 0.0 to 1.0 range.
* durationMs is the desired length of the rumble action in milliseconds.
* This method returns immediately.
* Note:
* Use a durationMs of Gamepad.RUMBLE_DURATION_CONTINUOUS to provide a continuous rumble
* Use a power of 0, or duration of 0 to stop a rumble.
*
* .rumbleBlips(int count) allows an easy way to signal the driver with a series of rumble blips.
* Just specify how many blips you want.
* This method returns immediately.
*
* .runRumbleEffect(customRumbleEffect) allows you to run a custom rumble sequence that you have
* built using the Gamepad.RumbleEffect.Builder()
* A "custom effect" is a sequence of steps, where each step can rumble any of the
* rumble motors for a specific period at a specific power level.
* The Custom Effect will play as the (un-blocked) OpMode continues to run
*
* .isRumbling() returns true if there is a rumble effect in progress.
* Use this call to prevent stepping on a current rumble.
*
* .stopRumble() Stop any ongoing rumble or custom rumble effect.
*
* .rumble(int durationMs) Full power rumble for fixed duration.
*
* Note: Whenever a new Rumble command is issued, any currently executing rumble action will
* be truncated, and the new action started immediately. Take these precautions:
* 1) Do Not SPAM the rumble motors by issuing rapid fire commands
* 2) Multiple sources for rumble commands must coordinate to avoid tromping on each other.
*
* This can be achieved several possible ways:
* 1) Only having one source for rumble actions
* 2) Issuing rumble commands on transitions, rather than states.
* e.g. The moment a touch sensor is pressed, rather than the entire time it is being pressed.
* 3) Scheduling rumble commands based on timed events. e.g. 10 seconds prior to endgame
* 4) Rumble on non-overlapping mechanical actions. e.g. arm fully-extended or fully-retracted.
* 5) Use isRumbling() to hold off on a new rumble if one is already in progress.
*
* The examples shown here are representstive of how to invoke a gamepad rumble.
* It is assumed that these will be modified to suit the specific robot and team strategy needs.
*
* ######## Read the telemetry display on the Driver Station Screen for instructions. ######
*
* Ex 1) This example shows a) how to create a custom rumble effect, and then b) how to trigger it based
* on game time. One use for this might be to alert the driver that half-time or End-game is approaching.
*
* Ex 2) This example shows tying the rumble power to a changing sensor value.
* In this case it is the Gamepad trigger, but it could be any sensor output scaled to the 0-1 range.
* Since it takes over the rumble motors, it is only performed when the Left Bumper is pressed.
* Note that this approach MUST include a way to turn OFF the rumble when the button is released.
*
* Ex 3) This example shows a simple way to trigger a 3-blip sequence. In this case it is
* triggered by the gamepad A (Cross) button, but it could be any sensor, like a touch or light sensor.
* Note that this code ensures that it only rumbles once when the input goes true.
*
* Ex 4) This example shows how to trigger a single rumble when an input value gets over a certain value.
* In this case it is reading the Right Trigger, but it could be any variable sensor, like a
* range sensor, or position sensor. The code needs to ensure that it is only triggered once, so
* it waits till the sensor drops back below the threshold before it can trigger again.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@Disabled
@TeleOp(name="Concept: Gamepad Rumble", group ="Concept")
public class ConceptGamepadRumble extends LinearOpMode
{
boolean lastA = false; // Use to track the prior button state.
boolean lastLB = false; // Use to track the prior button state.
boolean highLevel = false; // used to prevent multiple level-based rumbles.
boolean secondHalf = false; // Use to prevent multiple half-time warning rumbles.
Gamepad.RumbleEffect customRumbleEffect; // Use to build a custom rumble sequence.
ElapsedTime runtime = new ElapsedTime(); // Use to determine when end game is starting.
final double HALF_TIME = 60.0; // Wait this many seconds before rumble-alert for half-time.
final double TRIGGER_THRESHOLD = 0.75; // Squeeze more than 3/4 to get rumble.
@Override
public void runOpMode()
{
// Example 1. a) start by creating a three-pulse rumble sequence: right, LEFT, LEFT
customRumbleEffect = new Gamepad.RumbleEffect.Builder()
.addStep(0.0, 1.0, 500) // Rumble right motor 100% for 500 mSec
.addStep(0.0, 0.0, 300) // Pause for 300 mSec
.addStep(1.0, 0.0, 250) // Rumble left motor 100% for 250 mSec
.addStep(0.0, 0.0, 250) // Pause for 250 mSec
.addStep(1.0, 0.0, 250) // Rumble left motor 100% for 250 mSec
.build();
telemetry.addData(">", "Press Start");
telemetry.update();
waitForStart();
runtime.reset(); // Start game timer.
// Loop while monitoring buttons for rumble triggers
while (opModeIsActive())
{
// Read and save the current gamepad button states.
boolean currentA = gamepad1.a ;
boolean currentLB = gamepad1.left_bumper ;
// Display the current Rumble status. Just for interest.
telemetry.addData(">", "Are we RUMBLING? %s\n", gamepad1.isRumbling() ? "YES" : "no" );
// ----------------------------------------------------------------------------------------
// Example 1. b) Watch the runtime timer, and run the custom rumble when we hit half-time.
// Make sure we only signal once by setting "secondHalf" flag to prevent further rumbles.
// ----------------------------------------------------------------------------------------
if ((runtime.seconds() > HALF_TIME) && !secondHalf) {
gamepad1.runRumbleEffect(customRumbleEffect);
secondHalf =true;
}
// Display the time remaining while we are still counting down.
if (!secondHalf) {
telemetry.addData(">", "Halftime Alert Countdown: %3.0f Sec \n", (HALF_TIME - runtime.seconds()) );
}
// ----------------------------------------------------------------------------------------
// Example 2. If Left Bumper is being pressed, power the rumble motors based on the two trigger depressions.
// This is useful to see how the rumble feels at various power levels.
// ----------------------------------------------------------------------------------------
if (currentLB) {
// Left Bumper is being pressed, so send left and right "trigger" values to left and right rumble motors.
gamepad1.rumble(gamepad1.left_trigger, gamepad1.right_trigger, Gamepad.RUMBLE_DURATION_CONTINUOUS);
// Show what is being sent to rumbles
telemetry.addData(">", "Squeeze triggers to control rumbles");
telemetry.addData("> : Rumble", "Left: %.0f%% Right: %.0f%%", gamepad1.left_trigger * 100, gamepad1.right_trigger * 100);
} else {
// Make sure rumble is turned off when Left Bumper is released (only one time each press)
if (lastLB) {
gamepad1.stopRumble();
}
// Prompt for manual rumble action
telemetry.addData(">", "Hold Left-Bumper to test Manual Rumble");
telemetry.addData(">", "Press A (Cross) for three blips");
telemetry.addData(">", "Squeeze right trigger slowly for 1 blip");
}
lastLB = currentLB; // remember the current button state for next time around the loop
// ----------------------------------------------------------------------------------------
// Example 3. Blip 3 times at the moment that A (Cross) is pressed. (look for pressed transition)
// BUT !!! Skip it altogether if the Gamepad is already rumbling.
// ----------------------------------------------------------------------------------------
if (currentA && !lastA) {
if (!gamepad1.isRumbling()) // Check for possible overlap of rumbles.
gamepad1.rumbleBlips(3);
}
lastA = currentA; // remember the current button state for next time around the loop
// ----------------------------------------------------------------------------------------
// Example 4. Rumble once when gamepad right trigger goes above the THRESHOLD.
// ----------------------------------------------------------------------------------------
if (gamepad1.right_trigger > TRIGGER_THRESHOLD) {
if (!highLevel) {
gamepad1.rumble(0.9, 0, 200); // 200 mSec burst on left motor.
highLevel = true; // Hold off any more triggers
}
} else {
highLevel = false; // We can trigger again now.
}
// Send the telemetry data to the Driver Station, and then pause to pace the program.
telemetry.update();
sleep(10);
}
}
}

78
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadTouchpad.java vendored Normal file
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@ -0,0 +1,78 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import org.firstinspires.ftc.robotcore.external.Telemetry;
/**
* This sample illustrates using the touchpad feature found on some gamepads.
*
* The Sony PS4 gamepad can detect two distinct touches on the central touchpad.
* Other gamepads with different touchpads may provide mixed results.
*
* The touchpads are accessed through the standard gamepad1 and gamepad2 objects.
* Several new members were added to the Gamepad class in FTC SDK Rev 7
*
* .touchpad_finger_1 returns true if at least one finger is detected.
* .touchpad_finger_1_x finger 1 X coordinate. Valid if touchpad_finger_1 is true
* .touchpad_finger_1_y finger 1 Y coordinate. Valid if touchpad_finger_1 is true
*
* .touchpad_finger_2 returns true if a second finger is detected
* .touchpad_finger_2_x finger 2 X coordinate. Valid if touchpad_finger_2 is true
* .touchpad_finger_2_y finger 2 Y coordinate. Valid if touchpad_finger_2 is true
*
* Finger touches are reported with an X and Y coordinate in following coordinate system.
*
* 1) X is the Horizontal axis, and Y is the vertical axis
* 2) The 0,0 origin is at the center of the touchpad.
* 3) 1.0, 1.0 is at the top right corner of the touchpad.
* 4) -1.0,-1.0 is at the bottom left corner of the touchpad.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@Disabled
@TeleOp(name="Concept: Gamepad Touchpad", group ="Concept")
public class ConceptGamepadTouchpad extends LinearOpMode
{
@Override
public void runOpMode()
{
telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
telemetry.addData(">", "Press Start");
telemetry.update();
waitForStart();
while (opModeIsActive())
{
boolean finger = false;
// Display finger 1 x & y position if finger detected
if(gamepad1.touchpad_finger_1)
{
finger = true;
telemetry.addLine(String.format("Finger 1: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_1_x, gamepad1.touchpad_finger_1_y));
}
// Display finger 2 x & y position if finger detected
if(gamepad1.touchpad_finger_2)
{
finger = true;
telemetry.addLine(String.format("Finger 2: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_2_x, gamepad1.touchpad_finger_2_y));
}
if(!finger)
{
telemetry.addLine("No fingers");
}
telemetry.update();
sleep(10);
}
}
}

32
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java vendored
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@ -41,7 +41,7 @@ import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
/**
* This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine the position of the Ultimate Goal game elements.
* determine the position of the Freight Frenzy game elements.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
@ -52,9 +52,24 @@ import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
@TeleOp(name = "Concept: TensorFlow Object Detection", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetection extends LinearOpMode {
private static final String TFOD_MODEL_ASSET = "UltimateGoal.tflite";
private static final String LABEL_FIRST_ELEMENT = "Quad";
private static final String LABEL_SECOND_ELEMENT = "Single";
/* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
* the following 4 detectable objects
* 0: Ball,
* 1: Cube,
* 2: Duck,
* 3: Marker (duck location tape marker)
*
* Two additional model assets are available which only contain a subset of the objects:
* FreightFrenzy_BC.tflite 0: Ball, 1: Cube
* FreightFrenzy_DM.tflite 0: Duck, 1: Marker
*/
private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite";
private static final String[] LABELS = {
"Ball",
"Cube",
"Duck",
"Marker"
};
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
@ -128,16 +143,13 @@ public class ConceptTensorFlowObjectDetection extends LinearOpMode {
recognition.getLeft(), recognition.getTop());
telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f",
recognition.getRight(), recognition.getBottom());
i++;
}
telemetry.update();
}
}
}
}
if (tfod != null) {
tfod.shutdown();
}
}
/**
@ -166,7 +178,9 @@ public class ConceptTensorFlowObjectDetection extends LinearOpMode {
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.8f;
tfodParameters.isModelTensorFlow2 = true;
tfodParameters.inputSize = 320;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
}
}

32
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java vendored
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@ -42,7 +42,7 @@ import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
/**
* This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine the position of the Ultimate Goal game elements.
* determine the position of the Freight Frenzy game elements.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
@ -53,9 +53,24 @@ import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
@TeleOp(name = "Concept: TensorFlow Object Detection Switchable Cameras", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode {
private static final String TFOD_MODEL_ASSET = "UltimateGoal.tflite";
private static final String LABEL_FIRST_ELEMENT = "Quad";
private static final String LABEL_SECOND_ELEMENT = "Single";
/* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
* the following 4 detectable objects
* 0: Ball,
* 1: Cube,
* 2: Duck,
* 3: Marker (duck location tape marker)
*
* Two additional model assets are available which only contain a subset of the objects:
* FreightFrenzy_BC.tflite 0: Ball, 1: Cube
* FreightFrenzy_DM.tflite 0: Duck, 1: Marker
*/
private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite";
private static final String[] LABELS = {
"Ball",
"Cube",
"Duck",
"Marker"
};
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
@ -134,15 +149,12 @@ public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpM
recognition.getLeft(), recognition.getTop());
telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f",
recognition.getRight(), recognition.getBottom());
i++;
}
telemetry.update();
}
}
}
if (tfod != null) {
tfod.shutdown();
}
}
/**
@ -179,8 +191,10 @@ public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpM
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.8f;
tfodParameters.isModelTensorFlow2 = true;
tfodParameters.inputSize = 320;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
}
private void doCameraSwitching() {

32
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionWebcam.java vendored
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@ -41,7 +41,7 @@ import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
/**
* This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine the position of the Ultimate Goal game elements.
* determine the position of the Freight Frenzy game elements.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
@ -52,9 +52,24 @@ import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
@TeleOp(name = "Concept: TensorFlow Object Detection Webcam", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetectionWebcam extends LinearOpMode {
private static final String TFOD_MODEL_ASSET = "UltimateGoal.tflite";
private static final String LABEL_FIRST_ELEMENT = "Quad";
private static final String LABEL_SECOND_ELEMENT = "Single";
/* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
* the following 4 detectable objects
* 0: Ball,
* 1: Cube,
* 2: Duck,
* 3: Marker (duck location tape marker)
*
* Two additional model assets are available which only contain a subset of the objects:
* FreightFrenzy_BC.tflite 0: Ball, 1: Cube
* FreightFrenzy_DM.tflite 0: Duck, 1: Marker
*/
private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite";
private static final String[] LABELS = {
"Ball",
"Cube",
"Duck",
"Marker"
};
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
@ -127,16 +142,13 @@ public class ConceptTensorFlowObjectDetectionWebcam extends LinearOpMode {
recognition.getLeft(), recognition.getTop());
telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f",
recognition.getRight(), recognition.getBottom());
i++;
}
telemetry.update();
}
}
}
}
if (tfod != null) {
tfod.shutdown();
}
}
/**
@ -165,7 +177,9 @@ public class ConceptTensorFlowObjectDetectionWebcam extends LinearOpMode {
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.8f;
tfodParameters.isModelTensorFlow2 = true;
tfodParameters.inputSize = 320;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
}
}

202
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaDriveToTargetWebcam.java vendored Normal file
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@ -0,0 +1,202 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.Range;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
/**
* This OpMode illustrates using a webcam to locate and drive towards ANY Vuforia target.
* The code assumes a basic two-wheel Robot Configuration with motors named left_drive and right_drive.
* The motor directions must be set so a positive drive goes forward and a positive turn rotates to the right.
*
* Under manual control, the left stick will move forward/back, and the right stick will turn left/right.
* This is called POV Joystick mode, different than Tank Drive (where each joystick controls a wheel).
* Manually drive the robot until it displays Target data on the Driver Station.
* Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode.
* Release the Left Bumper to return to manual driving mode.
*
* Use DESIRED_DISTANCE to set how close you want the robot to get to the target.
* Speed and Turn sensitivity can be adjusted using the SPEED_GAIN and TURN_GAIN constants.
*
* For more Vuforia details, or to adapt this OpMode for a phone camera, view the
* ConceptVuforiaFieldNavigation and ConceptVuforiaFieldNavigationWebcam samples.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name="Drive To Target", group = "Concept")
@Disabled
public class ConceptVuforiaDriveToTargetWebcam extends LinearOpMode
{
// Adjust these numbers to suit your robot.
final double DESIRED_DISTANCE = 8.0; // this is how close the camera should get to the target (inches)
// The GAIN constants set the relationship between the measured position error,
// and how much power is applied to the drive motors. Drive = Error * Gain
// Make these values smaller for smoother control.
final double SPEED_GAIN = 0.02 ; // Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error. (0.50 / 25.0)
final double TURN_GAIN = 0.01 ; // Turn Control "Gain". eg: Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
final double MM_PER_INCH = 25.40 ; // Metric conversion
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" --- YOUR NEW VUFORIA KEY GOES HERE --- ";
VuforiaLocalizer vuforia = null;
OpenGLMatrix targetPose = null;
String targetName = "";
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
@Override public void runOpMode()
{
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
* To get an on-phone camera preview, use the code below.
* If no camera preview is desired, use the parameter-less constructor instead (commented out below).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target.
parameters.useExtendedTracking = false;
// Connect to the camera we are to use. This name must match what is set up in Robot Configuration
parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");
this.vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Load the trackable objects from the Assets file, and give them meaningful names
VuforiaTrackables targetsFreightFrenzy = this.vuforia.loadTrackablesFromAsset("FreightFrenzy");
targetsFreightFrenzy.get(0).setName("Blue Storage");
targetsFreightFrenzy.get(1).setName("Blue Alliance Wall");
targetsFreightFrenzy.get(2).setName("Red Storage");
targetsFreightFrenzy.get(3).setName("Red Alliance Wall");
// Start tracking targets in the background
targetsFreightFrenzy.activate();
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must correspond to the names assigned during the robot configuration
// step (using the FTC Robot Controller app on the phone).
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.REVERSE);
telemetry.addData(">", "Press Play to start");
telemetry.update();
waitForStart();
boolean targetFound = false; // Set to true when a target is detected by Vuforia
double targetRange = 0; // Distance from camera to target in Inches
double targetBearing = 0; // Robot Heading, relative to target. Positive degrees means target is to the right.
double drive = 0; // Desired forward power (-1 to +1)
double turn = 0; // Desired turning power (-1 to +1)
while (opModeIsActive())
{
// Look for first visible target, and save its pose.
targetFound = false;
for (VuforiaTrackable trackable : targetsFreightFrenzy)
{
if (((VuforiaTrackableDefaultListener) trackable.getListener()).isVisible())
{
targetPose = ((VuforiaTrackableDefaultListener)trackable.getListener()).getVuforiaCameraFromTarget();
// if we have a target, process the "pose" to determine the position of the target relative to the robot.
if (targetPose != null)
{
targetFound = true;
targetName = trackable.getName();
VectorF trans = targetPose.getTranslation();
// Extract the X & Y components of the offset of the target relative to the robot
double targetX = trans.get(0) / MM_PER_INCH; // Image X axis
double targetY = trans.get(2) / MM_PER_INCH; // Image Z axis
// target range is based on distance from robot position to origin (right triangle).
targetRange = Math.hypot(targetX, targetY);
// target bearing is based on angle formed between the X axis and the target range line
targetBearing = Math.toDegrees(Math.asin(targetX / targetRange));
break; // jump out of target tracking loop if we find a target.
}
}
}
// Tell the driver what we see, and what to do.
if (targetFound) {
telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n");
telemetry.addData("Target", " %s", targetName);
telemetry.addData("Range", "%5.1f inches", targetRange);
telemetry.addData("Bearing","%3.0f degrees", targetBearing);
} else {
telemetry.addData(">","Drive using joystick to find target\n");
}
// Drive to target Automatically if Left Bumper is being pressed, AND we have found a target.
if (gamepad1.left_bumper && targetFound) {
// Determine heading and range error so we can use them to control the robot automatically.
double rangeError = (targetRange - DESIRED_DISTANCE);
double headingError = targetBearing;
// Use the speed and turn "gains" to calculate how we want the robot to move.
drive = rangeError * SPEED_GAIN;
turn = headingError * TURN_GAIN ;
telemetry.addData("Auto","Drive %5.2f, Turn %5.2f", drive, turn);
} else {
// drive using manual POV Joystick mode.
drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%.
turn = gamepad1.right_stick_x / 4.0; // Reduce turn rate to 25%.
telemetry.addData("Manual","Drive %5.2f, Turn %5.2f", drive, turn);
}
telemetry.update();
// Calculate left and right wheel powers and send to them to the motors.
double leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
double rightPower = Range.clip(drive - turn, -1.0, 1.0) ;
leftDrive.setPower(leftPower);
rightDrive.setPower(rightPower);
sleep(10);
}
}
}

169
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaUltimateGoalNavigation.java → FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigation.java vendored
View file

@ -52,29 +52,19 @@ import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.
import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection.BACK;
/**
* This 2020-2021 OpMode illustrates the basics of using the Vuforia localizer to determine
* positioning and orientation of robot on the ULTIMATE GOAL FTC field.
* The code is structured as a LinearOpMode
* 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.
*
* From the Audience perspective, the Red Alliance station is on the right and the
* Blue Alliance Station is on the left.
* There are a total of five image targets for the ULTIMATE GOAL game.
* Three of the targets are placed in the center of the Red Alliance, Audience (Front),
* and Blue Alliance perimeter walls.
* Two additional targets are placed on the perimeter wall, one in front of each Tower Goal.
* Refer to the Field Setup manual for more specific location details
*
* A final calculation then uses the location of the camera on the robot to determine the
* Finally, the location of the camera on the robot is used to determine the
* robot's location and orientation on the field.
*
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see ultimategoal/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
* 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.
@ -83,17 +73,14 @@ import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocaliz
* is explained below.
*/
@TeleOp(name="ULTIMATEGOAL Vuforia Nav", group ="Concept")
@TeleOp(name="Vuforia Field Nav", group ="Concept")
@Disabled
public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
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)
//
// NOTE: If you are running on a CONTROL HUB, with only one USB WebCam, you must select CAMERA_CHOICE = BACK; and PHONE_IS_PORTRAIT = false;
//
private static final VuforiaLocalizer.CameraDirection CAMERA_CHOICE = BACK;
private static final boolean PHONE_IS_PORTRAIT = false ;
@ -113,17 +100,18 @@ public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
" -- 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
// We will define some constants and conversions here. These are useful for the Freight Frenzy field.
private static final float mmPerInch = 25.4f;
private static final float mmTargetHeight = (6) * mmPerInch; // the height of the center of the target image above the floor
// Constants for perimeter targets
private static final float halfField = 72 * mmPerInch;
private static final float quadField = 36 * mmPerInch;
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 VuforiaLocalizer vuforia = null;
private VuforiaTrackables targets = null ;
private boolean targetVisible = false;
private float phoneXRotate = 0;
private float phoneYRotate = 0;
@ -132,18 +120,17 @@ public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
@Override public void runOpMode() {
/*
* 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 phone);
* If no camera monitor is desired, use the parameter-less constructor instead (commented out below).
* 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;
// Make sure extended tracking is disabled for this example.
// Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target.
parameters.useExtendedTracking = false;
// Instantiate the Vuforia engine
@ -151,21 +138,11 @@ public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
// Load the data sets for the trackable objects. These particular data
// sets are stored in the 'assets' part of our application.
VuforiaTrackables targetsUltimateGoal = this.vuforia.loadTrackablesFromAsset("UltimateGoal");
VuforiaTrackable blueTowerGoalTarget = targetsUltimateGoal.get(0);
blueTowerGoalTarget.setName("Blue Tower Goal Target");
VuforiaTrackable redTowerGoalTarget = targetsUltimateGoal.get(1);
redTowerGoalTarget.setName("Red Tower Goal Target");
VuforiaTrackable redAllianceTarget = targetsUltimateGoal.get(2);
redAllianceTarget.setName("Red Alliance Target");
VuforiaTrackable blueAllianceTarget = targetsUltimateGoal.get(3);
blueAllianceTarget.setName("Blue Alliance Target");
VuforiaTrackable frontWallTarget = targetsUltimateGoal.get(4);
frontWallTarget.setName("Front Wall Target");
targets = this.vuforia.loadTrackablesFromAsset("FreightFrenzy");
// For convenience, gather together all the trackable objects in one easily-iterable collection */
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
allTrackables.addAll(targetsUltimateGoal);
allTrackables.addAll(targets);
/**
* In order for localization to work, we need to tell the system where each target is on the field, and
@ -185,41 +162,28 @@ public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
* coordinate system (the center of the field), facing up.
*/
//Set the position of the perimeter targets with relation to origin (center of field)
redAllianceTarget.setLocation(OpenGLMatrix
.translation(0, -halfField, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 180)));
// Name and locate each trackable object
identifyTarget(0, "Blue Storage", -halfField, oneAndHalfTile, mmTargetHeight, 90, 0, 90);
identifyTarget(1, "Blue Alliance Wall", halfTile, halfField, mmTargetHeight, 90, 0, 0);
identifyTarget(2, "Red Storage", -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90);
identifyTarget(3, "Red Alliance Wall", halfTile, -halfField, mmTargetHeight, 90, 0, 180);
blueAllianceTarget.setLocation(OpenGLMatrix
.translation(0, halfField, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 0)));
frontWallTarget.setLocation(OpenGLMatrix
.translation(-halfField, 0, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 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.
*/
// The tower goal targets are located a quarter field length from the ends of the back perimeter wall.
blueTowerGoalTarget.setLocation(OpenGLMatrix
.translation(halfField, quadField, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0 , -90)));
redTowerGoalTarget.setLocation(OpenGLMatrix
.translation(halfField, -quadField, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 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 bearing 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 it's long axis to bring the correct camera forward.
// We need to rotate the camera around its long axis to bring the correct camera forward.
if (CAMERA_CHOICE == BACK) {
phoneYRotate = -90;
} else {
@ -232,10 +196,10 @@ public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
}
// Next, translate the camera lens to where it is on the robot.
// In this example, it is centered (left to right), but forward of the middle of the robot, and above ground level.
final float CAMERA_FORWARD_DISPLACEMENT = 4.0f * mmPerInch; // eg: Camera is 4 Inches in front of robot center
final float CAMERA_VERTICAL_DISPLACEMENT = 8.0f * mmPerInch; // eg: Camera is 8 Inches above ground
final float CAMERA_LEFT_DISPLACEMENT = 0; // eg: Camera is ON the robot's center line
// 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)
@ -246,19 +210,24 @@ public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
((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 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:
/*
* 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.
/* 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.
*/
targetsUltimateGoal.activate();
targets.activate();
while (!isStopRequested()) {
// check all the trackable targets to see which one (if any) is visible.
@ -282,7 +251,7 @@ public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
if (targetVisible) {
// express position (translation) of robot in inches.
VectorF translation = lastLocation.getTranslation();
telemetry.addData("Pos (in)", "{X, Y, Z} = %.1f, %.1f, %.1f",
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.
@ -296,6 +265,20 @@ public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
}
// Disable Tracking when we are done;
targetsUltimateGoal.deactivate();
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)));
}
}

192
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaUltimateGoalNavigationWebcam.java → FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigationWebcam.java vendored
View file

@ -52,29 +52,21 @@ import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XZY;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC;
/**
* This 2020-2021 OpMode illustrates the basics of using the Vuforia localizer to determine
* positioning and orientation of robot on the ULTIMATE GOAL FTC field.
* The code is structured as a LinearOpMode
* 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.
*
* From the Audience perspective, the Red Alliance station is on the right and the
* Blue Alliance Station is on the left.
* There are a total of five image targets for the ULTIMATE GOAL game.
* Three of the targets are placed in the center of the Red Alliance, Audience (Front),
* and Blue Alliance perimeter walls.
* Two additional targets are placed on the perimeter wall, one in front of each Tower Goal.
* Refer to the Field Setup manual for more specific location details
*
* A final calculation then uses the location of the camera on the robot to determine the
* Finally, the location of the camera on the robot is used to determine the
* robot's location and orientation on the field.
*
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see ultimategoal/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
* 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.
@ -83,10 +75,9 @@ import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.
* is explained below.
*/
@TeleOp(name="ULTIMATEGOAL Vuforia Nav Webcam", group ="Concept")
@TeleOp(name="Vuforia Field Nav Webcam", group ="Concept")
@Disabled
public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
public class ConceptVuforiaFieldNavigationWebcam extends LinearOpMode {
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
@ -106,52 +97,39 @@ public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
// 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
// Constants for perimeter targets
private static final float halfField = 72 * mmPerInch;
private static final float quadField = 36 * mmPerInch;
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 OpenGLMatrix lastLocation = null;
private VuforiaLocalizer vuforia = null;
private VuforiaTrackables targets = null ;
private WebcamName webcamName = null;
/**
* 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 = null;
private boolean targetVisible = false;
private float phoneXRotate = 0;
private float phoneYRotate = 0;
private float phoneZRotate = 0;
private boolean targetVisible = false;
@Override public void runOpMode() {
/*
* Retrieve the camera we are to use.
*/
// 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 monitor is desired, use the parameter-less constructor instead (commented out below).
* 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 on the RC we wish to use.
*/
// We also indicate which camera we wish to use.
parameters.cameraName = webcamName;
// Make sure extended tracking is disabled for this example.
// Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target.
parameters.useExtendedTracking = false;
// Instantiate the Vuforia engine
@ -159,21 +137,11 @@ public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
// Load the data sets for the trackable objects. These particular data
// sets are stored in the 'assets' part of our application.
VuforiaTrackables targetsUltimateGoal = this.vuforia.loadTrackablesFromAsset("UltimateGoal");
VuforiaTrackable blueTowerGoalTarget = targetsUltimateGoal.get(0);
blueTowerGoalTarget.setName("Blue Tower Goal Target");
VuforiaTrackable redTowerGoalTarget = targetsUltimateGoal.get(1);
redTowerGoalTarget.setName("Red Tower Goal Target");
VuforiaTrackable redAllianceTarget = targetsUltimateGoal.get(2);
redAllianceTarget.setName("Red Alliance Target");
VuforiaTrackable blueAllianceTarget = targetsUltimateGoal.get(3);
blueAllianceTarget.setName("Blue Alliance Target");
VuforiaTrackable frontWallTarget = targetsUltimateGoal.get(4);
frontWallTarget.setName("Front Wall Target");
targets = this.vuforia.loadTrackablesFromAsset("FreightFrenzy");
// For convenience, gather together all the trackable objects in one easily-iterable collection */
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
allTrackables.addAll(targetsUltimateGoal);
allTrackables.addAll(targets);
/**
* In order for localization to work, we need to tell the system where each target is on the field, and
@ -193,71 +161,63 @@ public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
* coordinate system (the center of the field), facing up.
*/
//Set the position of the perimeter targets with relation to origin (center of field)
redAllianceTarget.setLocation(OpenGLMatrix
.translation(0, -halfField, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 180)));
// Name and locate each trackable object
identifyTarget(0, "Blue Storage", -halfField, oneAndHalfTile, mmTargetHeight, 90, 0, 90);
identifyTarget(1, "Blue Alliance Wall", halfTile, halfField, mmTargetHeight, 90, 0, 0);
identifyTarget(2, "Red Storage", -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90);
identifyTarget(3, "Red Alliance Wall", halfTile, -halfField, mmTargetHeight, 90, 0, 180);
blueAllianceTarget.setLocation(OpenGLMatrix
.translation(0, halfField, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 0)));
frontWallTarget.setLocation(OpenGLMatrix
.translation(-halfField, 0, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 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.
*/
// The tower goal targets are located a quarter field length from the ends of the back perimeter wall.
blueTowerGoalTarget.setLocation(OpenGLMatrix
.translation(halfField, quadField, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, -90)));
redTowerGoalTarget.setLocation(OpenGLMatrix
.translation(halfField, -quadField, mmTargetHeight)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, -90)));
//
// Create a transformation matrix describing where the phone 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 (it's 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 (left to right), but 4" forward of the middle of the robot, and 8" above ground level.
final float CAMERA_FORWARD_DISPLACEMENT = 4.0f * mmPerInch; // eg: Camera is 4 Inches in front of robot-center
final float CAMERA_VERTICAL_DISPLACEMENT = 8.0f * mmPerInch; // eg: Camera is 8 Inches above ground
final float CAMERA_LEFT_DISPLACEMENT = 0; // eg: Camera is ON the robot's center line
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 phone is. */
/** 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:
/*
* 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.
/* 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.
*/
targetsUltimateGoal.activate();
targets.activate();
while (!isStopRequested()) {
// check all the trackable targets to see which one (if any) is visible.
@ -281,7 +241,7 @@ public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
if (targetVisible) {
// express position (translation) of robot in inches.
VectorF translation = lastLocation.getTranslation();
telemetry.addData("Pos (in)", "{X, Y, Z} = %.1f, %.1f, %.1f",
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.
@ -295,6 +255,20 @@ public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
}
// Disable Tracking when we are done;
targetsUltimateGoal.deactivate();
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)));
}
}

336
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@ -1,336 +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 com.qualcomm.robotcore.util.RobotLog;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.matrices.MatrixF;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
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.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;
/**
* This 2016-2017 OpMode illustrates the basics of using the Vuforia localizer to determine
* positioning and orientation of robot on the FTC field.
* The code is structured as a LinearOpMode
*
* Vuforia uses the phone's camera to inspect it's surroundings, and attempt to locate target images.
*
* When images are located, Vuforia is able to determine the position and orientation of the
* image relative to the camera. This sample code than combines that information with a
* knowledge of where the target images are on the field, to determine the location of the camera.
*
* This example assumes a "diamond" field configuration where the red and blue alliance stations
* are adjacent on the corner of the field furthest from the audience.
* From the Audience perspective, the Red driver station is on the right.
* The two vision target are located on the two walls closest to the audience, facing in.
* The Stones are on the RED side of the field, and the Chips are on the Blue side.
*
* A final calculation then uses the location of the camera on the robot to determine the
* robot's location and orientation on the field.
*
* @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: Vuforia Navigation", group ="Concept")
@Disabled
public class ConceptVuforiaNavigation extends LinearOpMode {
public static final String TAG = "Vuforia Navigation 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);
* 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 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 sets that for the trackable objects we wish to track. These particular data
* sets are stored in the 'assets' part of our application (you'll see them in the Android
* Studio 'Project' view over there on the left of the screen). You can make your own datasets
* with the Vuforia Target Manager: https://developer.vuforia.com/target-manager. PDFs for the
* example "StonesAndChips", datasets can be found in in this project in the
* documentation directory.
*/
VuforiaTrackables stonesAndChips = this.vuforia.loadTrackablesFromAsset("StonesAndChips");
VuforiaTrackable redTarget = stonesAndChips.get(0);
redTarget.setName("RedTarget"); // Stones
VuforiaTrackable blueTarget = stonesAndChips.get(1);
blueTarget.setName("BlueTarget"); // Chips
/** For convenience, gather together all the trackable objects in one easily-iterable collection */
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
allTrackables.addAll(stonesAndChips);
/**
* We use units of mm here because that's the recommended units of measurement for the
* size values specified in the XML for the ImageTarget trackables in data sets. E.g.:
* <ImageTarget name="stones" size="247 173"/>
* You don't *have to* use mm here, but the units here and the units used in the XML
* target configuration files *must* correspond for the math to work out correctly.
*/
float mmPerInch = 25.4f;
float mmBotWidth = 18 * mmPerInch; // ... or whatever is right for your robot
float mmFTCFieldWidth = (12*12 - 2) * mmPerInch; // the FTC field is ~11'10" center-to-center of the glass panels
/**
* In order for localization to work, we need to tell the system where each target we
* wish to use for navigation resides on the field, and we need to specify where on the robot
* the phone resides. 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.
*
* For the most part, you don't need to understand the details of the math of how transformation
* matrices work inside (as fascinating as that is, truly). Just remember these key points:
* <ol>
*
* <li>You can put two transformations together to produce a third that combines the effect of
* both of them. If, for example, you have a rotation transform R and a translation transform T,
* then the combined transformation matrix RT which does the rotation first and then the translation
* is given by {@code RT = T.multiplied(R)}. That is, the transforms are multiplied in the
* <em>reverse</em> of the chronological order in which they applied.</li>
*
* <li>A common way to create useful transforms is to use methods in the {@link OpenGLMatrix}
* class and the Orientation class. See, for example, {@link OpenGLMatrix#translation(float,
* float, float)}, {@link OpenGLMatrix#rotation(AngleUnit, float, float, float, float)}, and
* {@link Orientation#getRotationMatrix(AxesReference, AxesOrder, AngleUnit, float, float, float)}.
* Related methods in {@link OpenGLMatrix}, such as {@link OpenGLMatrix#rotated(AngleUnit,
* float, float, float, float)}, are syntactic shorthands for creating a new transform and
* then immediately multiplying the receiver by it, which can be convenient at times.</li>
*
* <li>If you want to break open the black box of a transformation matrix to understand
* what it's doing inside, use {@link MatrixF#getTranslation()} to fetch how much the
* transform will move you in x, y, and z, and use {@link Orientation#getOrientation(MatrixF,
* AxesReference, AxesOrder, AngleUnit)} to determine the rotational motion that the transform
* will impart. See {@link #format(OpenGLMatrix)} below for an example.</li>
*
* </ol>
*
* This example places the "stones" image on the perimeter wall to the Left
* of the Red Driver station wall. Similar to the Red Beacon Location on the Res-Q
*
* This example places the "chips" image on the perimeter wall to the Right
* of the Blue Driver station. Similar to the Blue Beacon Location on the Res-Q
*
* See the doc folder of this project for a description of the field Axis conventions.
*
* Initially the target is conceptually lying at the origin of the field's coordinate system
* (the center of the field), facing up.
*
* In this configuration, the target's coordinate system aligns with that of the field.
*
* In a real situation we'd also account for the vertical (Z) offset of the target,
* but for simplicity, we ignore that here; for a real robot, you'll want to fix that.
*
* To place the Stones Target on the Red Audience wall:
* - First we rotate it 90 around the field's X axis to flip it upright
* - Then we rotate it 90 around the field's Z access to face it away from the audience.
* - Finally, we translate it back along the X axis towards the red audience wall.
*/
OpenGLMatrix redTargetLocationOnField = OpenGLMatrix
/* Then we translate the target off to the RED WALL. Our translation here
is a negative translation in X.*/
.translation(-mmFTCFieldWidth/2, 0, 0)
.multiplied(Orientation.getRotationMatrix(
/* First, in the fixed (field) coordinate system, we rotate 90deg in X, then 90 in Z */
AxesReference.EXTRINSIC, AxesOrder.XZX,
AngleUnit.DEGREES, 90, 90, 0));
redTarget.setLocation(redTargetLocationOnField);
RobotLog.ii(TAG, "Red Target=%s", format(redTargetLocationOnField));
/*
* To place the Stones Target on the Blue Audience wall:
* - First we rotate it 90 around the field's X axis to flip it upright
* - Finally, we translate it along the Y axis towards the blue audience wall.
*/
OpenGLMatrix blueTargetLocationOnField = OpenGLMatrix
/* Then we translate the target off to the Blue Audience wall.
Our translation here is a positive translation in Y.*/
.translation(0, mmFTCFieldWidth/2, 0)
.multiplied(Orientation.getRotationMatrix(
/* First, in the fixed (field) coordinate system, we rotate 90deg in X */
AxesReference.EXTRINSIC, AxesOrder.XZX,
AngleUnit.DEGREES, 90, 0, 0));
blueTarget.setLocation(blueTargetLocationOnField);
RobotLog.ii(TAG, "Blue Target=%s", format(blueTargetLocationOnField));
/**
* Create a transformation matrix describing where the phone is on the robot. Here, we
* put the phone on the right hand side of the robot with the screen facing in (see our
* choice of BACK camera above) and in landscape mode. Starting from alignment between the
* robot's and phone's axes, this is a rotation of -90deg along the Y axis.
*
* When determining whether a rotation is positive or negative, consider yourself as looking
* down the (positive) axis of rotation from the positive towards the origin. Positive rotations
* are then CCW, and negative rotations CW. An example: consider looking down the positive Z
* axis towards the origin. A positive rotation about Z (ie: a rotation parallel to the the X-Y
* plane) is then CCW, as one would normally expect from the usual classic 2D geometry.
*/
OpenGLMatrix phoneLocationOnRobot = OpenGLMatrix
.translation(mmBotWidth/2,0,0)
.multiplied(Orientation.getRotationMatrix(
AxesReference.EXTRINSIC, AxesOrder.YZY,
AngleUnit.DEGREES, -90, 0, 0));
RobotLog.ii(TAG, "phone=%s", format(phoneLocationOnRobot));
/**
* Let the trackable listeners we care about know where the phone is. We know that each
* listener is a {@link VuforiaTrackableDefaultListener} and can so safely cast because
* we have not ourselves installed a listener of a different type.
*/
((VuforiaTrackableDefaultListener)redTarget.getListener()).setPhoneInformation(phoneLocationOnRobot, parameters.cameraDirection);
((VuforiaTrackableDefaultListener)blueTarget.getListener()).setPhoneInformation(phoneLocationOnRobot, parameters.cameraDirection);
/**
* A brief tutorial: here's how all the math is going to work:
*
* C = phoneLocationOnRobot maps phone coords -> robot coords
* P = tracker.getPose() maps image target coords -> phone coords
* L = redTargetLocationOnField maps image target coords -> field coords
*
* So
*
* C.inverted() maps robot coords -> phone coords
* P.inverted() maps phone coords -> imageTarget coords
*
* Putting that all together,
*
* L x P.inverted() x C.inverted() maps robot coords to field coords.
*
* @see VuforiaTrackableDefaultListener#getRobotLocation()
*/
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start tracking");
telemetry.update();
waitForStart();
/** Start tracking the data sets we care about. */
stonesAndChips.activate();
while (opModeIsActive()) {
for (VuforiaTrackable trackable : allTrackables) {
/**
* 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.
* getRobotLocation() will return null if the trackable is not currently visible.
*/
telemetry.addData(trackable.getName(), ((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible() ? "Visible" : "Not Visible"); //
OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
if (robotLocationTransform != null) {
lastLocation = robotLocationTransform;
}
}
/**
* Provide feedback as to where the robot was last located (if we know).
*/
if (lastLocation != null) {
// RobotLog.vv(TAG, "robot=%s", format(lastLocation));
telemetry.addData("Pos", format(lastLocation));
} else {
telemetry.addData("Pos", "Unknown");
}
telemetry.update();
}
}
/**
* A simple utility that extracts positioning information from a transformation matrix
* and formats it in a form palatable to a human being.
*/
String format(OpenGLMatrix transformationMatrix) {
return transformationMatrix.formatAsTransform();
}
}

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@ -1,461 +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 android.graphics.Bitmap;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.RobotLog;
import com.qualcomm.robotcore.util.ThreadPool;
import com.vuforia.Frame;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.function.Consumer;
import org.firstinspires.ftc.robotcore.external.function.Continuation;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.matrices.MatrixF;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
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.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 org.firstinspires.ftc.robotcore.internal.system.AppUtil;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
import java.util.Locale;
/**
* This 2016-2017 OpMode illustrates the basics of using the Vuforia localizer to determine
* positioning and orientation of robot on the FTC field.
* The code is structured as a LinearOpMode
*
* Vuforia uses the phone's camera to inspect it's surroundings, and attempt to locate target images.
*
* When images are located, Vuforia is able to determine the position and orientation of the
* image relative to the camera. This sample code than combines that information with a
* knowledge of where the target images are on the field, to determine the location of the camera.
*
* This example assumes a "diamond" field configuration where the red and blue alliance stations
* are adjacent on the corner of the field furthest from the audience.
* From the Audience perspective, the Red driver station is on the right.
* The two vision target are located on the two walls closest to the audience, facing in.
* The Stones are on the RED side of the field, and the Chips are on the Blue side.
*
* A final calculation then uses the location of the camera on the robot to determine the
* robot's location and orientation on the field.
*
* @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: Vuforia Nav Webcam", group ="Concept")
@Disabled
public class ConceptVuforiaNavigationWebcam extends LinearOpMode {
public static final String TAG = "Vuforia Navigation Sample";
OpenGLMatrix lastLocation = null;
/**
* @see #captureFrameToFile()
*/
int captureCounter = 0;
File captureDirectory = AppUtil.ROBOT_DATA_DIR;
/**
* {@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.
*/
parameters.cameraName = webcamName;
/**
* Instantiate the Vuforia engine
*/
vuforia = ClassFactory.getInstance().createVuforia(parameters);
/**
* Because this opmode processes frames in order to write them to a file, we tell Vuforia
* that we want to ensure that certain frame formats are available in the {@link Frame}s we
* see.
*/
vuforia.enableConvertFrameToBitmap();
/** @see #captureFrameToFile() */
AppUtil.getInstance().ensureDirectoryExists(captureDirectory);
/**
* Load the data sets that for the trackable objects we wish to track. These particular data
* sets are stored in the 'assets' part of our application (you'll see them in the Android
* Studio 'Project' view over there on the left of the screen). You can make your own datasets
* with the Vuforia Target Manager: https://developer.vuforia.com/target-manager. PDFs for the
* example "StonesAndChips", datasets can be found in in this project in the
* documentation directory.
*/
VuforiaTrackables stonesAndChips = vuforia.loadTrackablesFromAsset("StonesAndChips");
VuforiaTrackable redTarget = stonesAndChips.get(0);
redTarget.setName("RedTarget"); // Stones
VuforiaTrackable blueTarget = stonesAndChips.get(1);
blueTarget.setName("BlueTarget"); // Chips
/** For convenience, gather together all the trackable objects in one easily-iterable collection */
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
allTrackables.addAll(stonesAndChips);
/**
* We use units of mm here because that's the recommended units of measurement for the
* size values specified in the XML for the ImageTarget trackables in data sets. E.g.:
* <ImageTarget name="stones" size="247 173"/>
* You don't *have to* use mm here, but the units here and the units used in the XML
* target configuration files *must* correspond for the math to work out correctly.
*/
float mmPerInch = 25.4f;
float mmBotWidth = 18 * mmPerInch; // ... or whatever is right for your robot
float mmFTCFieldWidth = (12*12 - 2) * mmPerInch; // the FTC field is ~11'10" center-to-center of the glass panels
/**
* In order for localization to work, we need to tell the system where each target we
* wish to use for navigation resides on the field, and we need to specify where on the robot
* the camera resides. 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.
*
* For the most part, you don't need to understand the details of the math of how transformation
* matrices work inside (as fascinating as that is, truly). Just remember these key points:
* <ol>
*
* <li>You can put two transformations together to produce a third that combines the effect of
* both of them. If, for example, you have a rotation transform R and a translation transform T,
* then the combined transformation matrix RT which does the rotation first and then the translation
* is given by {@code RT = T.multiplied(R)}. That is, the transforms are multiplied in the
* <em>reverse</em> of the chronological order in which they applied.</li>
*
* <li>A common way to create useful transforms is to use methods in the {@link OpenGLMatrix}
* class and the Orientation class. See, for example, {@link OpenGLMatrix#translation(float,
* float, float)}, {@link OpenGLMatrix#rotation(AngleUnit, float, float, float, float)}, and
* {@link Orientation#getRotationMatrix(AxesReference, AxesOrder, AngleUnit, float, float, float)}.
* Related methods in {@link OpenGLMatrix}, such as {@link OpenGLMatrix#rotated(AngleUnit,
* float, float, float, float)}, are syntactic shorthands for creating a new transform and
* then immediately multiplying the receiver by it, which can be convenient at times.</li>
*
* <li>If you want to break open the black box of a transformation matrix to understand
* what it's doing inside, use {@link MatrixF#getTranslation()} to fetch how much the
* transform will move you in x, y, and z, and use {@link Orientation#getOrientation(MatrixF,
* AxesReference, AxesOrder, AngleUnit)} to determine the rotational motion that the transform
* will impart. See {@link #format(OpenGLMatrix)} below for an example.</li>
*
* </ol>
*
* This example places the "stones" image on the perimeter wall to the Left
* of the Red Driver station wall. Similar to the Red Beacon Location on the Res-Q
*
* This example places the "chips" image on the perimeter wall to the Right
* of the Blue Driver station. Similar to the Blue Beacon Location on the Res-Q
*
* See the doc folder of this project for a description of the Field Coordinate System
* conventions.
*
* Initially the target is conceptually lying at the origin of the Field Coordinate System
* (the center of the field), facing up.
*
* In this configuration, the target's coordinate system aligns with that of the field.
*
* In a real situation we'd also account for the vertical (Z) offset of the target,
* but for simplicity, we ignore that here; for a real robot, you'll want to fix that.
*
* To place the Stones Target on the Red Audience wall:
* - First we rotate it 90 around the field's X axis to flip it upright
* - Then we rotate it 90 around the field's Z access to face it away from the audience.
* - Finally, we translate it back along the X axis towards the red audience wall.
*/
OpenGLMatrix redTargetLocationOnField = OpenGLMatrix
/* Then we translate the target off to the RED WALL. Our translation here
is a negative translation in X.*/
.translation(-mmFTCFieldWidth/2, 0, 0)
.multiplied(Orientation.getRotationMatrix(
/* First, in the fixed (field) coordinate system, we rotate 90deg in X, then 90 in Z */
AxesReference.EXTRINSIC, AxesOrder.XZX,
AngleUnit.DEGREES, 90, 90, 0));
redTarget.setLocationFtcFieldFromTarget(redTargetLocationOnField);
RobotLog.ii(TAG, "Red Target=%s", format(redTargetLocationOnField));
/*
* To place the Stones Target on the Blue Audience wall:
* - First we rotate it 90 around the field's X axis to flip it upright
* - Finally, we translate it along the Y axis towards the blue audience wall.
*/
OpenGLMatrix blueTargetLocationOnField = OpenGLMatrix
/* Then we translate the target off to the Blue Audience wall.
Our translation here is a positive translation in Y.*/
.translation(0, mmFTCFieldWidth/2, 0)
.multiplied(Orientation.getRotationMatrix(
/* First, in the fixed (field) coordinate system, we rotate 90deg in X */
AxesReference.EXTRINSIC, AxesOrder.XZX,
AngleUnit.DEGREES, 90, 0, 0));
blueTarget.setLocationFtcFieldFromTarget(blueTargetLocationOnField);
RobotLog.ii(TAG, "Blue Target=%s", format(blueTargetLocationOnField));
/**
* We also need to tell Vuforia where the <em>cameras</em> are relative to the robot.
*
* Just as there is a Field Coordinate System, so too there is a Robot Coordinate System.
* The two share many similarities. The origin of the Robot Coordinate System is wherever
* you choose to make it on the robot, but typically you'd choose somewhere in the middle
* of the robot. From that origin, the Y axis is horizontal and positive out towards the
* "front" of the robot (however you choose "front" to be defined), the X axis is horizontal
* and positive out towards the "right" of the robot (i.e.: 90deg horizontally clockwise from
* the positive Y axis), and the Z axis is vertical towards the sky.
*
* Similarly, for each camera there is a Camera Coordinate System. The origin of a Camera
* Coordinate System lies in the middle of the sensor inside of the camera. The Z axis is
* positive coming out of the lens of the camera in a direction perpendicular to the plane
* of the sensor. When looking at the face of the lens of the camera (down the positive Z
* axis), the X axis is positive off to the right in the plane of the sensor, and the Y axis
* is positive out the top of the lens in the plane of the sensor at 90 horizontally
* counter clockwise from the X axis.
*
* Next, there is Phone Coordinate System (for robots that have phones, of course), though
* with the advent of Vuforia support for Webcams, this coordinate system is less significant
* than it was previously. The Phone Coordinate System is defined thusly: with the phone in
* flat front of you in portrait mode (i.e. as it is when running the robot controller app)
* and you are staring straight at the face of the phone,
* * X is positive heading off to your right,
* * Y is positive heading up through the top edge of the phone, and
* * Z is pointing out of the screen, toward you.
* The origin of the Phone Coordinate System is at the origin of the Camera Coordinate System
* of the front-facing camera on the phone.
*
* Finally, it is worth noting that trackable Vuforia Image Targets have their <em>own</em>
* coordinate system (see {@link VuforiaTrackable}. This is sometimes referred to as the
* Target Coordinate System. In keeping with the above, when looking at the target in its
* natural orientation, in the Target Coodinate System
* * X is positive heading off to your right,
* * Y is positive heading up through the top edge of the target, and
* * Z is pointing out of the target, toward you.
*
* One can observe that the Camera Coordinate System of the front-facing camera on a phone
* coincides with the Phone Coordinate System. Further, when a phone is placed on its back
* at the origin of the Robot Coordinate System and aligned appropriately, those coordinate
* systems also coincide with the Robot Coordinate System. Got it?
*
* In this example here, we're going to assume that we put the camera on the right side
* of the robot (facing outwards, of course). To determine the transformation matrix that
* describes that location, first consider the camera as lying on its back at the origin
* of the Robot Coordinate System such that the Camera Coordinate System and Robot Coordinate
* System coincide. Then the transformation we need is
* * first a rotation of the camera by +90deg along the robot X axis,
* * then a rotation of the camera by +90deg along the robot Z axis, and
* * finally a translation of the camera to the side of the robot.
*
* When determining whether a rotation is positive or negative, consider yourself as looking
* down the (positive) axis of rotation from the positive towards the origin. Positive rotations
* are then CCW, and negative rotations CW. An example: consider looking down the positive Z
* axis towards the origin. A positive rotation about Z (ie: a rotation parallel to the the X-Y
* plane) is then CCW, as one would normally expect from the usual classic 2D geometry.
*/
OpenGLMatrix robotFromCamera = OpenGLMatrix
.translation(mmBotWidth/2,0,0)
.multiplied(Orientation.getRotationMatrix(
AxesReference.EXTRINSIC, AxesOrder.XZY,
AngleUnit.DEGREES, 90, 90, 0));
RobotLog.ii(TAG, "camera=%s", format(robotFromCamera));
/**
* Let the trackable listeners we care about know where the camera is. We know that each
* listener is a {@link VuforiaTrackableDefaultListener} and can so safely cast because
* we have not ourselves installed a listener of a different type.
*/
((VuforiaTrackableDefaultListener)redTarget.getListener()).setCameraLocationOnRobot(parameters.cameraName, robotFromCamera);
((VuforiaTrackableDefaultListener)blueTarget.getListener()).setCameraLocationOnRobot(parameters.cameraName, robotFromCamera);
/**
* A brief tutorial: here's how all the math is going to work:
*
* C = robotFromCamera maps camera coords -> robot coords
* P = tracker.getPose() maps image target coords -> camera coords
* L = redTargetLocationOnField maps image target coords -> field coords
*
* So
*
* C.inverted() maps robot coords -> camera coords
* P.inverted() maps camera coords -> imageTarget coords
*
* Putting that all together,
*
* L x P.inverted() x C.inverted() maps robot coords to field coords.
*
* @see VuforiaTrackableDefaultListener#getRobotLocation()
*/
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start tracking");
telemetry.update();
waitForStart();
/** Start tracking the data sets we care about. */
stonesAndChips.activate();
boolean buttonPressed = false;
while (opModeIsActive()) {
if (gamepad1.a && !buttonPressed) {
captureFrameToFile();
}
buttonPressed = gamepad1.a;
for (VuforiaTrackable trackable : allTrackables) {
/**
* 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.
* getRobotLocation() will return null if the trackable is not currently visible.
*/
telemetry.addData(trackable.getName(), ((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible() ? "Visible" : "Not Visible"); //
OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
if (robotLocationTransform != null) {
lastLocation = robotLocationTransform;
}
}
/**
* Provide feedback as to where the robot was last located (if we know).
*/
if (lastLocation != null) {
// RobotLog.vv(TAG, "robot=%s", format(lastLocation));
telemetry.addData("Pos", format(lastLocation));
} else {
telemetry.addData("Pos", "Unknown");
}
telemetry.update();
}
}
/**
* A simple utility that extracts positioning information from a transformation matrix
* and formats it in a form palatable to a human being.
*/
String format(OpenGLMatrix transformationMatrix) {
return transformationMatrix.formatAsTransform();
}
/**
* Sample one frame from the Vuforia stream and write it to a .PNG image file on the robot
* controller in the /sdcard/FIRST/data directory. The images can be downloaded using Android
* Studio's Device File Explorer, ADB, or the Media Transfer Protocol (MTP) integration into
* Windows Explorer, among other means. The images can be useful during robot design and calibration
* in order to get a sense of what the camera is actually seeing and so assist in camera
* aiming and alignment.
*/
void captureFrameToFile() {
vuforia.getFrameOnce(Continuation.create(ThreadPool.getDefault(), new Consumer<Frame>()
{
@Override public void accept(Frame frame)
{
Bitmap bitmap = vuforia.convertFrameToBitmap(frame);
if (bitmap != null) {
File file = new File(captureDirectory, String.format(Locale.getDefault(), "VuforiaFrame-%d.png", captureCounter++));
try {
FileOutputStream outputStream = new FileOutputStream(file);
try {
bitmap.compress(Bitmap.CompressFormat.PNG, 100, outputStream);
} finally {
outputStream.close();
telemetry.log().add("captured %s", file.getName());
}
} catch (IOException e) {
RobotLog.ee(TAG, e, "exception in captureFrameToFile()");
}
}
}
}));
}
}

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FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java
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@ -40,7 +40,6 @@ import android.content.Intent;
import android.content.ServiceConnection;
import android.content.SharedPreferences;
import android.content.res.Configuration;
import android.content.res.Resources;
import android.hardware.usb.UsbDevice;
import android.hardware.usb.UsbManager;
import android.net.wifi.WifiManager;
@ -89,6 +88,7 @@ import com.qualcomm.robotcore.hardware.configuration.LynxConstants;
import com.qualcomm.robotcore.hardware.configuration.Utility;
import com.qualcomm.robotcore.robot.Robot;
import com.qualcomm.robotcore.robot.RobotState;
import com.qualcomm.robotcore.util.ClockWarningSource;
import com.qualcomm.robotcore.util.Device;
import com.qualcomm.robotcore.util.Dimmer;
import com.qualcomm.robotcore.util.ImmersiveMode;
@ -99,8 +99,10 @@ import com.qualcomm.robotcore.wifi.NetworkConnectionFactory;
import com.qualcomm.robotcore.wifi.NetworkType;
import org.firstinspires.ftc.ftccommon.external.SoundPlayingRobotMonitor;
import org.firstinspires.ftc.ftccommon.internal.AnnotatedHooksClassFilter;
import org.firstinspires.ftc.ftccommon.internal.FtcRobotControllerWatchdogService;
import org.firstinspires.ftc.ftccommon.internal.ProgramAndManageActivity;
import org.firstinspires.ftc.onbotjava.ExternalLibraries;
import org.firstinspires.ftc.onbotjava.OnBotJavaHelperImpl;
import org.firstinspires.ftc.onbotjava.OnBotJavaProgrammingMode;
import org.firstinspires.ftc.robotcore.external.navigation.MotionDetection;
@ -112,6 +114,7 @@ import org.firstinspires.ftc.robotcore.internal.network.WifiDirectChannelChanger
import org.firstinspires.ftc.robotcore.internal.network.WifiMuteEvent;
import org.firstinspires.ftc.robotcore.internal.network.WifiMuteStateMachine;
import org.firstinspires.ftc.robotcore.internal.opmode.ClassManager;
import org.firstinspires.ftc.robotcore.internal.opmode.OnBotJavaHelper;
import org.firstinspires.ftc.robotcore.internal.system.AppAliveNotifier;
import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
import org.firstinspires.ftc.robotcore.internal.system.Assert;
@ -122,7 +125,10 @@ import org.firstinspires.ftc.robotcore.internal.ui.UILocation;
import org.firstinspires.ftc.robotcore.internal.webserver.RobotControllerWebInfo;
import org.firstinspires.ftc.robotserver.internal.programmingmode.ProgrammingModeManager;
import org.firstinspires.inspection.RcInspectionActivity;
import org.threeten.bp.YearMonth;
import org.xmlpull.v1.XmlPullParserException;
import java.io.FileNotFoundException;
import java.util.List;
import java.util.Queue;
import java.util.concurrent.ConcurrentLinkedQueue;
@ -139,6 +145,8 @@ public class FtcRobotControllerActivity extends Activity
protected WifiManager.WifiLock wifiLock;
protected RobotConfigFileManager cfgFileMgr;
private OnBotJavaHelper onBotJavaHelper;
protected ProgrammingModeManager programmingModeManager;
protected UpdateUI.Callback callback;
@ -298,6 +306,18 @@ public class FtcRobotControllerActivity extends Activity
preferencesHelper.writeBooleanPrefIfDifferent(context.getString(R.string.pref_rc_connected), true);
preferencesHelper.getSharedPreferences().registerOnSharedPreferenceChangeListener(sharedPreferencesListener);
// Check if this RC app is from a later FTC season that what was installed previously
int ftcSeasonYearOfPreviouslyInstalledRc = preferencesHelper.readInt(getString(R.string.pref_ftc_season_year_of_current_rc), 0);
int ftcSeasonYearOfCurrentlyInstalledRc = AppUtil.getInstance().getFtcSeasonYear(YearMonth.now()).getValue();
if (ftcSeasonYearOfCurrentlyInstalledRc > ftcSeasonYearOfPreviouslyInstalledRc) {
preferencesHelper.writeIntPrefIfDifferent(getString(R.string.pref_ftc_season_year_of_current_rc), ftcSeasonYearOfCurrentlyInstalledRc);
// Since it's a new FTC season, we should reset certain settings back to their default values.
preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_2_4_ghz_band), true);
preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_obsolete_software), true);
preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_mismatched_app_versions), true);
preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_incorrect_clocks), true);
}
entireScreenLayout = (LinearLayout) findViewById(R.id.entire_screen);
buttonMenu = (ImageButton) findViewById(R.id.menu_buttons);
buttonMenu.setOnClickListener(new View.OnClickListener() {
@ -311,6 +331,8 @@ public class FtcRobotControllerActivity extends Activity
}
});
popupMenu.inflate(R.menu.ftc_robot_controller);
AnnotatedHooksClassFilter.getInstance().callOnCreateMenuMethods(
FtcRobotControllerActivity.this, popupMenu.getMenu());
popupMenu.show();
}
});
@ -319,6 +341,9 @@ public class FtcRobotControllerActivity extends Activity
BlocksOpMode.setActivityAndWebView(this, (WebView) findViewById(R.id.webViewBlocksRuntime));
ExternalLibraries.getInstance().onCreate();
onBotJavaHelper = new OnBotJavaHelperImpl();
/*
* Paranoia as the ClassManagerFactory requires EXTERNAL_STORAGE permissions
* and we've seen on the DS where the finish() call above does not short-circuit
@ -326,7 +351,7 @@ public class FtcRobotControllerActivity extends Activity
* have permissions. So...
*/
if (permissionsValidated) {
ClassManager.getInstance().setOnBotJavaClassHelper(new OnBotJavaHelperImpl());
ClassManager.getInstance().setOnBotJavaClassHelper(onBotJavaHelper);
ClassManagerFactory.registerFilters();
ClassManagerFactory.processAllClasses();
}
@ -379,10 +404,12 @@ public class FtcRobotControllerActivity extends Activity
initWifiMute(true);
}
FtcAboutActivity.setBuildTimeFromBuildConfig(BuildConfig.BUILD_TIME);
FtcAboutActivity.setBuildTimeFromBuildConfig(BuildConfig.APP_BUILD_TIME);
// check to see if there is a preferred Wi-Fi to use.
checkPreferredChannel();
AnnotatedHooksClassFilter.getInstance().callOnCreateMethods(this);
}
protected UpdateUI createUpdateUI() {
@ -417,6 +444,9 @@ public class FtcRobotControllerActivity extends Activity
protected void onResume() {
super.onResume();
RobotLog.vv(TAG, "onResume()");
// In case the user just got back from fixing their clock, refresh ClockWarningSource
ClockWarningSource.getInstance().onPossibleRcClockUpdate();
}
@Override
@ -451,6 +481,8 @@ public class FtcRobotControllerActivity extends Activity
if (preferencesHelper != null) preferencesHelper.getSharedPreferences().unregisterOnSharedPreferenceChangeListener(sharedPreferencesListener);
RobotLog.cancelWriteLogcatToDisk();
AnnotatedHooksClassFilter.getInstance().callOnDestroyMethods(this);
}
protected void bindToService() {
@ -481,18 +513,8 @@ public class FtcRobotControllerActivity extends Activity
}
protected void readNetworkType() {
// The code here used to defer to the value found in a configuration file
// to configure the network type. If the file was absent, then it initialized
// it with a default.
//
// However, bugs have been reported with that approach (empty config files, specifically).
// Moreover, the non-Wifi-Direct networking is end-of-life, so the simplest and most robust
// (e.g.: no one can screw things up by messing with the contents of the config file) fix is
// to do away with configuration file entirely.
//
// Control hubs are always running the access point model. Everything else, for the time
// being always runs the wifi direct model.
// being always runs the Wi-Fi Direct model.
if (Device.isRevControlHub() == true) {
networkType = NetworkType.RCWIRELESSAP;
} else {
@ -516,6 +538,7 @@ public class FtcRobotControllerActivity extends Activity
@Override
public boolean onCreateOptionsMenu(Menu menu) {
getMenuInflater().inflate(R.menu.ftc_robot_controller, menu);
AnnotatedHooksClassFilter.getInstance().callOnCreateMenuMethods(this, menu);
return true;
}
@ -660,6 +683,8 @@ public class FtcRobotControllerActivity extends Activity
controllerService = service;
updateUI.setControllerService(controllerService);
controllerService.setOnBotJavaHelper(onBotJavaHelper);
updateUIAndRequestRobotSetup();
programmingModeManager.setState(new FtcRobotControllerServiceState() {
@NonNull
@ -668,11 +693,20 @@ public class FtcRobotControllerActivity extends Activity
return service.getWebServer();
}
@Nullable
@Override
public OnBotJavaHelper getOnBotJavaHelper() {
return service.getOnBotJavaHelper();
}
@Override
public EventLoopManager getEventLoopManager() {
return service.getRobot().eventLoopManager;
}
});
AnnotatedHooksClassFilter.getInstance().callWebHandlerRegistrarMethods(this,
service.getWebServer().getWebHandlerManager());
}
private void updateUIAndRequestRobotSetup() {
@ -697,10 +731,15 @@ public class FtcRobotControllerActivity extends Activity
HardwareFactory hardwareFactory = new HardwareFactory(context);
try {
hardwareFactory.setXmlPullParser(file.getXml());
} catch (Resources.NotFoundException e) {
} catch (FileNotFoundException | XmlPullParserException e) {
RobotLog.ww(TAG, e, "Unable to set configuration file %s. Falling back on noConfig.", file.getName());
file = RobotConfigFile.noConfig(cfgFileMgr);
hardwareFactory.setXmlPullParser(file.getXml());
cfgFileMgr.setActiveConfigAndUpdateUI(false, file);
try {
hardwareFactory.setXmlPullParser(file.getXml());
cfgFileMgr.setActiveConfigAndUpdateUI(false, file);
} catch (FileNotFoundException | XmlPullParserException e1) {
RobotLog.ee(TAG, e1, "Failed to fall back on noConfig");
}
}
OpModeRegister userOpModeRegister = createOpModeRegister();
@ -712,6 +751,8 @@ public class FtcRobotControllerActivity extends Activity
passReceivedUsbAttachmentsToEventLoop();
AndroidBoard.showErrorIfUnknownControlHub();
AnnotatedHooksClassFilter.getInstance().callOnCreateEventLoopMethods(this, eventLoop);
}
protected OpModeRegister createOpModeRegister() {

2
FtcRobotController/src/main/res/values/strings.xml
View file

@ -65,6 +65,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<item>@style/AppThemeTealRC</item>
</integer-array>
<string name="pref_ftc_season_year_of_current_rc">pref_ftc_season_year_of_current_rc</string>
<string name="packageName">@string/packageNameRobotController</string>
</resources>

119
README.md
View file

@ -1,8 +1,6 @@
## NOTICE
This repository contains the public FTC SDK for the Ultimate Goal (2020-2021) competition season.
Formerly this software project was hosted [here](https://github.com/FIRST-Tech-Challenge/Skystone). Teams who are competing in the Ultimate Goal Challenge should use this [new FtcRobotController repository](https://github.com/FIRST-Tech-Challenge/FtcRobotController) instead of last season's (no longer updated) Skystone repository.
This repository contains the public FTC SDK for the Freight Frenzy (2021-2022) competition season.
## Welcome!
This GitHub repository contains the source code that is used to build an Android app to control a *FIRST* Tech Challenge competition robot. To use this SDK, download/clone the entire project to your local computer.
@ -40,7 +38,7 @@ Note that the online documentation is an "evergreen" document that is constantly
### Javadoc Reference Material
The Javadoc reference documentation for the FTC SDK is now available online. Click on the following link to view the FTC SDK Javadoc documentation as a live website:
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;[FTC Javadoc Documentation](https://first-tech-challenge.github.io/FtcRobotController)
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;[FTC Javadoc Documentation](https://javadoc.io/org.firstinspires.ftc)
### Online User Forum
For technical questions regarding the Control System or the FTC SDK, please visit the FTC Technology forum:
@ -56,12 +54,84 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
# Release Information
## Version 7.0 (20210915-141025)
### Enhancements and New Features
* Adds support for external libraries to OnBotJava and Blocks.
* Upload .jar and .aar files in OnBotJava.
* Known limitation - RobotController device must be running Android 7.0 or greater.
* Known limitation - .aar files with assets are not supported.
* External libraries can provide support for hardware devices by using the annotation in the
com.qualcomm.robotcore.hardware.configuration.annotations package.
* External libraries can include .so files for native code.
* External libraries can be used from OnBotJava op modes.
* External libraries that use the following annotations can be used from Blocks op modes.
* org.firstinspires.ftc.robotcore.external.ExportClassToBlocks
* org.firstinspires.ftc.robotcore.external.ExportToBlocks
* External libraries that use the following annotations can add new hardware devices:
* com.qualcomm.robotcore.hardware.configuration.annotations.AnalogSensorType
* com.qualcomm.robotcore.hardware.configuration.annotations.DeviceProperties
* com.qualcomm.robotcore.hardware.configuration.annotations.DigitalIoDeviceType
* com.qualcomm.robotcore.hardware.configuration.annotations.I2cDeviceType
* com.qualcomm.robotcore.hardware.configuration.annotations.MotorType
* com.qualcomm.robotcore.hardware.configuration.annotations.ServoType
* External libraries that use the following annotations can add new functionality to the Robot Controller:
* org.firstinspires.ftc.ftccommon.external.OnCreate
* org.firstinspires.ftc.ftccommon.external.OnCreateEventLoop
* org.firstinspires.ftc.ftccommon.external.OnCreateMenu
* org.firstinspires.ftc.ftccommon.external.OnDestroy
* org.firstinspires.ftc.ftccommon.external.WebHandlerRegistrar
* Adds support for REV Robotics Driver Hub
* Adds fully custom userspace USB gamepad driver to Driver Station (see "Advanced Gamepad Features" menu in DS settings)
* Allows gamepads to work on devices without native Linux kernel support (e.g. some Romanian Motorola devices)
* Allows the DS to read the unique serial number of each gamepad, enabling auto-recovery of dropped gamepads even if two gamepads of the same model drop. *(NOTE: unfortunately this does not apply to Etpark gamepads, because they do not have a unique serial)*
* Reading the unique serial number also provides the ability to configure the DS to assign gamepads to a certain position by default (so no need to do start+a/b at all)
* The LED ring on the Xbox360 gamepad and the RGB LED bar on the PS4 gamepad is used to indicate the driver position the gamepad is bound to
* The rumble motors on the Xbox360, PS4, and Etpark gamepads can be controlled from OpModes
* The 2-point touchpad on the PS4 gamepad can be read from OpModes
* The "back" and "guide" buttons on the gamepad can now be safely bound to robot controls (Previously, on many devices, Android would intercept these buttons as home button presses and close the app)
* Advanced Gamepad features are enabled by default, but may be disabled through the settings menu in order to revert to gamepad support provided natively by Android
* Improves accuracy of ping measurement
* Fixes issue where the ping time showed as being higher than reality when initially connecting to or restarting the robot
* To see the full improvement, you must update both the Robot Controller and Driver Station apps
* Updates samples located at [/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples](FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples)
* Added ConceptGamepadRumble and ConceptGamepadTouchpad samples to illustrtate the use of these new gampad capabilities.
* Condensed existing Vuforia samples into just 2 samples (ConceptVuforiaFieldNavigation & ConceptVuforiaFieldNavigationWebcam) showing how to determine the robot's location on the field using Vuforia. These both use the current season's Target images.
* Added ConceptVuforiaDriveToTargetWebcam to illustrate an easy way to drive directly to any visible Vuforia target.
* Makes many improvements to the warning system and individual warnings
* Warnings are now much more spaced out, so that they are easier to read
* New warnings were added for conditions that should be resolved before competing
* The mismatched apps warning now uses the major and minor app versions, not the version code
* The warnings are automatically re-enabled when a Robot Controller app from a new FTC season is installed
* Adds support for I2C transactions on the Expansion Hub / Control Hub without specifying a register address
* See section 3 of the [TI I2C spec](https://www.ti.com/lit/an/slva704/slva704.pdf)
* Calling these new methods when using Modern Robotics hardware will result in an UnsupportedOperationException
* Changes VuforiaLocalizer `close()` method to be public
* Adds support for TensorFlow v2 object detection models.
* Reduces ambiguity of the Self Inspect language and graphics.
* OnBotJava now warns about potentially unintended file overwrites
* Improves behavior of the Wi-Fi band and channel selector on the Manage webpage.
### Bug fixes
* Fixes Robot Controller app crash on Android 9+ when a Driver Station connects
* Fixes issue where an Op Mode was responsible for calling shutdown on the
TensorFlow TFObjectDetector. Now this is done automatically.
* Fixes Vuforia initialization blocks to allow user to chose AxesOrder. Updated
relevant blocks sample opmodes.
* Fixes [FtcRobotController issue #114](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/114)
LED blocks and Java class do not work
* Fixes match logging for Op Modes that contain special characters in their names
* Fixes Driver Station OpMode controls becoming unresponsive if the Driver Station was set to the landscape layout and an OnBotJava build was triggered while an OpMode was running
* Fixes the Driver Station app closing itself when it is switched away from, or the screen is turned off
* Fixes "black swirl of doom" (Infinite "configuring Wi-Fi Direct" message) on older devices
* Updates the wiki comment on the OnBotJava intro page
## Version 6.2 (20210218-074821)
### Enhancements
* Attempts to automatically fix the condition where a Control Hub's internal Expansion Hub is not
working by re-flashing its firmware
* Makes various improvements to the WiFi Direct pairing screen, especially in landscape mode
* Makes various improvements to the Wi-Fi Direct pairing screen, especially in landscape mode
* Makes the Robot Controller service no longer be categorically restarted when the main activity is brought to foreground
* (e.g. the service is no longer restarted simply by viewing the Self Inspect screen and pressing the back button)
* It is still restarted if the Settings menu or Configure Robot menu is opened
@ -75,7 +145,7 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
* Fixes issue where the Control Hub OS's watchdog would restart the Robot Controller app if
the Control Hub was not able to communicate with its internal Expansion Hub
* Fixes certain I2C devices not showing up in the appropriate `HardwareMap` fields (such as `hardwareMap.colorSensor`)
* Fixes issue where performing a WiFi factory reset on the Control Hub would not set the WiFi band to 2.4 GHz
* Fixes issue where performing a Wi-Fi factory reset on the Control Hub would not set the Wi-Fi band to 2.4 GHz
* Fixes issue where OnBotJava might fail to create a new file if the option to "Setup Code for Configured Hardware" was selected
* Fixes issue where performing certain operations after an Op Mode crashes would temporarily break Control/Expansion Hub communication
* Fixes issue where a Control Hub with a configured USB-connected Expansion Hub would not work if the Expansion Hub was missing at startup
@ -101,7 +171,7 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
* Introduces an automatic TeleOp preselection feature
* For details and usage guide, please see [this wiki entry](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Automatically-Loading-a-Driver-Controlled-Op-Mode)
* Shows icon next to OpMode name in the OpMode list dropdown on the Driver Station to indicate the source of the OpMode (i.e. the programming tool used to create it)
* Fixes issue where the Driver Station app would exit after displaying the Configuring WiFi Direct screen
* Fixes issue where the Driver Station app would exit after displaying the Configuring Wi-Fi Direct screen
* Fixes Blocks and OnBotJava prompts when accessed via the REV Hardware Client
## Version 6.0 (20200921-085816)
@ -155,7 +225,10 @@ Version 5.5 requires Android Studio 4.0 or later.
### New features
* Adds support for calling custom Java classes from Blocks OpModes (fixes [SkyStone issue #161](https://github.com/FIRST-Tech-Challenge/SkyStone/issues/161)).
* Classes must be in the org.firstinspires.ftc.teamcode package.
* To have easy access to the opMode, hardwareMap, telemetry, gamepad1, and gamepad2, classes can
extends org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.
* Methods must be public static and have no more than 21 parameters.
* Methods must be annotated with org.firstinspires.ftc.robotcore.external.ExportToBlocks.
* Parameters declared as OpMode, LinearOpMode, Telemetry, and HardwareMap are supported and the
argument is provided automatically, regardless of the order of the parameters. On the block,
the sockets for those parameters are automatically filled in.
@ -175,10 +248,10 @@ Version 5.5 requires Android Studio 4.0 or later.
* Adds Blocks support for TensorFlow Object Detection with a custom model.
* Adds support for uploading a custom TensorFlow Object Detection model in the Manage page, which
is especially useful for Blocks and OnBotJava users.
* Shows new Control Hub blink codes when the WiFi band is switched using the Control Hub's button (only possible on Control Hub OS 1.1.2)
* Shows new Control Hub blink codes when the Wi-Fi band is switched using the Control Hub's button (only possible on Control Hub OS 1.1.2)
* Adds new warnings which can be disabled in the Advanced RC Settings
* Mismatched app versions warning
* Unnecessary 2.4 GHz WiFi usage warning
* Unnecessary 2.4 GHz Wi-Fi usage warning
* REV Hub is running outdated firmware (older than version 1.8.2)
* Adds support for Sony PS4 gamepad, and reworks how gamepads work on the Driver Station
* Removes preference which sets gamepad type based on driver position. Replaced with menu which allows specifying type for gamepads with unknown VID and PID
@ -223,16 +296,16 @@ Version 5.5 requires Android Studio 4.0 or later.
* Not all types of runaway conditions are stoppable, but if the user code attempts to talk to hardware during the runaway, the system should be able to capture it.
* Makes various tweaks to the Self Inspect screen
* Renames "OS version" entry to "Android version"
* Renames "WiFi Direct Name" to "WiFi Name"
* Renames "Wi-Fi Direct Name" to "Wi-Fi Name"
* Adds Control Hub OS version, when viewing the report of a Control Hub
* Hides the airplane mode entry, when viewing the report of a Control Hub
* Removes check for ZTE Speed Channel Changer
* Shows firmware version for **all** Expansion and Control Hubs
* Reworks network settings portion of Manage page
* All network settings are now applied with a single click
* The WiFi Direct channel of phone-based Robot Controllers can now be changed from the Manage page
* WiFi channels are filtered by band (2.4 vs 5 GHz) and whether they overlap with other channels
* The current WiFi channel is pre-selected on phone-based Robot Controllers, and Control Hubs running OS 1.1.2 or later.
* The Wi-Fi Direct channel of phone-based Robot Controllers can now be changed from the Manage page
* Wi-Fi channels are filtered by band (2.4 vs 5 GHz) and whether they overlap with other channels
* The current Wi-Fi channel is pre-selected on phone-based Robot Controllers, and Control Hubs running OS 1.1.2 or later.
* On Control Hubs running OS 1.1.2 or later, you can choose to have the system automatically select a channel on the 5 GHz band
* Improves OnBotJava
* New light and dark themes replace the old themes (chaos, github, chrome,...)
@ -244,7 +317,7 @@ Version 5.5 requires Android Studio 4.0 or later.
* Shows a warning message if a LinearOpMode exists prematurely due to failure to monitor for the start condition
* Improves error message shown when the Driver Station and Robot Controller are incompatible with each other
* Driver Station OpMode Control Panel now disabled while a Restart Robot is in progress
* Disables advanced settings related to WiFi direct when the Robot Controller is a Control Hub.
* Disables advanced settings related to Wi-Fi Direct when the Robot Controller is a Control Hub.
* Tint phone battery icons on Driver Station when low/critical.
* Uses names "Control Hub Portal" and "Control Hub" (when appropriate) in new configuration files
* Improve I2C read performance
@ -405,11 +478,11 @@ Known issues:
* Support for the REV Robotics Control Hub.
* Adds a Java preview pane to the Blocks editor.
* Adds a new offline export feature to the Blocks editor.
* Display wifi channel in Network circle on Driver Station.
* Display Wi-Fi channel in Network circle on Driver Station.
* Adds calibration for Logitech C270
* Updates build tooling and target SDK.
* Compliance with Google's permissions infrastructure (Required after build tooling update).
* Keep Alives to mitigate the Motorola wifi scanning problem. Telemetry substitute no longer necessary.
* Keep Alives to mitigate the Motorola Wi-Fi scanning problem. Telemetry substitute no longer necessary.
* Improves Vuforia error reporting.
* Fixes ftctechnh/ftc_app issues 621, 713.
* Miscellaneous bug fixes and improvements.
@ -548,7 +621,7 @@ Known issues:
- When user selects a wireless channel, this channel does not necessarily persist if the phone is power cycled.
+ Tech Team is hoping to eventually address this issue in a future release.
+ Issue has been present since apps were introduced (i.e., it is not new with the v4.0 release).
- Wireless channel is not currently displayed for WiFi Direct connections.
- Wireless channel is not currently displayed for Wi-Fi Direct connections.
* Miscellaneous
- The blink indication feature that shows which Expansion Hub is currently being configured does not work for a newly created configuration file.
@ -943,7 +1016,7 @@ Changes include:
* Added getCallbackCount() to I2cDevice.
* Added missing clearI2cPortActionFlag.
* Added code to create log messages while waiting for LinearOpMode shutdown.
* Fix so Wifi Direct Config activity will no longer launch multiple times.
* Fix so Wi-Fi Direct Config activity will no longer launch multiple times.
* Added the ability to specify an alternate i2c address in software for the Modern Robotics gyro.
## Release 16.02.09
@ -958,18 +1031,18 @@ Changes include:
* NXT light sensor output is now properly scaled. Note that teams might have to readjust their light threshold values in their op modes.
* On DS user interface, gamepad icon for a driver will disappear if the matching gamepad is disconnected or if that gamepad gets designated as a different driver.
* Robot Protocol (ROBOCOL) version number info is displayed in About screen on RC and DS apps.
* Incorporated a display filter on pairing screen to filter out devices that don’t use the “<TEAM NUMBER>-“ format. This filter can be turned off to show all WiFi Direct devices.
* Incorporated a display filter on pairing screen to filter out devices that don’t use the “<TEAM NUMBER>-“ format. This filter can be turned off to show all Wi-Fi Direct devices.
* Updated text in License file.
* Fixed formatting error in OpticalDistanceSensor.toString().
* Fixed issue on with a blank (“”) device name that would disrupt WiFi Direct Pairing.
* Made a change so that the WiFi info and battery info can be displayed more quickly on the DS upon connecting to RC.
* Fixed issue on with a blank (“”) device name that would disrupt Wi-Fi Direct Pairing.
* Made a change so that the Wi-Fi info and battery info can be displayed more quickly on the DS upon connecting to RC.
* Improved javadoc generation.
* Modified code to make it easier to support language localization in the future.
## Release 16.01.04
* Updated compileSdkVersion for apps
* Prevent Wifi from entering power saving mode
* Prevent Wi-Fi from entering power saving mode
* removed unused import from driver station
* Corrrected "Dead zone" joystick code.
* LED.getDeviceName and .getConnectionInfo() return null
@ -984,7 +1057,7 @@ Changes include:
* added some log statements for thread life cycle.
* moved gamepad reset logic inside of initActiveOpMode() for robustness
* changes made to mitigate risk of race conditions on public methods.
* changes to try and flag when WiFi Direct name contains non-printable characters.
* changes to try and flag when Wi-Fi Direct name contains non-printable characters.
* fix to correct race condition between .run() and .close() in ReadWriteRunnableStandard.
* updated FTDI driver
* made ReadWriteRunnableStanard interface public.

8
build.common.gradle
View file

@ -55,6 +55,7 @@ android {
signingConfig signingConfigs.debug
applicationId 'com.qualcomm.ftcrobotcontroller'
minSdkVersion 23
//noinspection ExpiredTargetSdkVersion
targetSdkVersion 28
/**
@ -107,10 +108,13 @@ android {
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_7
targetCompatibility JavaVersion.VERSION_1_7
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
}
packagingOptions {
pickFirst '**/*.so'
}
sourceSets.main {
jni.srcDirs = []
jniLibs.srcDir rootProject.file('libs')

20
build.dependencies.gradle
View file

@ -1,4 +1,3 @@
repositories {
mavenCentral()
google() // Needed for androidx
@ -9,15 +8,16 @@ repositories {
}
dependencies {
implementation 'org.firstinspires.ftc:Inspection:6.2.1'
implementation 'org.firstinspires.ftc:Blocks:6.2.1'
implementation 'org.firstinspires.ftc:RobotCore:6.2.1'
implementation 'org.firstinspires.ftc:RobotServer:6.2.1'
implementation 'org.firstinspires.ftc:OnBotJava:6.2.1'
implementation 'org.firstinspires.ftc:Hardware:6.2.1'
implementation 'org.firstinspires.ftc:FtcCommon:6.2.1'
implementation 'org.firstinspires.ftc:tfod:1.0.2'
implementation 'org.tensorflow:tensorflow-lite:1.10.0'
implementation 'org.firstinspires.ftc:Inspection:7.0.0'
implementation 'org.firstinspires.ftc:Blocks:7.0.0'
implementation 'org.firstinspires.ftc:Tfod:7.0.0'
implementation 'org.firstinspires.ftc:RobotCore:7.0.0'
implementation 'org.firstinspires.ftc:RobotServer:7.0.0'
implementation 'org.firstinspires.ftc:OnBotJava:7.0.0'
implementation 'org.firstinspires.ftc:Hardware:7.0.0'
implementation 'org.firstinspires.ftc:FtcCommon:7.0.0'
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.2.0'
implementation 'androidx.appcompat:appcompat:1.2.0'
implementation 'org.firstinspires.ftc:gameAssets-FreightFrenzy:1.0.0'
}

0
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