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FtcRobotController v8.2

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This commit is contained in:
Cal Kestis
2023-07-07 15:15:11 -07:00
parent 0879b4797f
commit 5c8b4c448b
29 changed files with 2125 additions and 1642 deletions
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6
FtcRobotController/build.gradle
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@ -8,7 +8,7 @@ apply plugin: 'com.android.library'
android {
defaultConfig {
minSdkVersion 23
minSdkVersion 24
//noinspection ExpiredTargetSdkVersion
targetSdkVersion 28
buildConfigField "String", "APP_BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
@ -17,8 +17,8 @@ android {
compileSdkVersion 29
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_7
targetCompatibility JavaVersion.VERSION_1_7
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
}
namespace = 'com.qualcomm.ftcrobotcontroller'
}

4
FtcRobotController/src/main/AndroidManifest.xml
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@ -1,8 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:versionCode="49"
android:versionName="8.1.1">
android:versionCode="50"
android:versionName="8.2">
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

192
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java vendored Normal file
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@ -0,0 +1,192 @@
/* Copyright (c) 2023 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import android.util.Size;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import org.firstinspires.ftc.vision.apriltag.AprilTagGameDatabase;
/**
* This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation,
* including Java Builder structures for specifying Vision parameters.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@TeleOp(name = "Concept: AprilTag", group = "Concept")
@Disabled
public class ConceptAprilTag extends LinearOpMode {
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
/**
* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
*/
private AprilTagProcessor aprilTag;
/**
* {@link #visionPortal} is the variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@Override
public void runOpMode() {
initAprilTag();
// Wait for the DS start button to be touched.
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
telemetryAprilTag();
// Push telemetry to the Driver Station.
telemetry.update();
// Save CPU resources; can resume streaming when needed.
if (gamepad1.dpad_down) {
visionPortal.stopStreaming();
} else if (gamepad1.dpad_up) {
visionPortal.resumeStreaming();
}
// Share the CPU.
sleep(20);
}
}
// Save more CPU resources when camera is no longer needed.
visionPortal.close();
} // end method runOpMode()
/**
* Initialize the AprilTag processor.
*/
private void initAprilTag() {
// Create the AprilTag processor.
aprilTag = new AprilTagProcessor.Builder()
//.setDrawAxes(false)
//.setDrawCubeProjection(false)
//.setDrawTagOutline(true)
//.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
//.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
//.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
// == CAMERA CALIBRATION ==
// If you do not manually specify calibration parameters, the SDK will attempt
// to load a predefined calibration for your camera.
//.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)
// ... these parameters are fx, fy, cx, cy.
.build();
// Create the vision portal by using a builder.
VisionPortal.Builder builder = new VisionPortal.Builder();
// Set the camera (webcam vs. built-in RC phone camera).
if (USE_WEBCAM) {
builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
} else {
builder.setCamera(BuiltinCameraDirection.BACK);
}
// Choose a camera resolution. Not all cameras support all resolutions.
//builder.setCameraResolution(new Size(640, 480));
// Enable the RC preview (LiveView). Set "false" to omit camera monitoring.
//builder.enableCameraMonitoring(true);
// Set the stream format; MJPEG uses less bandwidth than default YUY2.
//builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
// Choose whether or not LiveView stops if no processors are enabled.
// If set "true", monitor shows solid orange screen if no processors enabled.
// If set "false", monitor shows camera view without annotations.
//builder.setAutoStopLiveView(false);
// Set and enable the processor.
builder.addProcessor(aprilTag);
// Build the Vision Portal, using the above settings.
visionPortal = builder.build();
// Disable or re-enable the aprilTag processor at any time.
//visionPortal.setProcessorEnabled(aprilTag, true);
} // end method initAprilTag()
/**
* Function to add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
telemetry.addData("# AprilTags Detected", currentDetections.size());
// Step through the list of detections and display info for each one.
for (AprilTagDetection detection : currentDetections) {
if (detection.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
}
} // end for() loop
// Add "key" information to telemetry
telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
telemetry.addLine("RBE = Range, Bearing & Elevation");
} // end method telemetryAprilTag()
} // end class

148
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java vendored Normal file
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@ -0,0 +1,148 @@
/* Copyright (c) 2023 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
/**
* This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation, using
* the easy way.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@TeleOp(name = "Concept: AprilTag Easy", group = "Concept")
@Disabled
public class ConceptAprilTagEasy extends LinearOpMode {
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
/**
* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
*/
private AprilTagProcessor aprilTag;
/**
* {@link #visionPortal} is the variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@Override
public void runOpMode() {
initAprilTag();
// Wait for the DS start button to be touched.
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
telemetryAprilTag();
// Push telemetry to the Driver Station.
telemetry.update();
// Save CPU resources; can resume streaming when needed.
if (gamepad1.dpad_down) {
visionPortal.stopStreaming();
} else if (gamepad1.dpad_up) {
visionPortal.resumeStreaming();
}
// Share the CPU.
sleep(20);
}
}
// Save more CPU resources when camera is no longer needed.
visionPortal.close();
} // end method runOpMode()
/**
* Initialize the AprilTag processor.
*/
private void initAprilTag() {
// Create the AprilTag processor the easy way.
aprilTag = AprilTagProcessor.easyCreateWithDefaults();
// Create the vision portal the easy way.
if (USE_WEBCAM) {
visionPortal = VisionPortal.easyCreateWithDefaults(
hardwareMap.get(WebcamName.class, "Webcam 1"), aprilTag);
} else {
visionPortal = VisionPortal.easyCreateWithDefaults(
BuiltinCameraDirection.BACK, aprilTag);
}
} // end method initAprilTag()
/**
* Function to add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
telemetry.addData("# AprilTags Detected", currentDetections.size());
// Step through the list of detections and display info for each one.
for (AprilTagDetection detection : currentDetections) {
if (detection.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
}
} // end for() loop
// Add "key" information to telemetry
telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
telemetry.addLine("RBE = Range, Bearing & Elevation");
} // end method telemetryAprilTag()
} // end class

248
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagOptimizeExposure.java vendored Normal file
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@ -0,0 +1,248 @@
/* Copyright (c) 2023 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.Range;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import java.util.List;
import java.util.concurrent.TimeUnit;
/**
* This OpMode determines the best Exposure for minimizing image motion-blur on a Webcam
* Note that it is not possible to control the exposure for a Phone Camera, so if you are using a Phone for the Robot Controller
* this OpMode/Feature only applies to an externally connected Webcam
*
* The goal is to determine the smallest (shortest) Exposure value that still provides reliable Tag Detection.
* Starting with the minimum Exposure and maximum Gain, the exposure is slowly increased until the Tag is
* detected reliably from the likely operational distance.
*
*
* The best way to run this optimization is to view the camera preview screen while changing the exposure and gains.
*
* To do this, you need to view the RobotController screen directly (not from Driver Station)
* This can be done directly from a RC phone screen (if you are using an external Webcam), but for a Control Hub you must either plug an
* HDMI monitor into the Control Hub HDMI port, or use an external viewer program like ScrCpy (https://scrcpy.org/)
*
* Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@TeleOp(name="Optimize AprilTag Exposure", group = "Concept")
@Disabled
public class ConceptAprilTagOptimizeExposure extends LinearOpMode
{
private VisionPortal visionPortal = null; // Used to manage the video source.
private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process.
private int myExposure ;
private int minExposure ;
private int maxExposure ;
private int myGain ;
private int minGain ;
private int maxGain ;
boolean thisExpUp = false;
boolean thisExpDn = false;
boolean thisGainUp = false;
boolean thisGainDn = false;
boolean lastExpUp = false;
boolean lastExpDn = false;
boolean lastGainUp = false;
boolean lastGainDn = false;
@Override public void runOpMode()
{
// Initialize the Apriltag Detection process
initAprilTag();
// Establish Min and Max Gains and Exposure. Then set a low exposure with high gain
getCameraSetting();
myExposure = Math.min(5, minExposure);
myGain = maxGain;
setManualExposure(myExposure, myGain);
// Wait for the match to begin.
telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
while (opModeIsActive())
{
telemetry.addLine("Find lowest Exposure that gives reliable detection.");
telemetry.addLine("Use Left bump/trig to adjust Exposure.");
telemetry.addLine("Use Right bump/trig to adjust Gain.\n");
// Display how many Tags Detected
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
int numTags = currentDetections.size();
if (numTags > 0 )
telemetry.addData("Tag", "####### %d Detected ######", currentDetections.size());
else
telemetry.addData("Tag", "----------- none - ----------");
telemetry.addData("Exposure","%d (%d - %d)", myExposure, minExposure, maxExposure);
telemetry.addData("Gain","%d (%d - %d)", myGain, minGain, maxGain);
telemetry.update();
// check to see if we need to change exposure or gain.
thisExpUp = gamepad1.left_bumper;
thisExpDn = gamepad1.left_trigger > 0.25;
thisGainUp = gamepad1.right_bumper;
thisGainDn = gamepad1.right_trigger > 0.25;
// look for clicks to change exposure
if (thisExpUp && !lastExpUp) {
myExposure = Range.clip(myExposure + 1, minExposure, maxExposure);
setManualExposure(myExposure, myGain);
} else if (thisExpDn && !lastExpDn) {
myExposure = Range.clip(myExposure - 1, minExposure, maxExposure);
setManualExposure(myExposure, myGain);
}
// look for clicks to change the gain
if (thisGainUp && !lastGainUp) {
myGain = Range.clip(myGain + 1, minGain, maxGain );
setManualExposure(myExposure, myGain);
} else if (thisGainDn && !lastGainDn) {
myGain = Range.clip(myGain - 1, minGain, maxGain );
setManualExposure(myExposure, myGain);
}
lastExpUp = thisExpUp;
lastExpDn = thisExpDn;
lastGainUp = thisGainUp;
lastGainDn = thisGainDn;
sleep(20);
}
}
/**
* Initialize the AprilTag processor.
*/
private void initAprilTag() {
// Create the AprilTag processor by using a builder.
aprilTag = new AprilTagProcessor.Builder().build();
// Create the WEBCAM vision portal by using a builder.
visionPortal = new VisionPortal.Builder()
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
.addProcessor(aprilTag)
.build();
}
/*
Manually set the camera gain and exposure.
Can only be called AFTER calling initAprilTag();
Returns true if controls are set.
*/
private boolean setManualExposure(int exposureMS, int gain) {
// Ensure Vision Portal has been setup.
if (visionPortal == null) {
return false;
}
// Wait for the camera to be open
if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
telemetry.addData("Camera", "Waiting");
telemetry.update();
while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
sleep(20);
}
telemetry.addData("Camera", "Ready");
telemetry.update();
}
// Set camera controls unless we are stopping.
if (!isStopRequested())
{
// Set exposure. Make sure we are in Manual Mode for these values to take effect.
ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
exposureControl.setMode(ExposureControl.Mode.Manual);
sleep(50);
}
exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
sleep(20);
// Set Gain.
GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
gainControl.setGain(gain);
sleep(20);
return (true);
} else {
return (false);
}
}
/*
Read this camera's minimum and maximum Exposure and Gain settings.
Can only be called AFTER calling initAprilTag();
*/
private void getCameraSetting() {
// Ensure Vision Portal has been setup.
if (visionPortal == null) {
return;
}
// Wait for the camera to be open
if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
telemetry.addData("Camera", "Waiting");
telemetry.update();
while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
sleep(20);
}
telemetry.addData("Camera", "Ready");
telemetry.update();
}
// Get camera control values unless we are stopping.
if (!isStopRequested()) {
ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
minExposure = (int)exposureControl.getMinExposure(TimeUnit.MILLISECONDS) + 1;
maxExposure = (int)exposureControl.getMaxExposure(TimeUnit.MILLISECONDS);
GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
minGain = gainControl.getMinGain();
maxGain = gainControl.getMaxGain();
}
}
}

195
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@ -0,0 +1,195 @@
/* Copyright (c) 2023 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.VisionPortal.CameraState;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
/**
* This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation, using
* two webcams.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@TeleOp(name = "Concept: AprilTag Switchable Cameras", group = "Concept")
@Disabled
public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
/**
* Variables used for switching cameras.
*/
private WebcamName webcam1, webcam2;
private boolean oldLeftBumper;
private boolean oldRightBumper;
/**
* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
*/
private AprilTagProcessor aprilTag;
/**
* {@link #visionPortal} is the variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@Override
public void runOpMode() {
initAprilTag();
// Wait for the DS start button to be touched.
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
telemetryCameraSwitching();
telemetryAprilTag();
// Push telemetry to the Driver Station.
telemetry.update();
// Save CPU resources; can resume streaming when needed.
if (gamepad1.dpad_down) {
visionPortal.stopStreaming();
} else if (gamepad1.dpad_up) {
visionPortal.resumeStreaming();
}
doCameraSwitching();
// Share the CPU.
sleep(20);
}
}
// Save more CPU resources when camera is no longer needed.
visionPortal.close();
} // end runOpMode()
/**
* Initialize the AprilTag processor.
*/
private void initAprilTag() {
// Create the AprilTag processor by using a builder.
aprilTag = new AprilTagProcessor.Builder().build();
webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
CameraName switchableCamera = ClassFactory.getInstance()
.getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
// Create the vision portal by using a builder.
visionPortal = new VisionPortal.Builder()
.setCamera(switchableCamera)
.addProcessor(aprilTag)
.build();
} // end method initAprilTag()
/**
* Function to add telemetry about camera switching.
*/
private void telemetryCameraSwitching() {
if (visionPortal.getActiveCamera().equals(webcam1)) {
telemetry.addData("activeCamera", "Webcam 1");
telemetry.addData("Press RightBumper", "to switch to Webcam 2");
} else {
telemetry.addData("activeCamera", "Webcam 2");
telemetry.addData("Press LeftBumper", "to switch to Webcam 1");
}
} // end method telemetryCameraSwitching()
/**
* Function to add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
telemetry.addData("# AprilTags Detected", currentDetections.size());
// Step through the list of detections and display info for each one.
for (AprilTagDetection detection : currentDetections) {
if (detection.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
}
} // end for() loop
// Add "key" information to telemetry
telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
telemetry.addLine("RBE = Range, Bearing & Elevation");
} // end method telemetryAprilTag()
/**
* Function to set the active camera according to input from the gamepad.
*/
private void doCameraSwitching() {
if (visionPortal.getCameraState() == CameraState.STREAMING) {
// If the left bumper is pressed, use Webcam 1.
// If the right bumper is pressed, use Webcam 2.
boolean newLeftBumper = gamepad1.left_bumper;
boolean newRightBumper = gamepad1.right_bumper;
if (newLeftBumper && !oldLeftBumper) {
visionPortal.setActiveCamera(webcam1);
} else if (newRightBumper && !oldRightBumper) {
visionPortal.setActiveCamera(webcam2);
}
oldLeftBumper = newLeftBumper;
oldRightBumper = newRightBumper;
}
} // end method doCameraSwitching()
} // end class

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@ -0,0 +1,201 @@
/* Copyright (c) 2023 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
/**
* This 2023-2024 OpMode illustrates the basics of using both AprilTag recognition and TensorFlow
* Object Detection.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@TeleOp(name = "Concept: Double Vision", group = "Concept")
@Disabled
public class ConceptDoubleVision extends LinearOpMode {
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
/**
* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
*/
private AprilTagProcessor aprilTag;
/**
* {@link #tfod} is the variable to store our instance of the TensorFlow Object Detection processor.
*/
private TfodProcessor tfod;
/**
* {@link #myVisionPortal} is the variable to store our instance of the vision portal.
*/
private VisionPortal myVisionPortal;
@Override
public void runOpMode() {
initDoubleVision();
// This OpMode loops continuously, allowing the user to switch between
// AprilTag and TensorFlow Object Detection (TFOD) image processors.
while (!isStopRequested()) {
if (opModeInInit()) {
telemetry.addData("DS preview on/off","3 dots, Camera Stream");
telemetry.addLine();
telemetry.addLine("----------------------------------------");
}
if (myVisionPortal.getProcessorEnabled(aprilTag)) {
// User instructions: Dpad left or Dpad right.
telemetry.addLine("Dpad Left to disable AprilTag");
telemetry.addLine();
telemetryAprilTag();
} else {
telemetry.addLine("Dpad Right to enable AprilTag");
}
telemetry.addLine();
telemetry.addLine("----------------------------------------");
if (myVisionPortal.getProcessorEnabled(tfod)) {
telemetry.addLine("Dpad Down to disable TFOD");
telemetry.addLine();
telemetryTfod();
} else {
telemetry.addLine("Dpad Up to enable TFOD");
}
// Push telemetry to the Driver Station.
telemetry.update();
if (gamepad1.dpad_left) {
myVisionPortal.setProcessorEnabled(aprilTag, false);
} else if (gamepad1.dpad_right) {
myVisionPortal.setProcessorEnabled(aprilTag, true);
}
if (gamepad1.dpad_down) {
myVisionPortal.setProcessorEnabled(tfod, false);
} else if (gamepad1.dpad_up) {
myVisionPortal.setProcessorEnabled(tfod, true);
}
sleep(20);
} // end while loop
} // end method runOpMode()
/**
* Function to initialize AprilTag and TFOD.
*/
private void initDoubleVision() {
// -----------------------------------------------------------------------------------------
// AprilTag Configuration
// -----------------------------------------------------------------------------------------
aprilTag = new AprilTagProcessor.Builder()
.build();
// -----------------------------------------------------------------------------------------
// TFOD Configuration
// -----------------------------------------------------------------------------------------
tfod = new TfodProcessor.Builder()
.build();
// -----------------------------------------------------------------------------------------
// Camera Configuration
// -----------------------------------------------------------------------------------------
if (USE_WEBCAM) {
myVisionPortal = new VisionPortal.Builder()
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
.addProcessors(tfod, aprilTag)
.build();
} else {
myVisionPortal = new VisionPortal.Builder()
.setCamera(BuiltinCameraDirection.BACK)
.addProcessors(tfod, aprilTag)
.build();
}
} // end initDoubleVision()
/**
* Function to add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
telemetry.addData("# AprilTags Detected", currentDetections.size());
// Step through the list of detections and display info for each one.
for (AprilTagDetection detection : currentDetections) {
if (detection.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
}
} // end for() loop
} // end method telemetryAprilTag()
/**
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
*/
private void telemetryTfod() {
List<Recognition> currentRecognitions = tfod.getRecognitions();
telemetry.addData("# Objects Detected", currentRecognitions.size());
// Step through the list of recognitions and display info for each one.
for (Recognition recognition : currentRecognitions) {
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
telemetry.addData(""," ");
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
telemetry.addData("- Position", "%.0f / %.0f", x, y);
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
} // end for() loop
} // end method telemetryTfod()
} // end class

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@ -33,157 +33,149 @@ import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
/**
* This 2022-2023 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine which image is being presented to the robot.
* This 2023-2024 OpMode illustrates the basics of TensorFlow Object Detection,
* including Java Builder structures for specifying Vision parameters.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name = "Concept: TensorFlow Object Detection", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetection extends LinearOpMode {
/*
* Specify the source for the Tensor Flow Model.
* If the TensorFlowLite object model is included in the Robot Controller App as an "asset",
* the OpMode must to load it using loadModelFromAsset(). However, if a team generated model
* has been downloaded to the Robot Controller's SD FLASH memory, it must to be loaded using loadModelFromFile()
* Here we assume it's an Asset. Also see method initTfod() below .
*/
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
// private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/CustomTeamModel.tflite";
private static final String[] LABELS = {
"1 Bolt",
"2 Bulb",
"3 Panel"
};
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" -- YOUR NEW VUFORIA KEY GOES HERE --- ";
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
* {@link #tfod} is the variable to store our instance of the TensorFlow Object Detection processor.
*/
private VuforiaLocalizer vuforia;
private TfodProcessor tfod;
/**
* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
* Detection engine.
* {@link #visionPortal} is the variable to store our instance of the vision portal.
*/
private TFObjectDetector tfod;
private VisionPortal visionPortal;
@Override
public void runOpMode() {
// The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
// first.
initVuforia();
initTfod();
/**
* Activate TensorFlow Object Detection before we wait for the start command.
* Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
**/
if (tfod != null) {
tfod.activate();
// The TensorFlow software will scale the input images from the camera to a lower resolution.
// This can result in lower detection accuracy at longer distances (> 55cm or 22").
// If your target is at distance greater than 50 cm (20") you can increase the magnification value
// to artificially zoom in to the center of image. For best results, the "aspectRatio" argument
// should be set to the value of the images used to create the TensorFlow Object Detection model
// (typically 16/9).
tfod.setZoom(1.0, 16.0/9.0);
}
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start op mode");
// Wait for the DS start button to be touched.
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
if (tfod != null) {
// getUpdatedRecognitions() will return null if no new information is available since
// the last time that call was made.
List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
if (updatedRecognitions != null) {
telemetry.addData("# Objects Detected", updatedRecognitions.size());
// step through the list of recognitions and display image position/size information for each one
// Note: "Image number" refers to the randomized image orientation/number
for (Recognition recognition : updatedRecognitions) {
double col = (recognition.getLeft() + recognition.getRight()) / 2 ;
double row = (recognition.getTop() + recognition.getBottom()) / 2 ;
double width = Math.abs(recognition.getRight() - recognition.getLeft()) ;
double height = Math.abs(recognition.getTop() - recognition.getBottom()) ;
telemetryTfod();
telemetry.addData(""," ");
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100 );
telemetry.addData("- Position (Row/Col)","%.0f / %.0f", row, col);
telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
}
telemetry.update();
}
// Push telemetry to the Driver Station.
telemetry.update();
// Save CPU resources; can resume streaming when needed.
if (gamepad1.dpad_down) {
visionPortal.stopStreaming();
} else if (gamepad1.dpad_up) {
visionPortal.resumeStreaming();
}
// Share the CPU.
sleep(20);
}
}
}
// Save more CPU resources when camera is no longer needed.
visionPortal.close();
} // end runOpMode()
/**
* Initialize the Vuforia localization engine.
*/
private void initVuforia() {
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
*/
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
parameters.cameraDirection = CameraDirection.BACK;
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
}
/**
* Initialize the TensorFlow Object Detection engine.
* Initialize the TensorFlow Object Detection processor.
*/
private void initTfod() {
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.75f;
tfodParameters.isModelTensorFlow2 = true;
tfodParameters.inputSize = 300;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
// Use loadModelFromAsset() if the TF Model is built in as an asset by Android Studio
// Use loadModelFromFile() if you have downloaded a custom team model to the Robot Controller's FLASH.
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
// tfod.loadModelFromFile(TFOD_MODEL_FILE, LABELS);
}
}
// Create the TensorFlow processor by using a builder.
tfod = new TfodProcessor.Builder()
// Use setModelAssetName() if the TF Model is built in as an asset.
// Use setModelFileName() if you have downloaded a custom team model to the Robot Controller.
//.setModelAssetName(TFOD_MODEL_ASSET)
//.setModelFileName(TFOD_MODEL_FILE)
//.setModelLabels(LABELS)
//.setIsModelTensorFlow2(true)
//.setIsModelQuantized(true)
//.setModelInputSize(300)
//.setModelAspectRatio(16.0 / 9.0)
.build();
// Create the vision portal by using a builder.
VisionPortal.Builder builder = new VisionPortal.Builder();
// Set the camera (webcam vs. built-in RC phone camera).
if (USE_WEBCAM) {
builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
} else {
builder.setCamera(BuiltinCameraDirection.BACK);
}
// Choose a camera resolution. Not all cameras support all resolutions.
//builder.setCameraResolution(new Size(640, 480));
// Enable the RC preview (LiveView). Set "false" to omit camera monitoring.
//builder.enableCameraMonitoring(true);
// Set the stream format; MJPEG uses less bandwidth than default YUY2.
//builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
// Choose whether or not LiveView stops if no processors are enabled.
// If set "true", monitor shows solid orange screen if no processors enabled.
// If set "false", monitor shows camera view without annotations.
//builder.setAutoStopLiveView(false);
// Set and enable the processor.
builder.addProcessor(tfod);
// Build the Vision Portal, using the above settings.
visionPortal = builder.build();
// Set confidence threshold for TFOD recognitions, at any time.
//tfod.setMinResultConfidence(0.75f);
// Disable or re-enable the TFOD processor at any time.
//visionPortal.setProcessorEnabled(tfod, true);
} // end method initTfod()
/**
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
*/
private void telemetryTfod() {
List<Recognition> currentRecognitions = tfod.getRecognitions();
telemetry.addData("# Objects Detected", currentRecognitions.size());
// Step through the list of recognitions and display info for each one.
for (Recognition recognition : currentRecognitions) {
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
telemetry.addData(""," ");
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
telemetry.addData("- Position", "%.0f / %.0f", x, y);
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
} // end for() loop
} // end method telemetryTfod()
} // end class

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/* Copyright (c) 2019 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
/**
* This 2023-2024 OpMode illustrates the basics of TensorFlow Object Detection, using
* the easiest way.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@TeleOp(name = "Concept: TensorFlow Object Detection Easy", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetectionEasy extends LinearOpMode {
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
/**
* {@link #tfod} is the variable to store our instance of the TensorFlow Object Detection processor.
*/
private TfodProcessor tfod;
/**
* {@link #visionPortal} is the variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@Override
public void runOpMode() {
initTfod();
// Wait for the DS start button to be touched.
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
telemetryTfod();
// Push telemetry to the Driver Station.
telemetry.update();
// Save CPU resources; can resume streaming when needed.
if (gamepad1.dpad_down) {
visionPortal.stopStreaming();
} else if (gamepad1.dpad_up) {
visionPortal.resumeStreaming();
}
// Share the CPU.
sleep(20);
}
}
// Save more CPU resources when camera is no longer needed.
visionPortal.close();
} // end runOpMode()
/**
* Initialize the TensorFlow Object Detection processor.
*/
private void initTfod() {
// Create the TensorFlow processor the easy way.
tfod = TfodProcessor.easyCreateWithDefaults();
// Create the vision portal the easy way.
if (USE_WEBCAM) {
visionPortal = VisionPortal.easyCreateWithDefaults(
hardwareMap.get(WebcamName.class, "Webcam 1"), tfod);
} else {
visionPortal = VisionPortal.easyCreateWithDefaults(
BuiltinCameraDirection.BACK, tfod);
}
} // end method initTfod()
/**
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
*/
private void telemetryTfod() {
List<Recognition> currentRecognitions = tfod.getRecognitions();
telemetry.addData("# Objects Detected", currentRecognitions.size());
// Step through the list of recognitions and display info for each one.
for (Recognition recognition : currentRecognitions) {
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
telemetry.addData(""," ");
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
telemetry.addData("- Position", "%.0f / %.0f", x, y);
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
} // end for() loop
} // end method telemetryTfod()
} // end class

243
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java vendored
View File

@ -34,191 +34,152 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.SwitchableCamera;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.VisionPortal.CameraState;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
/**
* This 2022-2023 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine which image is being presented to the robot.
* This 2023-2024 OpMode illustrates the basics of TensorFlow Object Detection, using
* two webcams.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@TeleOp(name = "Concept: TensorFlow Object Detection Switchable Cameras", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode {
/*
* Specify the source for the Tensor Flow Model.
* If the TensorFlowLite object model is included in the Robot Controller App as an "asset",
* the OpMode must to load it using loadModelFromAsset(). However, if a team generated model
* has been downloaded to the Robot Controller's SD FLASH memory, it must to be loaded using loadModelFromFile()
* Here we assume it's an Asset. Also see method initTfod() below .
*/
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
// private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/CustomTeamModel.tflite";
private static final String[] LABELS = {
"1 Bolt",
"2 Bulb",
"3 Panel"
};
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
private VuforiaLocalizer vuforia;
/**
* Variables used for switching cameras.
*/
private WebcamName webcam1, webcam2;
private SwitchableCamera switchableCamera;
private boolean oldLeftBumper;
private boolean oldRightBumper;
/**
* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
* Detection engine.
* {@link #tfod} is the variable to store our instance of the TensorFlow Object Detection processor.
*/
private TFObjectDetector tfod;
private TfodProcessor tfod;
/**
* {@link #visionPortal} is the variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@Override
public void runOpMode() {
// The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
// first.
initVuforia();
initTfod();
/**
* Activate TensorFlow Object Detection before we wait for the start command.
* Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
**/
if (tfod != null) {
tfod.activate();
// The TensorFlow software will scale the input images from the camera to a lower resolution.
// This can result in lower detection accuracy at longer distances (> 55cm or 22").
// If your target is at distance greater than 50 cm (20") you can increase the magnification value
// to artificially zoom in to the center of image. For best results, the "aspectRatio" argument
// should be set to the value of the images used to create the TensorFlow Object Detection model
// (typically 16/9).
tfod.setZoom(1.0, 16.0/9.0);
}
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start op mode");
// Wait for the DS start button to be touched.
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
if (tfod != null) {
doCameraSwitching();
List<Recognition> recognitions = tfod.getRecognitions();
telemetry.addData("# Objects Detected", recognitions.size());
// step through the list of recognitions and display image size and position
// Note: "Image number" refers to the randomized image orientation/number
for (Recognition recognition : recognitions) {
double col = (recognition.getLeft() + recognition.getRight()) / 2 ;
double row = (recognition.getTop() + recognition.getBottom()) / 2 ;
double width = Math.abs(recognition.getRight() - recognition.getLeft()) ;
double height = Math.abs(recognition.getTop() - recognition.getBottom()) ;
telemetry.addData(""," ");
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100 );
telemetry.addData("- Position (Row/Col)","%.0f / %.0f", row, col);
telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
}
telemetry.update();
telemetryCameraSwitching();
telemetryTfod();
// Push telemetry to the Driver Station.
telemetry.update();
// Save CPU resources; can resume streaming when needed.
if (gamepad1.dpad_down) {
visionPortal.stopStreaming();
} else if (gamepad1.dpad_up) {
visionPortal.resumeStreaming();
}
doCameraSwitching();
// Share the CPU.
sleep(20);
}
}
}
// Save more CPU resources when camera is no longer needed.
visionPortal.close();
} // end runOpMode()
/**
* Initialize the Vuforia localization engine.
*/
private void initVuforia() {
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
*/
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// Indicate that we wish to be able to switch cameras.
webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
parameters.cameraName = ClassFactory.getInstance().getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Set the active camera to Webcam 1.
switchableCamera = (SwitchableCamera) vuforia.getCamera();
switchableCamera.setActiveCamera(webcam1);
}
/**
* Initialize the TensorFlow Object Detection engine.
* Initialize the TensorFlow Object Detection processor.
*/
private void initTfod() {
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.75f;
tfodParameters.isModelTensorFlow2 = true;
tfodParameters.inputSize = 300;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
// Use loadModelFromAsset() if the TF Model is built in as an asset by Android Studio
// Use loadModelFromFile() if you have downloaded a custom team model to the Robot Controller's FLASH.
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
// tfod.loadModelFromFile(TFOD_MODEL_FILE, LABELS);
}
// Create the TensorFlow processor by using a builder.
tfod = new TfodProcessor.Builder().build();
private void doCameraSwitching() {
// If the left bumper is pressed, use Webcam 1.
// If the right bumper is pressed, use Webcam 2.
boolean newLeftBumper = gamepad1.left_bumper;
boolean newRightBumper = gamepad1.right_bumper;
if (newLeftBumper && !oldLeftBumper) {
switchableCamera.setActiveCamera(webcam1);
} else if (newRightBumper && !oldRightBumper) {
switchableCamera.setActiveCamera(webcam2);
}
oldLeftBumper = newLeftBumper;
oldRightBumper = newRightBumper;
webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
CameraName switchableCamera = ClassFactory.getInstance()
.getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
if (switchableCamera.getActiveCamera().equals(webcam1)) {
// Create the vision portal by using a builder.
visionPortal = new VisionPortal.Builder()
.setCamera(switchableCamera)
.addProcessor(tfod)
.build();
} // end method initTfod()
/**
* Function to add telemetry about camera switching.
*/
private void telemetryCameraSwitching() {
if (visionPortal.getActiveCamera().equals(webcam1)) {
telemetry.addData("activeCamera", "Webcam 1");
telemetry.addData("Press RightBumper", "to switch to Webcam 2");
} else {
telemetry.addData("activeCamera", "Webcam 2");
telemetry.addData("Press LeftBumper", "to switch to Webcam 1");
}
}
}
} // end method telemetryCameraSwitching()
/**
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
*/
private void telemetryTfod() {
List<Recognition> currentRecognitions = tfod.getRecognitions();
telemetry.addData("# Objects Detected", currentRecognitions.size());
// Step through the list of recognitions and display info for each one.
for (Recognition recognition : currentRecognitions) {
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
telemetry.addData(""," ");
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
telemetry.addData("- Position", "%.0f / %.0f", x, y);
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
} // end for() loop
} // end method telemetryTfod()
/**
* Function to set the active camera according to input from the gamepad.
*/
private void doCameraSwitching() {
if (visionPortal.getCameraState() == CameraState.STREAMING) {
// If the left bumper is pressed, use Webcam 1.
// If the right bumper is pressed, use Webcam 2.
boolean newLeftBumper = gamepad1.left_bumper;
boolean newRightBumper = gamepad1.right_bumper;
if (newLeftBumper && !oldLeftBumper) {
visionPortal.setActiveCamera(webcam1);
} else if (newRightBumper && !oldRightBumper) {
visionPortal.setActiveCamera(webcam2);
}
oldLeftBumper = newLeftBumper;
oldRightBumper = newRightBumper;
}
} // end method doCameraSwitching()
} // end class

190
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionWebcam.java vendored
View File

@ -1,190 +0,0 @@
/* Copyright (c) 2019 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
/**
* This 2022-2023 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine which image is being presented to the robot.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name = "Concept: TensorFlow Object Detection Webcam", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetectionWebcam extends LinearOpMode {
/*
* Specify the source for the Tensor Flow Model.
* If the TensorFlowLite object model is included in the Robot Controller App as an "asset",
* the OpMode must to load it using loadModelFromAsset(). However, if a team generated model
* has been downloaded to the Robot Controller's SD FLASH memory, it must to be loaded using loadModelFromFile()
* Here we assume it's an Asset. Also see method initTfod() below .
*/
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
// private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/CustomTeamModel.tflite";
private static final String[] LABELS = {
"1 Bolt",
"2 Bulb",
"3 Panel"
};
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
private VuforiaLocalizer vuforia;
/**
* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
* Detection engine.
*/
private TFObjectDetector tfod;
@Override
public void runOpMode() {
// The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
// first.
initVuforia();
initTfod();
/**
* Activate TensorFlow Object Detection before we wait for the start command.
* Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
**/
if (tfod != null) {
tfod.activate();
// The TensorFlow software will scale the input images from the camera to a lower resolution.
// This can result in lower detection accuracy at longer distances (> 55cm or 22").
// If your target is at distance greater than 50 cm (20") you can increase the magnification value
// to artificially zoom in to the center of image. For best results, the "aspectRatio" argument
// should be set to the value of the images used to create the TensorFlow Object Detection model
// (typically 16/9).
tfod.setZoom(1.0, 16.0/9.0);
}
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start op mode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
if (tfod != null) {
// getUpdatedRecognitions() will return null if no new information is available since
// the last time that call was made.
List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
if (updatedRecognitions != null) {
telemetry.addData("# Objects Detected", updatedRecognitions.size());
// step through the list of recognitions and display image position/size information for each one
// Note: "Image number" refers to the randomized image orientation/number
for (Recognition recognition : updatedRecognitions) {
double col = (recognition.getLeft() + recognition.getRight()) / 2 ;
double row = (recognition.getTop() + recognition.getBottom()) / 2 ;
double width = Math.abs(recognition.getRight() - recognition.getLeft()) ;
double height = Math.abs(recognition.getTop() - recognition.getBottom()) ;
telemetry.addData(""," ");
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100 );
telemetry.addData("- Position (Row/Col)","%.0f / %.0f", row, col);
telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
}
telemetry.update();
}
}
}
}
}
/**
* Initialize the Vuforia localization engine.
*/
private void initVuforia() {
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
*/
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
}
/**
* Initialize the TensorFlow Object Detection engine.
*/
private void initTfod() {
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.75f;
tfodParameters.isModelTensorFlow2 = true;
tfodParameters.inputSize = 300;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
// Use loadModelFromAsset() if the TF Model is built in as an asset by Android Studio
// Use loadModelFromFile() if you have downloaded a custom team model to the Robot Controller's FLASH.
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
// tfod.loadModelFromFile(TFOD_MODEL_FILE, LABELS);
}
}

186
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentification.java vendored
View File

@ -1,186 +0,0 @@
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark;
import org.firstinspires.ftc.robotcore.external.navigation.VuMarkInstanceId;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
/**
* This OpMode illustrates the basics of using the Vuforia engine to determine
* the identity of Vuforia VuMarks encountered on the field. The code is structured as
* a LinearOpMode. It shares much structure with {@link ConceptVuforiaFieldNavigation}; we do not here
* duplicate the core Vuforia documentation found there, but rather instead focus on the
* differences between the use of Vuforia for navigation vs VuMark identification.
*
* @see ConceptVuforiaFieldNavigation
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name="Concept: VuMark Id", group ="Concept")
@Disabled
public class ConceptVuMarkIdentification extends LinearOpMode {
public static final String TAG = "Vuforia VuMark Sample";
OpenGLMatrix lastLocation = null;
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
VuforiaLocalizer vuforia;
@Override public void runOpMode() {
/*
* To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// OR... Do Not Activate the Camera Monitor View, to save power
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/*
* We also indicate which camera on the RC that we wish to use.
* Here we chose the back (HiRes) camera (for greater range), but
* for a competition robot, the front camera might be more convenient.
*/
parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;
/**
* Instantiate the Vuforia engine
*/
vuforia = ClassFactory.getInstance().createVuforia(parameters);
/**
* Load the data set containing the VuMarks for Relic Recovery. There's only one trackable
* in this data set: all three of the VuMarks in the game were created from this one template,
* but differ in their instance id information.
* @see VuMarkInstanceId
*/
VuforiaTrackables relicTrackables = this.vuforia.loadTrackablesFromAsset("RelicVuMark");
VuforiaTrackable relicTemplate = relicTrackables.get(0);
relicTemplate.setName("relicVuMarkTemplate"); // can help in debugging; otherwise not necessary
telemetry.addData(">", "Press Play to start");
telemetry.update();
waitForStart();
relicTrackables.activate();
while (opModeIsActive()) {
/**
* See if any of the instances of {@link relicTemplate} are currently visible.
* {@link RelicRecoveryVuMark} is an enum which can have the following values:
* UNKNOWN, LEFT, CENTER, and RIGHT. When a VuMark is visible, something other than
* UNKNOWN will be returned by {@link RelicRecoveryVuMark#from(VuforiaTrackable)}.
*/
RelicRecoveryVuMark vuMark = RelicRecoveryVuMark.from(relicTemplate);
if (vuMark != RelicRecoveryVuMark.UNKNOWN) {
/* Found an instance of the template. In the actual game, you will probably
* loop until this condition occurs, then move on to act accordingly depending
* on which VuMark was visible. */
telemetry.addData("VuMark", "%s visible", vuMark);
/* For fun, we also exhibit the navigational pose. In the Relic Recovery game,
* it is perhaps unlikely that you will actually need to act on this pose information, but
* we illustrate it nevertheless, for completeness. */
OpenGLMatrix pose = ((VuforiaTrackableDefaultListener)relicTemplate.getListener()).getPose();
telemetry.addData("Pose", format(pose));
/* We further illustrate how to decompose the pose into useful rotational and
* translational components */
if (pose != null) {
VectorF trans = pose.getTranslation();
Orientation rot = Orientation.getOrientation(pose, AxesReference.EXTRINSIC, AxesOrder.XYZ, AngleUnit.DEGREES);
// Extract the X, Y, and Z components of the offset of the target relative to the robot
double tX = trans.get(0);
double tY = trans.get(1);
double tZ = trans.get(2);
// Extract the rotational components of the target relative to the robot
double rX = rot.firstAngle;
double rY = rot.secondAngle;
double rZ = rot.thirdAngle;
}
}
else {
telemetry.addData("VuMark", "not visible");
}
telemetry.update();
}
}
String format(OpenGLMatrix transformationMatrix) {
return (transformationMatrix != null) ? transformationMatrix.formatAsTransform() : "null";
}
}

194
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentificationWebcam.java vendored
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/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark;
import org.firstinspires.ftc.robotcore.external.navigation.VuMarkInstanceId;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
/**
* This OpMode illustrates the basics of using the Vuforia engine to determine
* the identity of Vuforia VuMarks encountered on the field. The code is structured as
* a LinearOpMode. It shares much structure with {@link ConceptVuforiaFieldNavigationWebcam}; we do not here
* duplicate the core Vuforia documentation found there, but rather instead focus on the
* differences between the use of Vuforia for navigation vs VuMark identification.
*
* @see ConceptVuforiaFieldNavigationWebcam
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below
*/
@TeleOp(name="Concept: VuMark Id Webcam", group ="Concept")
@Disabled
public class ConceptVuMarkIdentificationWebcam extends LinearOpMode {
public static final String TAG = "Vuforia VuMark Sample";
OpenGLMatrix lastLocation = null;
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
VuforiaLocalizer vuforia;
/**
* This is the webcam we are to use. As with other hardware devices such as motors and
* servos, this device is identified using the robot configuration tool in the FTC application.
*/
WebcamName webcamName;
@Override public void runOpMode() {
/*
* Retrieve the camera we are to use.
*/
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
/*
* To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
* If no camera monitor is desired, use the parameterless constructor instead (commented out below).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// OR... Do Not Activate the Camera Monitor View, to save power
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/**
* We also indicate which camera on the RC we wish to use. For pedagogical purposes,
* we use the same logic as in {@link ConceptVuforiaNavigationWebcam}.
*/
parameters.cameraName = webcamName;
this.vuforia = ClassFactory.getInstance().createVuforia(parameters);
/**
* Load the data set containing the VuMarks for Relic Recovery. There's only one trackable
* in this data set: all three of the VuMarks in the game were created from this one template,
* but differ in their instance id information.
* @see VuMarkInstanceId
*/
VuforiaTrackables relicTrackables = this.vuforia.loadTrackablesFromAsset("RelicVuMark");
VuforiaTrackable relicTemplate = relicTrackables.get(0);
relicTemplate.setName("relicVuMarkTemplate"); // can help in debugging; otherwise not necessary
telemetry.addData(">", "Press Play to start");
telemetry.update();
waitForStart();
relicTrackables.activate();
while (opModeIsActive()) {
/**
* See if any of the instances of {@link relicTemplate} are currently visible.
* {@link RelicRecoveryVuMark} is an enum which can have the following values:
* UNKNOWN, LEFT, CENTER, and RIGHT. When a VuMark is visible, something other than
* UNKNOWN will be returned by {@link RelicRecoveryVuMark#from(VuforiaTrackable)}.
*/
RelicRecoveryVuMark vuMark = RelicRecoveryVuMark.from(relicTemplate);
if (vuMark != RelicRecoveryVuMark.UNKNOWN) {
/* Found an instance of the template. In the actual game, you will probably
* loop until this condition occurs, then move on to act accordingly depending
* on which VuMark was visible. */
telemetry.addData("VuMark", "%s visible", vuMark);
/* For fun, we also exhibit the navigational pose. In the Relic Recovery game,
* it is perhaps unlikely that you will actually need to act on this pose information, but
* we illustrate it nevertheless, for completeness. */
OpenGLMatrix pose = ((VuforiaTrackableDefaultListener)relicTemplate.getListener()).getFtcCameraFromTarget();
telemetry.addData("Pose", format(pose));
/* We further illustrate how to decompose the pose into useful rotational and
* translational components */
if (pose != null) {
VectorF trans = pose.getTranslation();
Orientation rot = Orientation.getOrientation(pose, AxesReference.EXTRINSIC, AxesOrder.XYZ, AngleUnit.DEGREES);
// Extract the X, Y, and Z components of the offset of the target relative to the robot
double tX = trans.get(0);
double tY = trans.get(1);
double tZ = trans.get(2);
// Extract the rotational components of the target relative to the robot
double rX = rot.firstAngle;
double rY = rot.secondAngle;
double rZ = rot.thirdAngle;
}
}
else {
telemetry.addData("VuMark", "not visible");
}
telemetry.update();
}
}
String format(OpenGLMatrix transformationMatrix) {
return (transformationMatrix != null) ? transformationMatrix.formatAsTransform() : "null";
}
}

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@ -1,203 +0,0 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.Range;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
/**
* This OpMode illustrates using a webcam to locate and drive towards ANY Vuforia target.
* The code assumes a basic two-wheel Robot Configuration with motors named left_drive and right_drive.
* The motor directions must be set so a positive drive goes forward and a positive turn rotates to the right.
*
* Under manual control, the left stick will move forward/back, and the right stick will turn left/right.
* This is called POV Joystick mode, different than Tank Drive (where each joystick controls a wheel).
* Manually drive the robot until it displays Target data on the Driver Station.
* Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode.
* Release the Left Bumper to return to manual driving mode.
*
* Use DESIRED_DISTANCE to set how close you want the robot to get to the target.
* Speed and Turn sensitivity can be adjusted using the SPEED_GAIN and TURN_GAIN constants.
*
* For more Vuforia details, or to adapt this OpMode for a phone camera, view the
* ConceptVuforiaFieldNavigation and ConceptVuforiaFieldNavigationWebcam samples.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name="Drive To Target", group = "Concept")
@Disabled
public class ConceptVuforiaDriveToTargetWebcam extends LinearOpMode
{
// Adjust these numbers to suit your robot.
final double DESIRED_DISTANCE = 8.0; // this is how close the camera should get to the target (inches)
// The GAIN constants set the relationship between the measured position error,
// and how much power is applied to the drive motors. Drive = Error * Gain
// Make these values smaller for smoother control.
final double SPEED_GAIN = 0.02 ; // Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error. (0.50 / 25.0)
final double TURN_GAIN = 0.01 ; // Turn Control "Gain". eg: Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
final double MM_PER_INCH = 25.40 ; // Metric conversion
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" --- YOUR NEW VUFORIA KEY GOES HERE --- ";
VuforiaLocalizer vuforia = null;
OpenGLMatrix targetPose = null;
String targetName = "";
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
@Override public void runOpMode()
{
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
* To get an on-phone camera preview, use the code below.
* If no camera preview is desired, use the parameter-less constructor instead (commented out below).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target.
parameters.useExtendedTracking = false;
// Connect to the camera we are to use. This name must match what is set up in Robot Configuration
parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");
this.vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Load the trackable objects from the Assets file, and give them meaningful names
VuforiaTrackables targetsPowerPlay = this.vuforia.loadTrackablesFromAsset("PowerPlay");
targetsPowerPlay.get(0).setName("Red Audience Wall");
targetsPowerPlay.get(1).setName("Red Rear Wall");
targetsPowerPlay.get(2).setName("Blue Audience Wall");
targetsPowerPlay.get(3).setName("Blue Rear Wall");
// Start tracking targets in the background
targetsPowerPlay.activate();
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must correspond to the names assigned during the robot configuration
// step (using the FTC Robot Controller app on the phone).
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
telemetry.addData(">", "Press Play to start");
telemetry.update();
waitForStart();
boolean targetFound = false; // Set to true when a target is detected by Vuforia
double targetRange = 0; // Distance from camera to target in Inches
double targetBearing = 0; // Robot Heading, relative to target. Positive degrees means target is to the right.
double drive = 0; // Desired forward power (-1 to +1)
double turn = 0; // Desired turning power (-1 to +1)
while (opModeIsActive())
{
// Look for first visible target, and save its pose.
targetFound = false;
for (VuforiaTrackable trackable : targetsPowerPlay)
{
if (((VuforiaTrackableDefaultListener) trackable.getListener()).isVisible())
{
targetPose = ((VuforiaTrackableDefaultListener)trackable.getListener()).getVuforiaCameraFromTarget();
// if we have a target, process the "pose" to determine the position of the target relative to the robot.
if (targetPose != null)
{
targetFound = true;
targetName = trackable.getName();
VectorF trans = targetPose.getTranslation();
// Extract the X & Y components of the offset of the target relative to the robot
double targetX = trans.get(0) / MM_PER_INCH; // Image X axis
double targetY = trans.get(2) / MM_PER_INCH; // Image Z axis
// target range is based on distance from robot position to origin (right triangle).
targetRange = Math.hypot(targetX, targetY);
// target bearing is based on angle formed between the X axis and the target range line
targetBearing = Math.toDegrees(Math.asin(targetX / targetRange));
break; // jump out of target tracking loop if we find a target.
}
}
}
// Tell the driver what we see, and what to do.
if (targetFound) {
telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n");
telemetry.addData("Target", " %s", targetName);
telemetry.addData("Range", "%5.1f inches", targetRange);
telemetry.addData("Bearing","%3.0f degrees", targetBearing);
} else {
telemetry.addData(">","Drive using joystick to find target\n");
}
// Drive to target Automatically if Left Bumper is being pressed, AND we have found a target.
if (gamepad1.left_bumper && targetFound) {
// Determine heading and range error so we can use them to control the robot automatically.
double rangeError = (targetRange - DESIRED_DISTANCE);
double headingError = targetBearing;
// Use the speed and turn "gains" to calculate how we want the robot to move.
drive = rangeError * SPEED_GAIN;
turn = headingError * TURN_GAIN ;
telemetry.addData("Auto","Drive %5.2f, Turn %5.2f", drive, turn);
} else {
// drive using manual POV Joystick mode.
drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%.
turn = gamepad1.right_stick_x / 4.0; // Reduce turn rate to 25%.
telemetry.addData("Manual","Drive %5.2f, Turn %5.2f", drive, turn);
}
telemetry.update();
// Calculate left and right wheel powers and send to them to the motors.
double leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
double rightPower = Range.clip(drive - turn, -1.0, 1.0) ;
leftDrive.setPower(leftPower);
rightDrive.setPower(rightPower);
sleep(10);
}
}
}

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@ -1,283 +0,0 @@
/* Copyright (c) 2019 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
import java.util.ArrayList;
import java.util.List;
import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.YZX;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC;
import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection.BACK;
/**
* This OpMode illustrates using the Vuforia localizer to determine positioning and orientation of
* robot on the FTC field using the RC phone's camera. The code is structured as a LinearOpMode
*
* Note: If you are using a WEBCAM see ConceptVuforiaFieldNavigationWebcam.java
*
* When images are located, Vuforia is able to determine the position and orientation of the
* image relative to the camera. This sample code then combines that information with a
* knowledge of where the target images are on the field, to determine the location of the camera.
*
* Finally, the location of the camera on the robot is used to determine the
* robot's location and orientation on the field.
*
* To learn more about the FTC field coordinate model, see FTC_FieldCoordinateSystemDefinition.pdf in this folder
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name="Vuforia Field Nav", group ="Concept")
@Disabled
public class ConceptVuforiaFieldNavigation extends LinearOpMode {
// IMPORTANT: For Phone Camera, set 1) the camera source and 2) the orientation, based on how your phone is mounted:
// 1) Camera Source. Valid choices are: BACK (behind screen) or FRONT (selfie side)
// 2) Phone Orientation. Choices are: PHONE_IS_PORTRAIT = true (portrait) or PHONE_IS_PORTRAIT = false (landscape)
private static final VuforiaLocalizer.CameraDirection CAMERA_CHOICE = BACK;
private static final boolean PHONE_IS_PORTRAIT = false ;
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" -- YOUR NEW VUFORIA KEY GOES HERE --- ";
// Since ImageTarget trackables use mm to specifiy their dimensions, we must use mm for all the physical dimension.
// We will define some constants and conversions here. These are useful for the FTC competition field.
private static final float mmPerInch = 25.4f;
private static final float mmTargetHeight = 6 * mmPerInch; // the height of the center of the target image above the floor
private static final float halfField = 72 * mmPerInch;
private static final float halfTile = 12 * mmPerInch;
private static final float oneAndHalfTile = 36 * mmPerInch;
// Class Members
private OpenGLMatrix lastLocation = null;
private VuforiaLocalizer vuforia = null;
private VuforiaTrackables targets = null ;
private boolean targetVisible = false;
private float phoneXRotate = 0;
private float phoneYRotate = 0;
private float phoneZRotate = 0;
@Override public void runOpMode() {
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
* To get an on-phone camera preview, use the code below.
* If no camera preview is desired, use the parameter-less constructor instead (commented out below).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
parameters.cameraDirection = CAMERA_CHOICE;
// Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target.
parameters.useExtendedTracking = false;
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Load the trackable assets.
targets = this.vuforia.loadTrackablesFromAsset("PowerPlay");
// For convenience, gather together all the trackable objects in one easily-iterable collection */
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
allTrackables.addAll(targets);
/**
* In order for localization to work, we need to tell the system where each target is on the field, and
* where the phone resides on the robot. These specifications are in the form of <em>transformation matrices.</em>
* Transformation matrices are a central, important concept in the math here involved in localization.
* See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
* for detailed information. Commonly, you'll encounter transformation matrices as instances
* of the {@link OpenGLMatrix} class.
*
* If you are standing in the Red Alliance Station looking towards the center of the field,
* - The X axis runs from your left to the right. (positive from the center to the right)
* - The Y axis runs from the Red Alliance Station towards the other side of the field
* where the Blue Alliance Station is. (Positive is from the center, towards the BlueAlliance station)
* - The Z axis runs from the floor, upwards towards the ceiling. (Positive is above the floor)
*
* Before being transformed, each target image is conceptually located at the origin of the field's
* coordinate system (the center of the field), facing up.
*/
// Name and locate each trackable object
identifyTarget(0, "Red Audience Wall", -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90);
identifyTarget(1, "Red Rear Wall", halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, -90);
identifyTarget(2, "Blue Audience Wall", -halfField, oneAndHalfTile, mmTargetHeight, 90, 0, 90);
identifyTarget(3, "Blue Rear Wall", halfField, oneAndHalfTile, mmTargetHeight, 90, 0, -90);
/*
* Create a transformation matrix describing where the phone is on the robot.
*
* NOTE !!!! It's very important that you turn OFF your phone's Auto-Screen-Rotation option.
* Lock it into Portrait for these numbers to work.
*
* Info: The coordinate frame for the robot looks the same as the field.
* The robot's "forward" direction is facing out along X axis, with the LEFT side facing out along the Y axis.
* Z is UP on the robot. This equates to a heading angle of Zero degrees.
*
* The phone starts out lying flat, with the screen facing Up and with the physical top of the phone
* pointing to the LEFT side of the Robot.
* The two examples below assume that the camera is facing forward out the front of the robot.
*/
// We need to rotate the camera around its long axis to bring the correct camera forward.
if (CAMERA_CHOICE == BACK) {
phoneYRotate = -90;
} else {
phoneYRotate = 90;
}
// Rotate the phone vertical about the X axis if it's in portrait mode
if (PHONE_IS_PORTRAIT) {
phoneXRotate = 90 ;
}
// Next, translate the camera lens to where it is on the robot.
// In this example, it is centered on the robot (left-to-right and front-to-back), and 6 inches above ground level.
final float CAMERA_FORWARD_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the forward distance from the center of the robot to the camera lens
final float CAMERA_VERTICAL_DISPLACEMENT = 6.0f * mmPerInch; // eg: Camera is 6 Inches above ground
final float CAMERA_LEFT_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the left distance from the center of the robot to the camera lens
OpenGLMatrix robotFromCamera = OpenGLMatrix
.translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, YZX, DEGREES, phoneYRotate, phoneZRotate, phoneXRotate));
/** Let all the trackable listeners know where the phone is. */
for (VuforiaTrackable trackable : allTrackables) {
((VuforiaTrackableDefaultListener) trackable.getListener()).setPhoneInformation(robotFromCamera, parameters.cameraDirection);
}
/*
* WARNING:
* In this sample, we do not wait for PLAY to be pressed. Target Tracking is started immediately when INIT is pressed.
* This sequence is used to enable the new remote DS Camera Stream feature to be used with this sample.
* CONSEQUENTLY do not put any driving commands in this loop.
* To restore the normal opmode structure, just un-comment the following line:
*/
// waitForStart();
/* Note: To use the remote camera preview:
* AFTER you hit Init on the Driver Station, use the "options menu" to select "Camera Stream"
* Tap the preview window to receive a fresh image.
* It is not permitted to transition to RUN while the camera preview window is active.
* Either press STOP to exit the OpMode, or use the "options menu" again, and select "Camera Stream" to close the preview window.
*/
targets.activate();
while (!isStopRequested()) {
// check all the trackable targets to see which one (if any) is visible.
targetVisible = false;
for (VuforiaTrackable trackable : allTrackables) {
if (((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible()) {
telemetry.addData("Visible Target", trackable.getName());
targetVisible = true;
// getUpdatedRobotLocation() will return null if no new information is available since
// the last time that call was made, or if the trackable is not currently visible.
OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
if (robotLocationTransform != null) {
lastLocation = robotLocationTransform;
}
break;
}
}
// Provide feedback as to where the robot is located (if we know).
if (targetVisible) {
// express position (translation) of robot in inches.
VectorF translation = lastLocation.getTranslation();
telemetry.addData("Pos (inches)", "{X, Y, Z} = %.1f, %.1f, %.1f",
translation.get(0) / mmPerInch, translation.get(1) / mmPerInch, translation.get(2) / mmPerInch);
// express the rotation of the robot in degrees.
Orientation rotation = Orientation.getOrientation(lastLocation, EXTRINSIC, XYZ, DEGREES);
telemetry.addData("Rot (deg)", "{Roll, Pitch, Heading} = %.0f, %.0f, %.0f", rotation.firstAngle, rotation.secondAngle, rotation.thirdAngle);
}
else {
telemetry.addData("Visible Target", "none");
}
telemetry.update();
}
// Disable Tracking when we are done;
targets.deactivate();
}
/***
* Identify a target by naming it, and setting its position and orientation on the field
* @param targetIndex
* @param targetName
* @param dx, dy, dz Target offsets in x,y,z axes
* @param rx, ry, rz Target rotations in x,y,z axes
*/
void identifyTarget(int targetIndex, String targetName, float dx, float dy, float dz, float rx, float ry, float rz) {
VuforiaTrackable aTarget = targets.get(targetIndex);
aTarget.setName(targetName);
aTarget.setLocation(OpenGLMatrix.translation(dx, dy, dz)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, rx, ry, rz)));
}
}

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@ -1,274 +0,0 @@
/* Copyright (c) 2019 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
import java.util.ArrayList;
import java.util.List;
import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XZY;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC;
/**
* This OpMode illustrates using the Vuforia localizer to determine positioning and orientation of
* robot on the FTC field using a WEBCAM. The code is structured as a LinearOpMode
*
* NOTE: If you are running on a Phone with a built-in camera, use the ConceptVuforiaFieldNavigation example instead of this one.
* NOTE: It is possible to switch between multiple WebCams (eg: one for the left side and one for the right).
* For a related example of how to do this, see ConceptTensorFlowObjectDetectionSwitchableCameras
*
* When images are located, Vuforia is able to determine the position and orientation of the
* image relative to the camera. This sample code then combines that information with a
* knowledge of where the target images are on the field, to determine the location of the camera.
*
* Finally, the location of the camera on the robot is used to determine the
* robot's location and orientation on the field.
*
* To learn more about the FTC field coordinate model, see FTC_FieldCoordinateSystemDefinition.pdf in this folder
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name="Vuforia Field Nav Webcam", group ="Concept")
@Disabled
public class ConceptVuforiaFieldNavigationWebcam extends LinearOpMode {
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" --- YOUR NEW VUFORIA KEY GOES HERE --- ";
// Since ImageTarget trackables use mm to specifiy their dimensions, we must use mm for all the physical dimension.
// We will define some constants and conversions here
private static final float mmPerInch = 25.4f;
private static final float mmTargetHeight = 6 * mmPerInch; // the height of the center of the target image above the floor
private static final float halfField = 72 * mmPerInch;
private static final float halfTile = 12 * mmPerInch;
private static final float oneAndHalfTile = 36 * mmPerInch;
// Class Members
private OpenGLMatrix lastLocation = null;
private VuforiaLocalizer vuforia = null;
private VuforiaTrackables targets = null ;
private WebcamName webcamName = null;
private boolean targetVisible = false;
@Override public void runOpMode() {
// Connect to the camera we are to use. This name must match what is set up in Robot Configuration
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
* We can pass Vuforia the handle to a camera preview resource (on the RC screen);
* If no camera-preview is desired, use the parameter-less constructor instead (commented out below).
* Note: A preview window is required if you want to view the camera stream on the Driver Station Phone.
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// We also indicate which camera we wish to use.
parameters.cameraName = webcamName;
// Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target.
parameters.useExtendedTracking = false;
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Load the data sets for the trackable objects. These particular data
// sets are stored in the 'assets' part of our application.
targets = this.vuforia.loadTrackablesFromAsset("PowerPlay");
// For convenience, gather together all the trackable objects in one easily-iterable collection */
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
allTrackables.addAll(targets);
/**
* In order for localization to work, we need to tell the system where each target is on the field, and
* where the phone resides on the robot. These specifications are in the form of <em>transformation matrices.</em>
* Transformation matrices are a central, important concept in the math here involved in localization.
* See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
* for detailed information. Commonly, you'll encounter transformation matrices as instances
* of the {@link OpenGLMatrix} class.
*
* If you are standing in the Red Alliance Station looking towards the center of the field,
* - The X axis runs from your left to the right. (positive from the center to the right)
* - The Y axis runs from the Red Alliance Station towards the other side of the field
* where the Blue Alliance Station is. (Positive is from the center, towards the BlueAlliance station)
* - The Z axis runs from the floor, upwards towards the ceiling. (Positive is above the floor)
*
* Before being transformed, each target image is conceptually located at the origin of the field's
* coordinate system (the center of the field), facing up.
*/
// Name and locate each trackable object
identifyTarget(0, "Red Audience Wall", -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90);
identifyTarget(1, "Red Rear Wall", halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, -90);
identifyTarget(2, "Blue Audience Wall", -halfField, oneAndHalfTile, mmTargetHeight, 90, 0, 90);
identifyTarget(3, "Blue Rear Wall", halfField, oneAndHalfTile, mmTargetHeight, 90, 0, -90);
/*
* Create a transformation matrix describing where the camera is on the robot.
*
* Info: The coordinate frame for the robot looks the same as the field.
* The robot's "forward" direction is facing out along X axis, with the LEFT side facing out along the Y axis.
* Z is UP on the robot. This equates to a bearing angle of Zero degrees.
*
* For a WebCam, the default starting orientation of the camera is looking UP (pointing in the Z direction),
* with the wide (horizontal) axis of the camera aligned with the X axis, and
* the Narrow (vertical) axis of the camera aligned with the Y axis
*
* But, this example assumes that the camera is actually facing forward out the front of the robot.
* So, the "default" camera position requires two rotations to get it oriented correctly.
* 1) First it must be rotated +90 degrees around the X axis to get it horizontal (its now facing out the right side of the robot)
* 2) Next it must be be rotated +90 degrees (counter-clockwise) around the Z axis to face forward.
*
* Finally the camera can be translated to its actual mounting position on the robot.
* In this example, it is centered on the robot (left-to-right and front-to-back), and 6 inches above ground level.
*/
final float CAMERA_FORWARD_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the forward distance from the center of the robot to the camera lens
final float CAMERA_VERTICAL_DISPLACEMENT = 6.0f * mmPerInch; // eg: Camera is 6 Inches above ground
final float CAMERA_LEFT_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the left distance from the center of the robot to the camera lens
OpenGLMatrix cameraLocationOnRobot = OpenGLMatrix
.translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XZY, DEGREES, 90, 90, 0));
/** Let all the trackable listeners know where the camera is. */
for (VuforiaTrackable trackable : allTrackables) {
((VuforiaTrackableDefaultListener) trackable.getListener()).setCameraLocationOnRobot(parameters.cameraName, cameraLocationOnRobot);
}
/*
* WARNING:
* In this sample, we do not wait for PLAY to be pressed. Target Tracking is started immediately when INIT is pressed.
* This sequence is used to enable the new remote DS Camera Preview feature to be used with this sample.
* CONSEQUENTLY do not put any driving commands in this loop.
* To restore the normal opmode structure, just un-comment the following line:
*/
// waitForStart();
/* Note: To use the remote camera preview:
* AFTER you hit Init on the Driver Station, use the "options menu" to select "Camera Stream"
* Tap the preview window to receive a fresh image.
* It is not permitted to transition to RUN while the camera preview window is active.
* Either press STOP to exit the OpMode, or use the "options menu" again, and select "Camera Stream" to close the preview window.
*/
targets.activate();
while (!isStopRequested()) {
// check all the trackable targets to see which one (if any) is visible.
targetVisible = false;
for (VuforiaTrackable trackable : allTrackables) {
if (((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible()) {
telemetry.addData("Visible Target", trackable.getName());
targetVisible = true;
// getUpdatedRobotLocation() will return null if no new information is available since
// the last time that call was made, or if the trackable is not currently visible.
OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
if (robotLocationTransform != null) {
lastLocation = robotLocationTransform;
}
break;
}
}
// Provide feedback as to where the robot is located (if we know).
if (targetVisible) {
// express position (translation) of robot in inches.
VectorF translation = lastLocation.getTranslation();
telemetry.addData("Pos (inches)", "{X, Y, Z} = %.1f, %.1f, %.1f",
translation.get(0) / mmPerInch, translation.get(1) / mmPerInch, translation.get(2) / mmPerInch);
// express the rotation of the robot in degrees.
Orientation rotation = Orientation.getOrientation(lastLocation, EXTRINSIC, XYZ, DEGREES);
telemetry.addData("Rot (deg)", "{Roll, Pitch, Heading} = %.0f, %.0f, %.0f", rotation.firstAngle, rotation.secondAngle, rotation.thirdAngle);
}
else {
telemetry.addData("Visible Target", "none");
}
telemetry.update();
}
// Disable Tracking when we are done;
targets.deactivate();
}
/***
* Identify a target by naming it, and setting its position and orientation on the field
* @param targetIndex
* @param targetName
* @param dx, dy, dz Target offsets in x,y,z axes
* @param rx, ry, rz Target rotations in x,y,z axes
*/
void identifyTarget(int targetIndex, String targetName, float dx, float dy, float dz, float rx, float ry, float rz) {
VuforiaTrackable aTarget = targets.get(targetIndex);
aTarget.setName(targetName);
aTarget.setLocation(OpenGLMatrix.translation(dx, dy, dz)
.multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, rx, ry, rz)));
}
}

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FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByGyro_Linear.java vendored
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@ -72,7 +72,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
* The angle of movement/rotation is assumed to be a standardized rotation around the robot Z axis,
* which means that a Positive rotation is Counter Clockwise, looking down on the field.
* This is consistent with the FTC field coordinate conventions set out in the document:
* ftc_app\doc\tutorial\FTC_FieldCoordinateSystemDefinition.pdf
* https://ftc-docs.firstinspires.org/field-coordinate-system
*
* Control Approach.
*

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@ -0,0 +1,293 @@
/* Copyright (c) 2023 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.Range;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import java.util.List;
import java.util.concurrent.TimeUnit;
/**
* This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
* The code assumes a Holonomic (Mecanum or X Drive) Robot.
*
* The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and
* driving towards the tag to achieve the desired distance.
* To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
* You can determine the best Exposure and Gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
*
* The code assumes a Robot Configuration with motors named: leftfront_drive and rightfront_drive, leftback_drive and rightback_drive.
* The motor directions must be set so a positive power goes forward on all wheels.
* This sample assumes that the current game AprilTag Library (usually for the current season) is being loaded by default,
* so you should choose to approach a valid tag ID (usually starting at 0)
*
* Under manual control, the left stick will move forward/back & left/right. The right stick will rotate the robot.
* Manually drive the robot until it displays Target data on the Driver Station.
*
* Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode.
* Release the Left Bumper to return to manual driving mode.
*
* Under "Drive To Target" mode, the robot has three goals:
* 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.)
* 2) Strafe the robot towards the centerline of the Tag, so it approaches directly in front of the tag. (Use the Target Yaw to strafe the robot)
* 3) Drive towards the Tag to get to the desired distance. (Use Tag Range to drive the robot forward/backward)
*
* Use DESIRED_DISTANCE to set how close you want the robot to get to the target.
* Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants.
*
* Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
*/
@TeleOp(name="Omni Drive To AprilTag", group = "Concept")
@Disabled
public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
{
// Adjust these numbers to suit your robot.
final double DESIRED_DISTANCE = 12.0; // this is how close the camera should get to the target (inches)
// Set the GAIN constants to control the relationship between the measured position error, and how much power is
// applied to the drive motors to correct the error.
// Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response.
final double SPEED_GAIN = 0.02 ; // Forward Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error. (0.50 / 25.0)
final double STRAFE_GAIN = 0.015 ; // Strafe Speed Control "Gain". eg: Ramp up to 25% power at a 25 degree Yaw error. (0.25 / 25.0)
final double TURN_GAIN = 0.01 ; // Turn Control "Gain". eg: Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
final double MAX_AUTO_SPEED = 0.5; // Clip the approach speed to this max value (adjust for your robot)
final double MAX_AUTO_STRAFE= 0.5; // Clip the approach speed to this max value (adjust for your robot)
final double MAX_AUTO_TURN = 0.3; // Clip the turn speed to this max value (adjust for your robot)
private DcMotor leftFrontDrive = null; // Used to control the left front drive wheel
private DcMotor rightFrontDrive = null; // Used to control the right front drive wheel
private DcMotor leftBackDrive = null; // Used to control the left back drive wheel
private DcMotor rightBackDrive = null; // Used to control the right back drive wheel
private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera
private static final int DESIRED_TAG_ID = 0; // Choose the tag you want to approach or set to -1 for ANY tag.
private VisionPortal visionPortal; // Used to manage the video source.
private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process.
private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag
@Override public void runOpMode()
{
boolean targetFound = false; // Set to true when an AprilTag target is detected
double drive = 0; // Desired forward power/speed (-1 to +1)
double strafe = 0; // Desired strafe power/speed (-1 to +1)
double turn = 0; // Desired turning power/speed (-1 to +1)
// Initialize the Apriltag Detection process
initAprilTag();
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must match the names assigned during the robot configuration.
// step (using the FTC Robot Controller app on the phone).
leftFrontDrive = hardwareMap.get(DcMotor.class, "leftfront_drive");
rightFrontDrive = hardwareMap.get(DcMotor.class, "rightfront_drive");
leftBackDrive = hardwareMap.get(DcMotor.class, "leftback_drive");
rightBackDrive = hardwareMap.get(DcMotor.class, "rightback_drive");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
if (USE_WEBCAM)
setManualExposure(6, 250); // Use low exposure time to reduce motion blur
// Wait for driver to press start
telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
while (opModeIsActive())
{
targetFound = false;
desiredTag = null;
// Step through the list of detected tags and look for a matching tag
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
for (AprilTagDetection detection : currentDetections) {
if ((detection.metadata != null)
&& ((DESIRED_TAG_ID >= 0) || (detection.id == DESIRED_TAG_ID)) ){
targetFound = true;
desiredTag = detection;
break; // don't look any further.
}
}
// Tell the driver what we see, and what to do.
if (targetFound) {
telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n");
telemetry.addData("Target", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range);
telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw);
} else {
telemetry.addData(">","Drive using joystick to find target\n");
}
// If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
if (gamepad1.left_bumper && targetFound) {
// Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically.
double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE);
double headingError = desiredTag.ftcPose.bearing;
double yawError = desiredTag.ftcPose.yaw;
// Use the speed and turn "gains" to calculate how we want the robot to move.
drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED);
turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ;
strafe = Range.clip(-yawError * STRAFE_GAIN, -MAX_AUTO_STRAFE, MAX_AUTO_STRAFE);
telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn);
} else {
// drive using manual POV Joystick mode. Slow things down to make the robot more controlable.
drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%.
strafe = -gamepad1.left_stick_x / 2.0; // Reduce strafe rate to 50%.
turn = -gamepad1.right_stick_x / 3.0; // Reduce turn rate to 33%.
telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn);
}
telemetry.update();
// Apply desired axes motions to the drivetrain.
moveRobot(drive, strafe, turn);
sleep(10);
}
}
/**
* Move robot according to desired axes motions
* Positive X is forward
* Positive Y is strafe left
* Positive Yaw is counter-clockwise
*/
public void moveRobot(double x, double y, double yaw) {
// Calculate wheel powers.
double leftFrontPower = x -y -yaw;
double rightFrontPower = x +y +yaw;
double leftBackPower = x +y -yaw;
double rightBackPower = x -y +yaw;
// Normalize wheel powers to be less than 1.0
double max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
max = Math.max(max, Math.abs(leftBackPower));
max = Math.max(max, Math.abs(rightBackPower));
if (max > 1.0) {
leftFrontPower /= max;
rightFrontPower /= max;
leftBackPower /= max;
rightBackPower /= max;
}
// Send powers to the wheels.
leftFrontDrive.setPower(leftFrontPower);
rightFrontDrive.setPower(rightFrontPower);
leftBackDrive.setPower(leftBackPower);
rightBackDrive.setPower(rightBackPower);
}
/**
* Initialize the AprilTag processor.
*/
private void initAprilTag() {
// Create the AprilTag processor by using a builder.
aprilTag = new AprilTagProcessor.Builder().build();
// Create the vision portal by using a builder.
if (USE_WEBCAM) {
visionPortal = new VisionPortal.Builder()
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
.addProcessor(aprilTag)
.build();
} else {
visionPortal = new VisionPortal.Builder()
.setCamera(BuiltinCameraDirection.BACK)
.addProcessor(aprilTag)
.build();
}
}
/*
Manually set the camera gain and exposure.
This can only be called AFTER calling initAprilTag(), and only works for Webcams;
*/
private void setManualExposure(int exposureMS, int gain) {
// Wait for the camera to be open, then use the controls
if (visionPortal == null) {
return;
}
// Make sure camera is streaming before we try to set the exposure controls
if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
telemetry.addData("Camera", "Waiting");
telemetry.update();
while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
sleep(20);
}
telemetry.addData("Camera", "Ready");
telemetry.update();
}
// Set camera controls unless we are stopping.
if (!isStopRequested())
{
ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
exposureControl.setMode(ExposureControl.Mode.Manual);
sleep(50);
}
exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
sleep(20);
GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
gainControl.setGain(gain);
sleep(20);
}
}
}

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/* Copyright (c) 2023 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.Range;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import java.util.List;
import java.util.concurrent.TimeUnit;
/**
* This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
* The code assumes a basic two-wheel (Tank) Robot Drivetrain
*
* The driving goal is to rotate to keep the tag centered in the camera, while driving towards the tag to achieve the desired distance.
* To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
* You can determine the best exposure and gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
*
* The code assumes a Robot Configuration with motors named left_drive and right_drive.
* The motor directions must be set so a positive power goes forward on both wheels;
* This sample assumes that the default AprilTag Library (usually for the current season) is being loaded by default
* so you should choose to approach a valid tag ID (usually starting at 0)
*
* Under manual control, the left stick will move forward/back, and the right stick will rotate the robot.
* This is called POV Joystick mode, different than Tank Drive (where each joystick controls a wheel).
*
* Manually drive the robot until it displays Target data on the Driver Station.
* Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode.
* Release the Left Bumper to return to manual driving mode.
*
* Under "Drive To Target" mode, the robot has two goals:
* 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.)
* 2) Drive towards the Tag to get to the desired distance. (Use Tag Range to drive the robot forward/backward)
*
* Use DESIRED_DISTANCE to set how close you want the robot to get to the target.
* Speed and Turn sensitivity can be adjusted using the SPEED_GAIN and TURN_GAIN constants.
*
* Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
*/
@TeleOp(name="Tank Drive To AprilTag", group = "Concept")
@Disabled
public class RobotAutoDriveToAprilTagTank extends LinearOpMode
{
// Adjust these numbers to suit your robot.
final double DESIRED_DISTANCE = 12.0; // this is how close the camera should get to the target (inches)
// Set the GAIN constants to control the relationship between the measured position error, and how much power is
// applied to the drive motors to correct the error.
// Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response.
final double SPEED_GAIN = 0.02 ; // Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error. (0.50 / 25.0)
final double TURN_GAIN = 0.01 ; // Turn Control "Gain". eg: Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
final double MAX_AUTO_SPEED = 0.5; // Clip the approach speed to this max value (adjust for your robot)
final double MAX_AUTO_TURN = 0.25; // Clip the turn speed to this max value (adjust for your robot)
private DcMotor leftDrive = null; // Used to control the left drive wheel
private DcMotor rightDrive = null; // Used to control the right drive wheel
private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera
private static final int DESIRED_TAG_ID = 0; // Choose the tag you want to approach or set to -1 for ANY tag.
private VisionPortal visionPortal; // Used to manage the video source.
private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process.
private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag
@Override public void runOpMode()
{
boolean targetFound = false; // Set to true when an AprilTag target is detected
double drive = 0; // Desired forward power/speed (-1 to +1) +ve is forward
double turn = 0; // Desired turning power/speed (-1 to +1) +ve is CounterClockwise
// Initialize the Apriltag Detection process
initAprilTag();
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must match the names assigned during the robot configuration.
// step (using the FTC Robot Controller app on the phone).
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// To drive forward, most robots need the motor on one side to be reversed because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Single Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
if (USE_WEBCAM)
setManualExposure(6, 250); // Use low exposure time to reduce motion blur
// Wait for the driver to press Start
telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
while (opModeIsActive())
{
targetFound = false;
desiredTag = null;
// Step through the list of detected tags and look for a matching tag
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
for (AprilTagDetection detection : currentDetections) {
if ((detection.metadata != null)
&& ((DESIRED_TAG_ID >= 0) || (detection.id == DESIRED_TAG_ID)) ){
targetFound = true;
desiredTag = detection;
break; // don't look any further.
}
}
// Tell the driver what we see, and what to do.
if (targetFound) {
telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n");
telemetry.addData("Target", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range);
telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
} else {
telemetry.addData(">","Drive using joystick to find target\n");
}
// If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
if (gamepad1.left_bumper && targetFound) {
// Determine heading and range error so we can use them to control the robot automatically.
double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE);
double headingError = desiredTag.ftcPose.bearing;
// Use the speed and turn "gains" to calculate how we want the robot to move. Clip it to the maximum
drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED);
turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ;
telemetry.addData("Auto","Drive %5.2f, Turn %5.2f", drive, turn);
} else {
// drive using manual POV Joystick mode.
drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%.
turn = -gamepad1.right_stick_x / 4.0; // Reduce turn rate to 25%.
telemetry.addData("Manual","Drive %5.2f, Turn %5.2f", drive, turn);
}
telemetry.update();
// Apply desired axes motions to the drivetrain.
moveRobot(drive, turn);
sleep(10);
}
}
/**
* Move robot according to desired axes motions
* Positive X is forward
* Positive Yaw is counter-clockwise
*/
public void moveRobot(double x, double yaw) {
// Calculate left and right wheel powers.
double leftPower = x - yaw;
double rightPower = x + yaw;
// Normalize wheel powers to be less than 1.0
double max = Math.max(Math.abs(leftPower), Math.abs(rightPower));
if (max >1.0) {
leftPower /= max;
rightPower /= max;
}
// Send powers to the wheels.
leftDrive.setPower(leftPower);
rightDrive.setPower(rightPower);
}
/**
* Initialize the AprilTag processor.
*/
private void initAprilTag() {
// Create the AprilTag processor by using a builder.
aprilTag = new AprilTagProcessor.Builder().build();
// Create the vision portal by using a builder.
if (USE_WEBCAM) {
visionPortal = new VisionPortal.Builder()
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
.addProcessor(aprilTag)
.build();
} else {
visionPortal = new VisionPortal.Builder()
.setCamera(BuiltinCameraDirection.BACK)
.addProcessor(aprilTag)
.build();
}
}
/*
Manually set the camera gain and exposure.
This can only be called AFTER calling initAprilTag(), and only works for Webcams;
*/
private void setManualExposure(int exposureMS, int gain) {
// Wait for the camera to be open, then use the controls
if (visionPortal == null) {
return;
}
// Make sure camera is streaming before we try to set the exposure controls
if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
telemetry.addData("Camera", "Waiting");
telemetry.update();
while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
sleep(20);
}
telemetry.addData("Camera", "Ready");
telemetry.update();
}
// Set camera controls unless we are stopping.
if (!isStopRequested())
{
ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
exposureControl.setMode(ExposureControl.Mode.Manual);
sleep(50);
}
exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
sleep(20);
GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
gainControl.setGain(gain);
sleep(20);
telemetry.addData("Camera", "Ready");
telemetry.update();
}
}
}

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/*
* Copyright (c) 2023 FIRST
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to
* endorse or promote products derived from this software without specific prior
* written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
* TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import android.util.Size;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import java.util.Locale;
/**
* This Utility OpMode helps calibrate a webcam or RC phone camera, useful for AprilTag pose estimation
* with the FTC VisionPortal. It captures a camera frame (image) and stores it on the Robot Controller
* (Control Hub or RC phone), with each press of the gamepad button X (or Square).
* Full calibration instructions are here:
*
* https://ftc-docs.firstinspires.org/camera-calibration
*
* In Android Studio, copy this class into your "teamcode" folder with a new name.
* Remove or comment out the @Disabled line to add this file to the Driver Station OpMode list.
*
* In OnBot Java, use "Add File" to add this file from the list of Samples.
*/
@TeleOp(name = "Utility: Camera Frame Capture", group = "Utility")
@Disabled
public class UtilityCameraFrameCapture extends LinearOpMode
{
/*
* EDIT THESE PARAMETERS AS NEEDED
*/
final boolean USING_WEBCAM = false;
final BuiltinCameraDirection INTERNAL_CAM_DIR = BuiltinCameraDirection.BACK;
final int RESOLUTION_WIDTH = 640;
final int RESOLUTION_HEIGHT = 480;
// Internal state
boolean lastX;
int frameCount;
long capReqTime;
@Override
public void runOpMode()
{
VisionPortal portal;
if (USING_WEBCAM)
{
portal = new VisionPortal.Builder()
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
.build();
}
else
{
portal = new VisionPortal.Builder()
.setCamera(INTERNAL_CAM_DIR)
.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
.build();
}
while (!isStopRequested())
{
boolean x = gamepad1.x;
if (x && !lastX)
{
portal.saveNextFrameRaw(String.format(Locale.US, "CameraFrameCapture-%06d", frameCount++));
capReqTime = System.currentTimeMillis();
}
lastX = x;
telemetry.addLine("######## Camera Capture Utility ########");
telemetry.addLine(String.format(Locale.US, " > Resolution: %dx%d", RESOLUTION_WIDTH, RESOLUTION_HEIGHT));
telemetry.addLine(" > Press X (or Square) to capture a frame");
telemetry.addData(" > Camera Status", portal.getCameraState());
if (capReqTime != 0)
{
telemetry.addLine("\nCaptured Frame!");
}
if (capReqTime != 0 && System.currentTimeMillis() - capReqTime > 1000)
{
capReqTime = 0;
}
telemetry.update();
}
}
}

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java
View File

@ -625,8 +625,8 @@ public class FtcRobotControllerActivity extends Activity
}
/**
* Updates the orientation of monitorContainer (which contains cameraMonitorView and
* tfodMonitorView) based on the given configuration. Makes the children split the space.
* Updates the orientation of monitorContainer (which contains cameraMonitorView)
* based on the given configuration. Makes the children split the space.
*/
private void updateMonitorLayout(Configuration configuration) {
LinearLayout monitorContainer = (LinearLayout) findViewById(R.id.monitorContainer);

7
FtcRobotController/src/main/res/layout/activity_ftc_controller.xml
View File

@ -140,13 +140,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
android:layout_weight="1"
android:orientation="vertical"
/>
<FrameLayout
android:id="@+id/tfodMonitorViewId"
android:visibility="gone"
android:layout_width="match_parent"
android:layout_height="0dp"
android:layout_weight="1"
/>
</LinearLayout>