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Merge pull request #1038 from FIRST-Tech-Challenge/20240828-111152-release-candidate

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FtcRobotController v10.0
This commit is contained in:
Cal Kestis
2024-09-07 09:19:53 -07:00
committed by GitHub
parent 6ce588fc79 7158b61d94
commit f75e498a55
35 changed files with 750 additions and 90 deletions
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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="54"
android:versionName="9.2">
android:versionCode="55"
android:versionName="10.0">
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java vendored
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@ -99,7 +99,7 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
// Wait for the game to start (driver presses PLAY)
// Wait for the game to start (driver presses START)
telemetry.addData("Status", "Initialized");
telemetry.update();

6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java vendored
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@ -83,14 +83,14 @@ public class BasicOpMode_Iterative extends OpMode
}
/*
* Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
* Code to run REPEATEDLY after the driver hits INIT, but before they hit START
*/
@Override
public void init_loop() {
}
/*
* Code to run ONCE when the driver hits PLAY
* Code to run ONCE when the driver hits START
*/
@Override
public void start() {
@ -98,7 +98,7 @@ public class BasicOpMode_Iterative extends OpMode
}
/*
* Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
* Code to run REPEATEDLY after the driver hits START but before they hit STOP
*/
@Override
public void loop() {

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java vendored
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@ -76,7 +76,7 @@ public class BasicOpMode_Linear extends LinearOpMode {
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
// Wait for the game to start (driver presses PLAY)
// Wait for the game to start (driver presses START)
waitForStart();
runtime.reset();

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java vendored
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@ -88,7 +88,7 @@ public class ConceptAprilTag extends LinearOpMode {
// 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.addData(">", "Touch START to start OpMode");
telemetry.update();
waitForStart();

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java vendored
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@ -84,7 +84,7 @@ public class ConceptAprilTagEasy extends LinearOpMode {
// 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.addData(">", "Touch START to start OpMode");
telemetry.update();
waitForStart();

244
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagLocalization.java vendored Normal file
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@ -0,0 +1,244 @@
/* Copyright (c) 2024 Dryw Wade. 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.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import java.util.List;
/*
* This OpMode illustrates the basics of AprilTag based localization.
*
* For an introduction to AprilTags, see the FTC-DOCS link below:
* https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
*
* In this sample, any visible tag ID will be detected and displayed, but only tags that are included in the default
* "TagLibrary" will be used to compute the robot's location and orientation. This default TagLibrary contains
* the current Season's AprilTags and a small set of "test Tags" in the high number range.
*
* When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the robot, relative to the field origin.
* This information is provided in the "robotPose" member of the returned "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: AprilTag Localization", group = "Concept")
@Disabled
public class ConceptAprilTagLocalization extends LinearOpMode {
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
/**
* Variables to store the position and orientation of the camera on the robot. Setting these
* values requires a definition of the axes of the camera and robot:
*
* Camera axes:
* Origin location: Center of the lens
* Axes orientation: +x right, +y down, +z forward (from camera's perspective)
*
* Robot axes (this is typical, but you can define this however you want):
* Origin location: Center of the robot at field height
* Axes orientation: +x right, +y forward, +z upward
*
* Position:
* If all values are zero (no translation), that implies the camera is at the center of the
* robot. Suppose your camera is positioned 5 inches to the left, 7 inches forward, and 12
* inches above the ground - you would need to set the position to (-5, 7, 12).
*
* Orientation:
* If all values are zero (no rotation), that implies the camera is pointing straight up. In
* most cases, you'll need to set the pitch to -90 degrees (rotation about the x-axis), meaning
* the camera is horizontal. Use a yaw of 0 if the camera is pointing forwards, +90 degrees if
* it's pointing straight left, -90 degrees for straight right, etc. You can also set the roll
* to +/-90 degrees if it's vertical, or 180 degrees if it's upside-down.
*/
private Position cameraPosition = new Position(DistanceUnit.INCH,
0, 0, 0, 0);
private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES,
0, -90, 0, 0);
/**
* The variable to store our instance of the AprilTag processor.
*/
private AprilTagProcessor aprilTag;
/**
* 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 START to start OpMode");
telemetry.update();
waitForStart();
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()
// The following default settings are available to un-comment and edit as needed.
//.setDrawAxes(false)
//.setDrawCubeProjection(false)
//.setDrawTagOutline(true)
//.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
//.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
//.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
.setCameraPose(cameraPosition, cameraOrientation)
// == 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();
// Adjust Image Decimation to trade-off detection-range for detection-rate.
// eg: Some typical detection data using a Logitech C920 WebCam
// Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second
// Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second
// Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second (default)
// Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second (default)
// Note: Decimation can be changed on-the-fly to adapt during a match.
//aprilTag.setDecimation(3);
// 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.enableLiveView(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()
/**
* 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.robotPose.getPosition().x,
detection.robotPose.getPosition().y,
detection.robotPose.getPosition().z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)",
detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES),
detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES),
detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES)));
} 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)");
} // end method telemetryAprilTag()
} // end class

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagOptimizeExposure.java vendored
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@ -98,7 +98,7 @@ public class ConceptAprilTagOptimizeExposure extends LinearOpMode
// Wait for the match to begin.
telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.addData(">", "Touch START to start OpMode");
telemetry.update();
waitForStart();

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagSwitchableCameras.java vendored
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@ -77,7 +77,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
// 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.addData(">", "Touch START to start OpMode");
telemetry.update();
waitForStart();

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptExternalHardwareClass.java vendored
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@ -83,7 +83,7 @@ public class ConceptExternalHardwareClass extends LinearOpMode {
robot.init();
// Send telemetry message to signify robot waiting;
// Wait for the game to start (driver presses PLAY)
// Wait for the game to start (driver presses START)
waitForStart();
// run until the end of the match (driver presses STOP)

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FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptLEDStick.java vendored Normal file
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@ -0,0 +1,123 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
/*
Copyright (c) 2021-24 Alan Smith
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 Alan Smith 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 FITNESSFOR 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.
*/
import android.graphics.Color;
import com.qualcomm.hardware.sparkfun.SparkFunLEDStick;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.Range;
/*
* This OpMode illustrates how to use the SparkFun QWIIC LED Strip
*
* This is a simple way to add a strip of 10 LEDs to your robot where you can set the color of each
* LED or the whole strip. This allows for driver feedback or even just fun ways to show your team
* colors.
*
* Why?
* Because more LEDs == more fun!!
*
* This OpMode assumes that the QWIIC LED Stick is attached to an I2C interface named "back_leds" in the robot configuration.
*
* 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
*
* You can buy this product here: https://www.sparkfun.com/products/18354
* Don't forget to also buy this to make it easy to connect to your Control or Expansion Hub:
* https://www.sparkfun.com/products/25596
*/
@TeleOp(name = "Concept: LED Stick", group = "Concept")
@Disabled
public class ConceptLEDStick extends OpMode {
private boolean wasUp;
private boolean wasDown;
private int brightness = 5; // this needs to be between 0 and 31
private final static double END_GAME_TIME = 120 - 30;
private SparkFunLEDStick ledStick;
@Override
public void init() {
ledStick = hardwareMap.get(SparkFunLEDStick.class, "back_leds");
ledStick.setBrightness(brightness);
ledStick.setColor(Color.GREEN);
}
@Override
public void start() {
resetRuntime();
}
@Override
public void loop() {
telemetry.addLine("Hold the A button to turn blue");
telemetry.addLine("Hold the B button to turn red");
telemetry.addLine("Hold the left bumper to turn off");
telemetry.addLine("Use DPAD Up/Down to change brightness");
if (getRuntime() > END_GAME_TIME) {
int[] ledColors = {Color.RED, Color.YELLOW, Color.RED, Color.YELLOW, Color.RED,
Color.YELLOW, Color.RED, Color.YELLOW, Color.RED, Color.YELLOW};
ledStick.setColors(ledColors);
} else if (gamepad1.a) {
ledStick.setColor(Color.BLUE);
} else if (gamepad1.b) {
ledStick.setColor(Color.RED);
} else if (gamepad1.left_bumper) {
ledStick.turnAllOff();
} else {
ledStick.setColor(Color.GREEN);
}
/*
* Use DPAD up and down to change brightness
*/
int newBrightness = brightness;
if (gamepad1.dpad_up && !wasUp) {
newBrightness = brightness + 1;
} else if (gamepad1.dpad_down && !wasDown) {
newBrightness = brightness - 1;
}
if (newBrightness != brightness) {
brightness = Range.clip(newBrightness, 0, 31);
ledStick.setBrightness(brightness);
}
telemetry.addData("Brightness", brightness);
wasDown = gamepad1.dpad_down;
wasUp = gamepad1.dpad_up;
}
}

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java vendored
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@ -110,7 +110,7 @@ public class ConceptMotorBulkRead extends LinearOpMode {
ElapsedTime timer = new ElapsedTime();
telemetry.addData(">", "Press play to start tests");
telemetry.addData(">", "Press START to start tests");
telemetry.addData(">", "Test results will update for each access method.");
telemetry.update();
waitForStart();

6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java vendored
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@ -53,7 +53,7 @@ public class ConceptNullOp extends OpMode {
/**
* This method will be called repeatedly during the period between when
* the init button is pressed and when the play button is pressed (or the
* the INIT button is pressed and when the START button is pressed (or the
* OpMode is stopped).
*/
@Override
@ -61,7 +61,7 @@ public class ConceptNullOp extends OpMode {
}
/**
* This method will be called once, when the play button is pressed.
* This method will be called once, when the START button is pressed.
*/
@Override
public void start() {
@ -70,7 +70,7 @@ public class ConceptNullOp extends OpMode {
/**
* This method will be called repeatedly during the period between when
* the play button is pressed and when the OpMode is stopped.
* the START button is pressed and when the OpMode is stopped.
*/
@Override
public void loop() {

78
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevLED.java vendored Normal file
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@ -0,0 +1,78 @@
/*
Copyright (c) 2024 Alan Smith
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 Alan Smith 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 FITNESSFOR 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;
/*
* This OpMode illustrates how to use the REV Digital Indicator
*
* This is a simple way to add the REV Digital Indicator which has a red and green LED.
* (and as you may remember, red + green = yellow so when they are both on you can get yellow)
*
* Why?
* You can use this to show information to the driver. For example, green might be that you can
* pick up more game elements and red would be that you already have the possession limit.
*
* This OpMode assumes that the REV Digital Indicator is setup as 2 Digital Channels named
* front_led_green and front_led_red. (the green should be the lower of the 2 channels it is plugged
* into and the red should be the higher)
*
* 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
*
* You can buy this product here: https://www.revrobotics.com/rev-31-2010/
*/
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.LED;
@TeleOp(name = "Concept: RevLED", group = "Concept")
@Disabled
public class ConceptRevLED extends OpMode {
LED frontLED_red;
LED frontLED_green;
@Override
public void init() {
frontLED_green = hardwareMap.get(LED.class, "front_led_green");
frontLED_red = hardwareMap.get(LED.class, "front_led_red");
}
@Override
public void loop() {
if (gamepad1.a) {
frontLED_red.on();
} else {
frontLED_red.off();
}
if (gamepad1.b) {
frontLED_green.on();
} else {
frontLED_green.off();
}
}
}

10
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java vendored
View File

@ -38,8 +38,9 @@ import com.qualcomm.robotcore.util.Range;
/*
* This OpMode executes a basic Tank Drive Teleop for a two wheeled robot using two REV SPARKminis.
* To use this example, connect two REV SPARKminis into servo ports on the Expansion Hub. On the
* This OpMode demonstrates a POV Drive system, with commented-out code for a Tank Drive system,
* for a two wheeled robot using two REV SPARKminis.
* To use this example, connect two REV SPARKminis into servo ports on the Control Hub. On the
* robot configuration, use the drop down list under 'Servos' to select 'REV SPARKmini Controller'
* and name them 'left_drive' and 'right_drive'.
*
@ -62,8 +63,7 @@ public class ConceptRevSPARKMini extends LinearOpMode {
telemetry.update();
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must correspond to the names assigned during the robot configuration
// step (using the FTC Robot Controller app on the phone).
// to 'get' must correspond to the names assigned during robot configuration.
leftDrive = hardwareMap.get(DcMotorSimple.class, "left_drive");
rightDrive = hardwareMap.get(DcMotorSimple.class, "right_drive");
@ -72,7 +72,7 @@ public class ConceptRevSPARKMini extends LinearOpMode {
leftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
rightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
// Wait for the game to start (driver presses PLAY)
// Wait for the game to start (driver presses START)
waitForStart();
runtime.reset();

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java vendored
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@ -100,7 +100,7 @@ public class ConceptSoundsASJava extends LinearOpMode {
telemetry.addData("gold resource", goldFound ? "Found" : "NOT found\n Add gold.wav to /src/main/res/raw" );
telemetry.addData("silver resource", silverFound ? "Found" : "Not found\n Add silver.wav to /src/main/res/raw" );
// Wait for the game to start (driver presses PLAY)
// Wait for the game to start (driver presses START)
telemetry.addData(">", "Press Start to continue");
telemetry.update();
waitForStart();

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByEncoder_Linear.java vendored
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@ -110,7 +110,7 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
rightDrive.getCurrentPosition());
telemetry.update();
// Wait for the game to start (driver presses PLAY)
// Wait for the game to start (driver presses START)
waitForStart();
// Step through each leg of the path,

12
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByGyro_Linear.java vendored
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@ -65,7 +65,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
* Notes:
*
* All angles are referenced to the coordinate-frame that is set whenever resetHeading() is called.
* In this sample, the heading is reset when the Start button is touched on the Driver station.
* In this sample, the heading is reset when the Start button is touched on the Driver Station.
* Note: It would be possible to reset the heading after each move, but this would accumulate steering errors.
*
* The angle of movement/rotation is assumed to be a standardized rotation around the robot Z axis,
@ -124,15 +124,15 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
// These constants define the desired driving/control characteristics
// They can/should be tweaked to suit the specific robot drive train.
static final double DRIVE_SPEED = 0.4; // Max driving speed for better distance accuracy.
static final double TURN_SPEED = 0.2; // Max Turn speed to limit turn rate
static final double TURN_SPEED = 0.2; // Max turn speed to limit turn rate.
static final double HEADING_THRESHOLD = 1.0 ; // How close must the heading get to the target before moving to next step.
// Requiring more accuracy (a smaller number) will often make the turn take longer to get into the final position.
// Define the Proportional control coefficient (or GAIN) for "heading control".
// We define one value when Turning (larger errors), and the other is used when Driving straight (smaller errors).
// Increase these numbers if the heading does not corrects strongly enough (eg: a heavy robot or using tracks)
// Increase these numbers if the heading does not correct strongly enough (eg: a heavy robot or using tracks)
// Decrease these numbers if the heading does not settle on the correct value (eg: very agile robot with omni wheels)
static final double P_TURN_GAIN = 0.02; // Larger is more responsive, but also less stable
static final double P_DRIVE_GAIN = 0.03; // Larger is more responsive, but also less stable
static final double P_TURN_GAIN = 0.02; // Larger is more responsive, but also less stable.
static final double P_DRIVE_GAIN = 0.03; // Larger is more responsive, but also less stable.
@Override
@ -317,7 +317,7 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
* <p>
* Move will stop once the requested time has elapsed
* <p>
* This function is useful for giving the robot a moment to stabilize it's heading between movements.
* This function is useful for giving the robot a moment to stabilize its heading between movements.
*
* @param maxTurnSpeed Maximum differential turn speed (range 0 to +1.0)
* @param heading Absolute Heading Angle (in Degrees) relative to last gyro reset.

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByTime_Linear.java vendored
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@ -85,10 +85,10 @@ public class RobotAutoDriveByTime_Linear extends LinearOpMode {
telemetry.addData("Status", "Ready to run"); //
telemetry.update();
// Wait for the game to start (driver presses PLAY)
// Wait for the game to start (driver presses START)
waitForStart();
// Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way
// Step through each leg of the path, ensuring that the OpMode has not been stopped along the way.
// Step 1: Drive forward for 3 seconds
leftDrive.setPower(FORWARD_SPEED);

14
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagOmni.java vendored
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@ -64,7 +64,7 @@ import java.util.concurrent.TimeUnit;
* 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)
* so you should choose to approach a valid tag ID.
*
* 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.
@ -95,12 +95,12 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
// 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 SPEED_GAIN = 0.02 ; // Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0)
final double STRAFE_GAIN = 0.015 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0)
final double TURN_GAIN = 0.01 ; // Turn Control "Gain". e.g. 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_STRAFE= 0.5; // Clip the strafing 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
@ -145,7 +145,7 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
// Wait for driver to press start
telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.addData(">", "Touch START to start OpMode");
telemetry.update();
waitForStart();
@ -259,7 +259,7 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
aprilTag = new AprilTagProcessor.Builder().build();
// Adjust Image Decimation to trade-off detection-range for detection-rate.
// eg: Some typical detection data using a Logitech C920 WebCam
// e.g. Some typical detection data using a Logitech C920 WebCam
// Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second
// Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second
// Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second

10
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagTank.java vendored
View File

@ -63,7 +63,7 @@ import java.util.concurrent.TimeUnit;
* 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)
* so you should choose to approach a valid tag ID.
*
* 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).
@ -94,8 +94,8 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
// 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 SPEED_GAIN = 0.02 ; // Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0)
final double TURN_GAIN = 0.01 ; // Turn Control "Gain". e.g. 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)
@ -135,7 +135,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
// 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.addData(">", "Touch START to start OpMode");
telemetry.update();
waitForStart();
@ -234,7 +234,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
aprilTag = new AprilTagProcessor.Builder().build();
// Adjust Image Decimation to trade-off detection-range for detection-rate.
// eg: Some typical detection data using a Logitech C920 WebCam
// e.g. Some typical detection data using a Logitech C920 WebCam
// Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second
// Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second
// Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToLine_Linear.java vendored
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@ -106,7 +106,7 @@ public class RobotAutoDriveToLine_Linear extends LinearOpMode {
// A gain of 15 causes a Rev Color Sensor V2 to produce an Alpha value of 1.0 at about 1.5" above the floor.
colorSensor.setGain(15);
// Wait for driver to press PLAY)
// Wait for driver to press START)
// Abort this loop is started or stopped.
while (opModeInInit()) {

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopPOV_Linear.java vendored
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@ -96,10 +96,10 @@ public class RobotTeleopPOV_Linear extends LinearOpMode {
rightClaw.setPosition(MID_SERVO);
// Send telemetry message to signify robot waiting;
telemetry.addData(">", "Robot Ready. Press Play."); //
telemetry.addData(">", "Robot Ready. Press START."); //
telemetry.update();
// Wait for the game to start (driver presses PLAY)
// Wait for the game to start (driver presses START)
waitForStart();
// run until the end of the match (driver presses STOP)

8
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopTank_Iterative.java vendored
View File

@ -94,25 +94,25 @@ public class RobotTeleopTank_Iterative extends OpMode{
rightClaw.setPosition(MID_SERVO);
// Send telemetry message to signify robot waiting;
telemetry.addData(">", "Robot Ready. Press Play."); //
telemetry.addData(">", "Robot Ready. Press START."); //
}
/*
* Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
* Code to run REPEATEDLY after the driver hits INIT, but before they hit START
*/
@Override
public void init_loop() {
}
/*
* Code to run ONCE when the driver hits PLAY
* Code to run ONCE when the driver hits START
*/
@Override
public void start() {
}
/*
* Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
* Code to run REPEATEDLY after the driver hits START but before they hit STOP
*/
@Override
public void loop() {

17
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorHuskyLens.java vendored
View File

@ -33,13 +33,10 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.dfrobot.HuskyLens;
import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.internal.system.Deadline;
import java.util.concurrent.TimeUnit;
@ -51,6 +48,9 @@ import java.util.concurrent.TimeUnit;
* detect a number of predefined objects and AprilTags in the 36h11 family, can
* recognize colors, and can be trained to detect custom objects. See this website for
* documentation: https://wiki.dfrobot.com/HUSKYLENS_V1.0_SKU_SEN0305_SEN0336
*
* For detailed instructions on how a HuskyLens is used in FTC, please see this tutorial:
* https://ftc-docs.firstinspires.org/en/latest/devices/huskylens/huskylens.html
*
* This sample illustrates how to detect AprilTags, but can be used to detect other types
* of objects by changing the algorithm. It assumes that the HuskyLens is configured with
@ -110,6 +110,8 @@ public class SensorHuskyLens extends LinearOpMode {
* Users, should, in general, explicitly choose the algorithm they want to use
* within the OpMode by calling selectAlgorithm() and passing it one of the values
* found in the enumeration HuskyLens.Algorithm.
*
* Other algorithm choices for FTC might be: OBJECT_RECOGNITION, COLOR_RECOGNITION or OBJECT_CLASSIFICATION.
*/
huskyLens.selectAlgorithm(HuskyLens.Algorithm.TAG_RECOGNITION);
@ -141,6 +143,15 @@ public class SensorHuskyLens extends LinearOpMode {
telemetry.addData("Block count", blocks.length);
for (int i = 0; i < blocks.length; i++) {
telemetry.addData("Block", blocks[i].toString());
/*
* Here inside the FOR loop, you could save or evaluate specific info for the currently recognized Bounding Box:
* - blocks[i].width and blocks[i].height (size of box, in pixels)
* - blocks[i].left and blocks[i].top (edges of box)
* - blocks[i].x and blocks[i].y (center location)
* - blocks[i].id (Color ID)
*
* These values have Java type int (integer).
*/
}
telemetry.update();

7
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUNonOrthogonal.java vendored
View File

@ -58,7 +58,7 @@ import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.xyzOrientation;
* planes (X/Y, X/Z or Y/Z) OR that the Hub has only been rotated in a range of 90 degree increments.
*
* Note: if your Hub is mounted Orthogonally (on a orthogonal surface, angled at some multiple of
* 90 Degrees) then you should use the simpler SensorImuOrthogonal sample in this folder.
* 90 Degrees) then you should use the simpler SensorIMUOrthogonal sample in this folder.
*
* But... If your Hub is mounted Non-Orthogonally, you must specify one or more rotational angles
* that transform a "Default" Hub orientation into your desired orientation. That is what is
@ -94,6 +94,9 @@ public class SensorIMUNonOrthogonal extends LinearOpMode
* 1) Hub laying flat on a horizontal surface, with the Printed Logo facing UP
* 2) Rotated such that the USB ports are facing forward on the robot.
*
* If you are using a REV External IMU, the "Default" orientation is the same as for a REV Hub, but instead of
* the USB ports facing forward, the I2C port faces forward.
*
* The order that the rotations are performed matters, so this sample shows doing them in the order X, Y, then Z.
* For specifying non-orthogonal hub mounting orientations, we must temporarily use axes
* defined relative to the Hub itself, instead of the usual Robot Coordinate System axes
@ -124,7 +127,7 @@ public class SensorIMUNonOrthogonal extends LinearOpMode
*
* To get the "Default" hub into this configuration you would just need a single rotation, but around a different axis.
* 1) No rotation around the X or Y axes.
* 1) Rotate the Hub -30 degrees (Clockwise) around the Z axis, since a positive angle would be Counter Clockwise.
* 2) Rotate the Hub -30 degrees (Clockwise) around the Z axis, since a positive angle would be Counter Clockwise.
*
* So the X,Y,Z rotations would be 0,0,-30
*

5
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUOrthogonal.java vendored
View File

@ -55,7 +55,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
* (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments.
*
* Note: if your Hub is mounted on a surface angled at some non-90 Degree multiple (like 30) look at
* the alternative SensorImuNonOrthogonal sample in this folder.
* the alternative SensorIMUNonOrthogonal sample in this folder.
*
* This "Orthogonal" requirement means that:
*
@ -98,6 +98,9 @@ public class SensorIMUOrthogonal extends LinearOpMode
* The first parameter specifies the direction the printed logo on the Hub is pointing.
* The second parameter specifies the direction the USB connector on the Hub is pointing.
* All directions are relative to the robot, and left/right is as-viewed from behind the robot.
*
* If you are using a REV 9-Axis IMU, you can use the Rev9AxisImuOrientationOnRobot class instead of the
* RevHubOrientationOnRobot class, which has an I2cPortFacingDirection instead of a UsbFacingDirection.
*/
/* The next two lines define Hub orientation.

159
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorLimelight3A.java vendored Normal file
View File

@ -0,0 +1,159 @@
/*
Copyright (c) 2024 Limelight Vision
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted (subject to the limitations in the disclaimer below) provided that
the following conditions are met:
Redistributions of source code must retain the above copyright notice, this list
of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this
list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.
Neither the name of FIRST nor the names of its contributors may be used to
endorse or promote products derived from this software without specific prior
written permission.
NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes;
import com.qualcomm.hardware.limelightvision.LLStatus;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
import java.util.List;
/*
* This OpMode illustrates how to use the Limelight3A Vision Sensor.
*
* @see <a href="https://limelightvision.io/">Limelight</a>
*
* Notes on configuration:
*
* The device presents itself, when plugged into a USB port on a Control Hub as an ethernet
* interface. A DHCP server running on the Limelight automatically assigns the Control Hub an
* ip address for the new ethernet interface.
*
* Since the Limelight is plugged into a USB port, it will be listed on the top level configuration
* activity along with the Control Hub Portal and other USB devices such as webcams. Typically
* serial numbers are displayed below the device's names. In the case of the Limelight device, the
* Control Hub's assigned ip address for that ethernet interface is used as the "serial number".
*
* Tapping the Limelight's name, transitions to a new screen where the user can rename the Limelight
* and specify the Limelight's ip address. Users should take care not to confuse the ip address of
* the Limelight itself, which can be configured through the Limelight settings page via a web browser,
* and the ip address the Limelight device assigned the Control Hub and which is displayed in small text
* below the name of the Limelight on the top level configuration screen.
*/
@TeleOp(name = "Sensor: Limelight3A", group = "Sensor")
@Disabled
public class SensorLimelight3A extends LinearOpMode {
private Limelight3A limelight;
@Override
public void runOpMode() throws InterruptedException
{
limelight = hardwareMap.get(Limelight3A.class, "limelight");
telemetry.setMsTransmissionInterval(11);
limelight.pipelineSwitch(0);
/*
* Starts polling for data. If you neglect to call start(), getLatestResult() will return null.
*/
limelight.start();
telemetry.addData(">", "Robot Ready. Press Play.");
telemetry.update();
waitForStart();
while (opModeIsActive()) {
LLStatus status = limelight.getStatus();
telemetry.addData("Name", "%s",
status.getName());
telemetry.addData("LL", "Temp: %.1fC, CPU: %.1f%%, FPS: %d",
status.getTemp(), status.getCpu(),(int)status.getFps());
telemetry.addData("Pipeline", "Index: %d, Type: %s",
status.getPipelineIndex(), status.getPipelineType());
LLResult result = limelight.getLatestResult();
if (result != null) {
// Access general information
Pose3D botpose = result.getBotpose();
double captureLatency = result.getCaptureLatency();
double targetingLatency = result.getTargetingLatency();
double parseLatency = result.getParseLatency();
telemetry.addData("LL Latency", captureLatency + targetingLatency);
telemetry.addData("Parse Latency", parseLatency);
telemetry.addData("PythonOutput", java.util.Arrays.toString(result.getPythonOutput()));
if (result.isValid()) {
telemetry.addData("tx", result.getTx());
telemetry.addData("txnc", result.getTxNC());
telemetry.addData("ty", result.getTy());
telemetry.addData("tync", result.getTyNC());
telemetry.addData("Botpose", botpose.toString());
// Access barcode results
List<LLResultTypes.BarcodeResult> barcodeResults = result.getBarcodeResults();
for (LLResultTypes.BarcodeResult br : barcodeResults) {
telemetry.addData("Barcode", "Data: %s", br.getData());
}
// Access classifier results
List<LLResultTypes.ClassifierResult> classifierResults = result.getClassifierResults();
for (LLResultTypes.ClassifierResult cr : classifierResults) {
telemetry.addData("Classifier", "Class: %s, Confidence: %.2f", cr.getClassName(), cr.getConfidence());
}
// Access detector results
List<LLResultTypes.DetectorResult> detectorResults = result.getDetectorResults();
for (LLResultTypes.DetectorResult dr : detectorResults) {
telemetry.addData("Detector", "Class: %s, Area: %.2f", dr.getClassName(), dr.getTargetArea());
}
// Access fiducial results
List<LLResultTypes.FiducialResult> fiducialResults = result.getFiducialResults();
for (LLResultTypes.FiducialResult fr : fiducialResults) {
telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f", fr.getFiducialId(), fr.getFamily(),fr.getTargetXDegrees(), fr.getTargetYDegrees());
}
// Access color results
List<LLResultTypes.ColorResult> colorResults = result.getColorResults();
for (LLResultTypes.ColorResult cr : colorResults) {
telemetry.addData("Color", "X: %.2f, Y: %.2f", cr.getTargetXDegrees(), cr.getTargetYDegrees());
}
}
} else {
telemetry.addData("Limelight", "No data available");
}
telemetry.update();
}
limelight.stop();
}
}

22
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuad.java vendored
View File

@ -52,7 +52,7 @@ import org.firstinspires.ftc.robotcore.external.Telemetry;
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*
* See the sensor's product page: https://www.tindie.com/products/digitalchickenlabs/octoquad-8ch-quadrature-pulse-width-decoder/
* See the sensor's product page: https://www.tindie.com/products/35114/
*/
@TeleOp(name = "OctoQuad Basic", group="OctoQuad")
@Disabled
@ -60,7 +60,7 @@ public class SensorOctoQuad extends LinearOpMode {
// Identify which encoder OctoQuad inputs are connected to each odometry pod.
private final int ODO_LEFT = 0; // Facing forward direction on left side of robot (Axial motion)
private final int ODO_RIGHT = 1; // Facing forward direction on right side or robot (Axial motion )
private final int ODO_RIGHT = 1; // Facing forward direction on right side or robot (Axial motion)
private final int ODO_PERP = 2; // Facing perpendicular direction at the center of the robot (Lateral motion)
// Declare the OctoQuad object and members to store encoder positions and velocities
@ -83,7 +83,7 @@ public class SensorOctoQuad extends LinearOpMode {
telemetry.addData("OctoQuad Firmware Version ", octoquad.getFirmwareVersion());
// Reverse the count-direction of any encoder that is not what you require.
// Eg: if you push the robot forward and the left encoder counts down, then reverse it so it counts up.
// e.g. if you push the robot forward and the left encoder counts down, then reverse it so it counts up.
octoquad.setSingleEncoderDirection(ODO_LEFT, OctoQuad.EncoderDirection.REVERSE);
octoquad.setSingleEncoderDirection(ODO_RIGHT, OctoQuad.EncoderDirection.FORWARD);
octoquad.setSingleEncoderDirection(ODO_PERP, OctoQuad.EncoderDirection.FORWARD);
@ -91,7 +91,7 @@ public class SensorOctoQuad extends LinearOpMode {
// Any changes that are made should be saved in FLASH just in case there is a sensor power glitch.
octoquad.saveParametersToFlash();
telemetry.addLine("\nPress Play to read encoder values");
telemetry.addLine("\nPress START to read encoder values");
telemetry.update();
waitForStart();
@ -100,23 +100,23 @@ public class SensorOctoQuad extends LinearOpMode {
telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
telemetry.setMsTransmissionInterval(50);
// Set all the encoder inputs to zero
// Set all the encoder inputs to zero.
octoquad.resetAllPositions();
// Loop while displaying the odometry pod positions.
while (opModeIsActive()) {
telemetry.addData(">", "Press X to Reset Encoders\n");
// Check for X button to reset encoders
// Check for X button to reset encoders.
if (gamepad1.x) {
// Reset the position of all encoders to zero.
octoquad.resetAllPositions();
}
// Read all the encoder data. Load into local members
// Read all the encoder data. Load into local members.
readOdometryPods();
// Display the values
// Display the values.
telemetry.addData("Left ", "%8d counts", posLeft);
telemetry.addData("Right", "%8d counts", posRight);
telemetry.addData("Perp ", "%8d counts", posPerp);
@ -131,11 +131,11 @@ public class SensorOctoQuad extends LinearOpMode {
// or
// readAllPositions() to get all 8 encoder readings
//
// Since both calls take almost the same amount of time, and the actual channels may not end up being sequential,
// we will read all of the encoder positions, and then pick out the ones we need.
// Since both calls take almost the same amount of time, and the actual channels may not end up
// being sequential, we will read all of the encoder positions, and then pick out the ones we need.
int[] positions = octoquad.readAllPositions();
posLeft = positions[ODO_LEFT];
posRight = positions[ODO_RIGHT];
posPerp = positions[ODO_PERP];
}
}
}

6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuadAdv.java vendored
View File

@ -77,7 +77,7 @@ import java.util.List;
* Note: If you prefer, you can move the two support classes from this file, and place them in their own files.
* But leaving them in place is simpler for this example.
*
* See the sensor's product page: https://www.tindie.com/products/digitalchickenlabs/octoquad-8ch-quadrature-pulse-width-decoder/
* See the sensor's product page: https://www.tindie.com/products/35114/
*/
@TeleOp(name="OctoQuad Advanced", group="OctoQuad")
@Disabled
@ -93,7 +93,7 @@ public class SensorOctoQuadAdv extends LinearOpMode {
// Display the OctoQuad firmware revision
telemetry.addLine("OctoQuad Firmware v" + octoquad.getFirmwareVersion());
telemetry.addLine("\nPress Play to read encoder values");
telemetry.addLine("\nPress START to read encoder values");
telemetry.update();
waitForStart();
@ -275,4 +275,4 @@ class OctoSwerveModule {
public void show(Telemetry telemetry) {
telemetry.addData(name, "%8.0f %7.0f %7.0f %6.0f", driveCounts, driveCountsPerSec, steerDegrees, steerDegreesPerSec);
}
}
}

6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/UtilityOctoQuadConfigMenu.java vendored
View File

@ -446,7 +446,7 @@ public class UtilityOctoQuadConfigMenu extends LinearOpMode
StringBuilder builder = new StringBuilder();
builder.append("<font color='#119af5' face=monospace>");
builder.append("Navigate items.....dpad up/down\n")
.append("Select.............X\n")
.append("Select.............X or Square\n")
.append("Edit option........dpad left/right\n")
.append("Up one level.......left bumper\n");
builder.append("</font>");
@ -614,7 +614,7 @@ public class UtilityOctoQuadConfigMenu extends LinearOpMode
@Override
public void onClick()
{
onRightInput();
//onRightInput();
}
@Override
@ -669,7 +669,7 @@ public class UtilityOctoQuadConfigMenu extends LinearOpMode
@Override
public void onClick()
{
onRightInput();
//onRightInput();
}
@Override

48
README.md
View File

@ -59,6 +59,54 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
# Release Information
## Version 10.0 (20240828-111152)
### Breaking Changes
* Java classes and Blocks for TensorFlow Object Detection have been removed.
* `AngularVelocity.unit` which was of type `AngleUnit` has been renamed `AngularVelocity.angleUnit` of type `UnnormalizedAngleUnit`
### Enhancements
* Sample for REV Digital Indicator has been added - ConceptRevLED
* Adds support for the [Sparkfun QWIIC LED Stick](https://www.sparkfun.com/products/18354)
* To connect it directly, you need this [cable](https://www.sparkfun.com/products/25596)
* Adds ConceptLEDStick OpMode
* Adds Blocks for colors black, blue, cyan, dkgray, gray, green, ltgray, magenta, red, white, and yellow.
* Adds an "evaluate but ignore result" Block that executes the connected block and ignores the result. Allows you to call a function and ignore the return value.
* Adds I2C driver for Maxbotix Maxsonar I2CXL sonar rangefinder
* Adds Blocks for setPwmEnable, setPwmDisable, and isPwmEnabled for servos and CR servos.
* In the Blocks editor: a \n in the ExportToBlocks annotation's comment field is displayed as a line break.
* Telemetry has new method setNumDecimalPlaces
* Telemetry now formats doubles and floats (not inside objects, just by themselves)
* Adds support for the Limelight 3A.
* Adds initial support for the REV Servo Hub
* Both the Robot Controller and Driver Station need to be updated to version 10.0 in order for Servo Hubs to be
configurable as Servo Hubs. If the app on either device is outdated, the Servo Hub will show up as an Expansion Hub,
and some functionality will not work as expected. You should wait to create a configuration that includes a Servo Hub
until both the Driver Station and Robot Controller apps have been updated to version 10.0.
* Updating the Servo Hub's firmware and changing its address can only be done using the REV Hardware Client at this time
* Adds support for the REV 9-Axis IMU (REV-31-3332)
* The REV 9-Axis IMU is only supported by the [Universal IMU interface](https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html)
* Adds `Rev9AxisImuOrientationOnRobot` Java class.
* If you mentally substitute this IMU's I2C port for the Control Hub's USB ports, `RevHubOrientationOnRobot` is also compatible with this sensor
* Adds Blocks for Rev9AxisImuOrientationOnRobot, including RevHubImuOrientationOnRobot.xyzOrientation and RevHubImuOrientationOnRobot.zyxOrientation.
* Adds Blocks samples SensorRev9AxisIMUOrthogonal and SensorRev9AxisIMUNonOrthogonal.
* Improves Blocks support for RevHubImuOrientationOnRobot.
* Adds Blocks for RevHubImuOrientationOnRobot.xyzOrientation and RevHubImuOrientationOnRobot.zyxOrientation.
* Adds Blocks samples SensorHubIMUOrthogonal (replaces SensorIMU) and SensorHubIMUNonOrthogonal.
* Updates EasyOpenCV, AprilTag, OpenCV, and `libjpeg-turbo` versions
* Adds Blocks for max and min that take two numbers.
* Adds Blocks OpModes ConceptRevSPARKMini, RobotAutoDriveByEncoder, RobotAutoDriveByGyro, RobotAutoDriveByTime, RobotAutoDriveToAprilTagOmni, and RobotAutoDriveToAprilTagTank.
* Two OpModes with the same name now automatically get renamed with the name followed by a "-" and the class name allowing them to both be on the device.
* Shows the name of the active configuration on the Manage page of the Robot Controller Console
* Updated AprilTag Library for INTO THE DEEP. Notably, `getCurrentGameTagLibrary()` now returns INTO THE DEEP tags.
* Adds Blocks for Telemetry.setMsTransmissionInterval and Telemetry.getMsTransmissionInterval.
* Adds Blocks sample SensorOctoQuad.
### Bug Fixes
* Fixes a bug where the RevBlinkinLedDriver Blocks were under Actuators in the Blocks editor toolbox. They are now Other Devices.
* Fixes a bug where `Exception`s thrown in user code after a stop was requested by the Driver Station would be silently eaten
* Fixed a bug where if you asked for `AngularVelocity` in a unit different than the device reported it in, it would normalize it between -PI and PI for radians, and -180 and 180 for degrees.
## Version 9.2 (20240701-085519)
### Important Notes

1
TeamCode/build.gradle
View File

@ -25,5 +25,4 @@ android {
dependencies {
implementation project(':FtcRobotController')
annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
}

4
build.common.gradle
View File

@ -47,10 +47,6 @@ android {
}
}
aaptOptions {
noCompress "tflite"
}
defaultConfig {
signingConfig signingConfigs.debug
applicationId 'com.qualcomm.ftcrobotcontroller'

20
build.dependencies.gradle
View File

@ -4,18 +4,14 @@ repositories {
}
dependencies {
implementation 'org.firstinspires.ftc:Inspection:9.2.0'
implementation 'org.firstinspires.ftc:Blocks:9.2.0'
implementation 'org.firstinspires.ftc:Tfod:9.2.0'
implementation 'org.firstinspires.ftc:RobotCore:9.2.0'
implementation 'org.firstinspires.ftc:RobotServer:9.2.0'
implementation 'org.firstinspires.ftc:OnBotJava:9.2.0'
implementation 'org.firstinspires.ftc:Hardware:9.2.0'
implementation 'org.firstinspires.ftc:FtcCommon:9.2.0'
implementation 'org.firstinspires.ftc:Vision:9.2.0'
implementation 'org.firstinspires.ftc:gameAssets-CenterStage:1.0.0'
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
implementation 'org.firstinspires.ftc:Inspection:10.0.0'
implementation 'org.firstinspires.ftc:Blocks:10.0.0'
implementation 'org.firstinspires.ftc:RobotCore:10.0.0'
implementation 'org.firstinspires.ftc:RobotServer:10.0.0'
implementation 'org.firstinspires.ftc:OnBotJava:10.0.0'
implementation 'org.firstinspires.ftc:Hardware:10.0.0'
implementation 'org.firstinspires.ftc:FtcCommon:10.0.0'
implementation 'org.firstinspires.ftc:Vision:10.0.0'
implementation 'androidx.appcompat:appcompat:1.2.0'
}