Adding sample files
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package org.firstinspires.ftc.teamcode;
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import android.util.Size;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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import org.firstinspires.ftc.vision.VisionPortal;
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import java.util.Locale;
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@TeleOp(name = "DevApp - Camera Test (HDMI)", group = "SCDS Development")
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public class CometBotsCameraTest extends LinearOpMode {
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final boolean USING_WEBCAM = true;
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final BuiltinCameraDirection INTERNAL_CAM_DIR = BuiltinCameraDirection.FRONT;
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final int RESOLUTION_WIDTH = 640;
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final int RESOLUTION_HEIGHT = 480;
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// Internal state
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boolean lastX;
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int frameCount;
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long capReqTime;
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@Override
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public void runOpMode() throws InterruptedException {
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telemetry.speak("Development - Camera Test");
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VisionPortal portal;
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if (USING_WEBCAM)
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{
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portal = new VisionPortal.Builder()
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.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
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.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
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.build();
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}
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else
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{
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portal = new VisionPortal.Builder()
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.setCamera(INTERNAL_CAM_DIR)
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.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
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.build();
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}
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while (!isStopRequested())
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{
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boolean x = gamepad1.x;
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if (x && !lastX)
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{
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portal.saveNextFrameRaw(String.format(Locale.US, "CameraFrameCapture-%06d", frameCount++));
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capReqTime = System.currentTimeMillis();
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}
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lastX = x;
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telemetry.addLine("######## Camera Capture Utility ########");
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telemetry.addLine(String.format(Locale.US, " > Resolution: %dx%d", RESOLUTION_WIDTH, RESOLUTION_HEIGHT));
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telemetry.addLine(" > Press X (or Square) to capture a frame");
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telemetry.addData(" > Camera Status", portal.getCameraState());
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if (capReqTime != 0)
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{
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telemetry.addLine("\nCaptured Frame!");
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}
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if (capReqTime != 0 && System.currentTimeMillis() - capReqTime > 1000)
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{
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capReqTime = 0;
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}
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telemetry.update();
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}
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}
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}
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.IMU;
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import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
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import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
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import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
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@TeleOp(name = "DevApp - IMU Test", group = "SCDS Development")
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public class CometBotsIMUTest extends LinearOpMode {
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IMU imu;
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@Override
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public void runOpMode() throws InterruptedException {
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// Retrieve and initialize the IMU.
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// This sample expects the IMU to be in a REV Hub and named "imu".
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imu = hardwareMap.get(IMU.class, "imu");
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/* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
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*
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* Two input parameters are required to fully specify the Orientation.
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* The first parameter specifies the direction the printed logo on the Hub is pointing.
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* The second parameter specifies the direction the USB connector on the Hub is pointing.
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* All directions are relative to the robot, and left/right is as-viewed from behind the robot.
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*/
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/* The next two lines define Hub orientation.
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* The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
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*
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* To Do: EDIT these two lines to match YOUR mounting configuration.
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*/
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RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
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RevHubOrientationOnRobot.UsbFacingDirection usbDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
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RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
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// Now initialize the IMU with this mounting orientation
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// Note: if you choose two conflicting directions, this initialization will cause a code exception.
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imu.initialize(new IMU.Parameters(orientationOnRobot));
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// Loop and update the dashboard
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while (!isStopRequested()) {
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telemetry.addData("Hub orientation", "Logo=%s USB=%s\n ", logoDirection, usbDirection);
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// Check to see if heading reset is requested
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if (gamepad1.y) {
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telemetry.addData("Yaw", "Resetting\n");
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imu.resetYaw();
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} else {
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telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
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}
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// Retrieve Rotational Angles and Velocities
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YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
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AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
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telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
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telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
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telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
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telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
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telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
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telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
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telemetry.update();
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}
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}
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}
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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import org.openftc.easyopencv.OpenCvCamera;
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import org.openftc.easyopencv.OpenCvCameraFactory;
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import org.openftc.easyopencv.OpenCvCameraRotation;
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@Autonomous(name="DevApp - OpenCV Test", group="SCDS Development")
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public class CometBotsOpenCVTest extends LinearOpMode {
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private OpenCvCamera controlHubCam; // Use OpenCvCamera class from FTC SDK
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private static final int CAMERA_WIDTH = 1280; // width of wanted camera resolution
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private static final int CAMERA_HEIGHT = 720; // height of wanted camera resolution
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// Calculate the distance using the formula
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public static final double objectWidthInRealWorldUnits = 3.75; // Replace with the actual width of the object in real-world units
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public static final double focalLength = 728; // Replace with the focal length of the camera in pixels
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private void initOpenCV() {
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// Create an instance of the camera
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int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
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"cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
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// Use OpenCvCameraFactory class from FTC SDK to create camera instance
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controlHubCam = OpenCvCameraFactory.getInstance().createWebcam(
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hardwareMap.get(WebcamName.class, "Webcam 1"), cameraMonitorViewId);
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controlHubCam.setPipeline(new YellowBlobDetectionPipeline());
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controlHubCam.openCameraDevice();
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controlHubCam.startStreaming(CAMERA_WIDTH, CAMERA_HEIGHT, OpenCvCameraRotation.UPRIGHT);
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}
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@Override
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public void runOpMode() throws InterruptedException {
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}
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}
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@ -0,0 +1,4 @@
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https://www.youtube.com/watch?v=aeMWWvteF2U
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https://www.youtube.com/watch?v=1xdo8QP6_mI
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