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FtcRobotController v9.0

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This commit is contained in:
Cal Kestis
2023-08-30 17:44:45 +09:00
parent 660a2f63bc
commit 4de7b1e7c7
75 changed files with 706 additions and 930 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="50"
android:versionName="8.2">
android:versionCode="51"
android:versionName="9.0">
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

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FtcRobotController/src/main/assets/FTC_2016-17.dat
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FtcRobotController/src/main/assets/FTC_2016-17.xml
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<?xml version="1.0" encoding="UTF-8"?>
<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
<Tracking>
<ImageTarget name="Wheels" size="254.000000 184.154922" />
<ImageTarget name="Tools" size="254.000000 184.154922" />
<ImageTarget name="Legos" size="254.000000 184.154922" />
<ImageTarget name="Gears" size="254.000000 184.154922" />
</Tracking>
</QCARConfig>

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FtcRobotController/src/main/assets/RelicVuMark.dat
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FtcRobotController/src/main/assets/RelicVuMark.xml
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<?xml version='1.0' encoding='UTF-8'?>
<QCARConfig>
<Tracking>
<VuMark name="RelicRecovery" size="304.80000376701355 223.630235354" />
</Tracking>
</QCARConfig>

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FtcRobotController/src/main/assets/StonesAndChips.dat
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FtcRobotController/src/main/assets/StonesAndChips.xml
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@ -1,7 +0,0 @@
<?xml version="1.0"?>
<QCARConfig xsi:noNamespaceSchemaLocation="qcar_config.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<Tracking>
<ImageTarget name="stones" size="247 173"/>
<ImageTarget name="chips" size="247 173"/>
</Tracking>
</QCARConfig>

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FtcRobotController/src/main/assets/UltimateGoal.dat
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FtcRobotController/src/main/assets/UltimateGoal.tflite
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FtcRobotController/src/main/assets/UltimateGoal.xml
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<?xml version="1.0" encoding="UTF-8"?>
<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
<Tracking>
<ImageTarget name="BlueTowerGoal" size="257.299988 171.533325" />
<ImageTarget name="RedTowerGoal" size="257.299988 171.533325" />
<ImageTarget name="RedAlliance" size="242.600006 171.430405" />
<ImageTarget name="BlueAlliance" size="252.500000 171.466522" />
<ImageTarget name="FrontWall" size="177.800003 177.800003" />
</Tracking>
</QCARConfig>

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FtcRobotController/src/main/assets/qcar_config.xsd
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6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java vendored
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@ -35,7 +35,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
/*
* This file contains an example of a Linear "OpMode".
* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
* The names of OpModes appear on the menu of the FTC Driver Station.
@ -60,10 +60,10 @@ import com.qualcomm.robotcore.util.ElapsedTime;
* the direction of all 4 motors (see code below).
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name="Basic: Omni Linear OpMode", group="Linear Opmode")
@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
@Disabled
public class BasicOmniOpMode_Linear extends LinearOpMode {

6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java vendored
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@ -36,7 +36,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
/**
/*
* This file contains an example of an iterative (Non-Linear) "OpMode".
* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
* The names of OpModes appear on the menu of the FTC Driver Station.
@ -47,10 +47,10 @@ import com.qualcomm.robotcore.util.Range;
* It includes all the skeletal structure that all iterative OpModes contain.
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name="Basic: Iterative OpMode", group="Iterative Opmode")
@TeleOp(name="Basic: Iterative OpMode", group="Iterative OpMode")
@Disabled
public class BasicOpMode_Iterative extends OpMode
{

8
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java vendored
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@ -29,15 +29,15 @@
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.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
/**
/*
* This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
* the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
* of the FTC Driver Station. When a selection is made from the menu, the corresponding OpMode
@ -47,10 +47,10 @@ import com.qualcomm.robotcore.util.Range;
* It includes all the skeletal structure that all linear OpModes contain.
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name="Basic: Linear OpMode", group="Linear Opmode")
@TeleOp(name="Basic: Linear OpMode", group="Linear OpMode")
@Disabled
public class BasicOpMode_Linear extends LinearOpMode {

17
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java vendored
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@ -32,19 +32,16 @@ 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,
import java.util.List;
/*
* This 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.
@ -57,12 +54,12 @@ 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.
* 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.
* The variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@ -162,7 +159,7 @@ public class ConceptAprilTag extends LinearOpMode {
/**
* Function to add telemetry about AprilTag detections.
* Add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {

13
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java vendored
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@ -32,15 +32,16 @@ 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
import java.util.List;
/*
* This 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.
@ -53,12 +54,12 @@ 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.
* 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.
* The variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@ -118,7 +119,7 @@ public class ConceptAprilTagEasy extends LinearOpMode {
} // end method initAprilTag()
/**
* Function to add telemetry about AprilTag detections.
* Add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagOptimizeExposure.java vendored
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@ -33,11 +33,9 @@ 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;
@ -45,7 +43,7 @@ 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

19
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagSwitchableCameras.java vendored
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@ -32,7 +32,6 @@ 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;
@ -41,8 +40,10 @@ 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
import java.util.List;
/*
* This 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.
@ -52,7 +53,7 @@ import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
@Disabled
public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
/**
/*
* Variables used for switching cameras.
*/
private WebcamName webcam1, webcam2;
@ -60,12 +61,12 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
private boolean oldRightBumper;
/**
* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
* 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.
* The variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@ -130,7 +131,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
} // end method initAprilTag()
/**
* Function to add telemetry about camera switching.
* Add telemetry about camera switching.
*/
private void telemetryCameraSwitching() {
@ -145,7 +146,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
} // end method telemetryCameraSwitching()
/**
* Function to add telemetry about AprilTag detections.
* Add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {
@ -173,7 +174,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
} // end method telemetryAprilTag()
/**
* Function to set the active camera according to input from the gamepad.
* Set the active camera according to input from the gamepad.
*/
private void doCameraSwitching() {
if (visionPortal.getCameraState() == CameraState.STREAMING) {

125
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptCompassCalibration.java vendored
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@ -1,125 +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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.CompassSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of calibrating a MR Compass
* This code assumes there is a compass configured with the name "compass"
*
* This code will put the compass into calibration mode, wait three seconds and then attempt
* to rotate two full turns clockwise. This will allow the compass to do a magnetic calibration.
*
* Once compete, the program will put the compass back into measurement mode and check to see if the
* calibration was successful.
*
* 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: Compass Calibration", group="Concept")
@Disabled
public class ConceptCompassCalibration extends LinearOpMode {
/* Declare OpMode members. */
public DcMotor leftDrive = null;
public DcMotor rightDrive = null;
private ElapsedTime runtime = new ElapsedTime();
CompassSensor compass;
final static double MOTOR_POWER = 0.2; // scale from 0 to 1
static final long HOLD_TIME_MS = 3000;
static final double CAL_TIME_SEC = 20;
@Override
public void runOpMode() {
// Initialize the drive system variables.
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
// 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);
// get a reference to our Compass Sensor object.
compass = hardwareMap.get(CompassSensor.class, "compass");
// Send telemetry message to signify robot waiting;
telemetry.addData("Status", "Ready to cal"); //
telemetry.update();
// Wait for the game to start (driver presses PLAY)
waitForStart();
// Set the compass to calibration mode
compass.setMode(CompassSensor.CompassMode.CALIBRATION_MODE);
telemetry.addData("Compass", "Compass in calibration mode");
telemetry.update();
sleep(HOLD_TIME_MS); // Just do a sleep while we switch modes
// Start the robot rotating clockwise
telemetry.addData("Compass", "Calibration mode. Turning the robot...");
telemetry.update();
leftDrive.setPower(MOTOR_POWER);
rightDrive.setPower(-MOTOR_POWER);
// run until time expires OR the driver presses STOP;
runtime.reset();
while (opModeIsActive() && (runtime.time() < CAL_TIME_SEC)) {
idle();
}
// Stop all motors and turn off claibration
leftDrive.setPower(0);
rightDrive.setPower(0);
compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE);
telemetry.addData("Compass", "Returning to measurement mode");
telemetry.update();
sleep(HOLD_TIME_MS); // Just do a sleep while we switch modes
// Report whether the Calibration was successful or not.
if (compass.calibrationFailed())
telemetry.addData("Compass", "Calibrate Failed. Try Again!");
else
telemetry.addData("Compass", "Calibrate Passed.");
telemetry.update();
}
}

19
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDoubleVision.java vendored
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@ -32,7 +32,6 @@ 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;
@ -41,8 +40,10 @@ 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
import java.util.List;
/*
* This 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.
@ -54,17 +55,17 @@ 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.
* 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.
* 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.
* The variable to store our instance of the vision portal.
*/
private VisionPortal myVisionPortal;
@ -122,7 +123,7 @@ public class ConceptDoubleVision extends LinearOpMode {
/**
* Function to initialize AprilTag and TFOD.
* Initialize AprilTag and TFOD.
*/
private void initDoubleVision() {
// -----------------------------------------------------------------------------------------
@ -157,7 +158,7 @@ public class ConceptDoubleVision extends LinearOpMode {
} // end initDoubleVision()
/**
* Function to add telemetry about AprilTag detections.
* Add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
@ -179,7 +180,7 @@ public class ConceptDoubleVision extends LinearOpMode {
} // end method telemetryAprilTag()
/**
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
* Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
*/
private void telemetryTfod() {
List<Recognition> currentRecognitions = tfod.getRecognitions();

23
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptExploringIMUOrientation.java vendored
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@ -37,36 +37,35 @@ 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.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
/**
* This file demonstrates the impact of setting the IMU orientation correctly or incorrectly. This
/*
* This OpMode demonstrates the impact of setting the IMU orientation correctly or incorrectly. This
* code assumes there is an IMU configured with the name "imu".
* <p>
*
* Note: This OpMode is more of a tool than a code sample. The User Interface portion of this code
* goes beyond simply showing how to interface to the IMU.<br>
* For a minimal example of interfacing to an IMU, please see the SensorIMUOrthogonal or SensorIMUNonOrthogonal sample OpModes.
* <p>
* This sample enables you to re-specify the Hub Mounting orientation dynamically by using gamepad controls.
*
* This OpMode enables you to re-specify the Hub Mounting orientation dynamically by using gamepad controls.
* While doing so, the sample will display how Pitch, Roll and Yaw angles change as the hub is moved.
* <p>
*
* The gamepad controls let you change the two parameters that specify how the Control/Expansion Hub is mounted. <br>
* The first parameter specifies which direction the printed logo on the Hub is pointing. <br>
* The second parameter specifies which direction the USB connector on the Hub is pointing. <br>
* All directions are relative to the robot, and left/right is as viewed from behind the robot.
* <p>
*
* How will you know if you have chosen the correct Orientation? With the correct orientation
* parameters selected, pitch/roll/yaw should act as follows:
* <p>
*
* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
* <p>
*
* The Yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
* <p>
*
* The rotational velocities should follow the change in corresponding axes.
*/
@ -79,7 +78,7 @@ public class ConceptExploringIMUOrientation extends LinearOpMode {
= RevHubOrientationOnRobot.UsbFacingDirection.values();
static int LAST_DIRECTION = logoFacingDirections.length - 1;
static float TRIGGER_THRESHOLD = 0.2f;
IMU imu;
int logoFacingDirectionPosition;
int usbFacingDirectionPosition;

12
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptExternalHardwareClass.java vendored
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@ -34,8 +34,8 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.Range;
/**
* This OpMode Sample illustrates how to use an external "hardware" class to modularize all the robot's sensors and actuators.
/*
* This OpMode illustrates how to use an external "hardware" class to modularize all the robot's sensors and actuators.
* This approach is very efficient because the same hardware class can be used by all of your teleop and autonomous OpModes
* without requiring many copy & paste operations. Once you have defined and tested the hardware class with one OpMode,
* it is instantly available to other OpModes.
@ -53,15 +53,15 @@ import com.qualcomm.robotcore.util.Range;
* must also be copied to the same location (maintaining its name).
*
* For comparison purposes, this sample and its accompanying hardware class duplicates the functionality of the
* RobotTelopPOV_Linear opmode. It assumes three motors (left_drive, right_drive and arm) and two servos (left_hand and right_hand)
* RobotTelopPOV_Linear OpMode. It assumes three motors (left_drive, right_drive and arm) and two servos (left_hand and right_hand)
*
* View the RobotHardware.java class file for more details
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*
* In OnBot Java, add a new OpMode, drawing from this Sample; select TeleOp.
* Also add another new file named RobotHardware.java, drawing from the Sample with that name; select Not an OpMode.
* In OnBot Java, add a new OpMode, select this sample, and select TeleOp.
* Also add another new file named RobotHardware.java, select the sample with that name, and select Not an OpMode.
*/
@TeleOp(name="Concept: Robot Hardware Class", group="Robot")

6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadRumble.java vendored
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@ -6,13 +6,13 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This sample illustrates using the rumble feature of many gamepads.
/*
* This OpMode illustrates using the rumble feature of many gamepads.
*
* Note: Some gamepads "rumble" better than others.
* The Xbox & PS4 have a left (rumble1) and right (rumble2) rumble motor.
* These two gamepads have two distinct rumble modes: Large on the left, and small on the right
* The ETpark gamepad may only respond to rumble1, and may only run at full power.
* The Etpark gamepad may only respond to rumble1, and may only run at full power.
* The Logitech F310 gamepad does not have *any* rumble ability.
*
* Moral: You should use this sample to experiment with your specific gamepads to explore their rumble features.

7
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadTouchpad.java vendored
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@ -1,13 +1,12 @@
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.eventloop.opmode.Disabled;
import org.firstinspires.ftc.robotcore.external.Telemetry;
/**
* This sample illustrates using the touchpad feature found on some gamepads.
/*
* This OpMode illustrates using the touchpad feature found on some gamepads.
*
* The Sony PS4 gamepad can detect two distinct touches on the central touchpad.
* Other gamepads with different touchpads may provide mixed results.

84
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java vendored
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@ -36,51 +36,49 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.util.ElapsedTime;
import java.util.Iterator;
import java.util.List;
/*
This sample illustrates how to use the Expansion Hub's Bulk-Read feature to speed up control cycle times.
In this example there are 4 motors that need their encoder positions, and velocities read.
The sample is written to work with one or two expansion hubs, with no assumption as to where the motors are located.
Three scenarios are tested:
Cache Mode = OFF This is the normal default, where no cache is used, and every read produces a discrete transaction with
an expansion hub, which is the slowest approach, but guarentees that the value is as fresh (recent) as possible..
Cache Mode = AUTO This mode will attempt to minimize the number of discrete read commands, by performing bulk-reads
and then returning values that have been cached. The cache is updated automatically whenever any specific encoder is re-read.
This mode will always return new data, but it may perform more bulk-reads than absolutely required.
Extra reads will be performed if multiple encoder/velocity reads are performed on the same encoder in one control cycle.
This mode is a good compromise between the OFF and MANUAL modes.
Note: If there are significant user-program delays between encoder reads, the cached value may not be fresh (recent).
You can issue a clearBulkCache() call at any time force a fresh bulk-read on the next encoder read.
Cache Mode = MANUAL This mode requires the user's code to determine the best time to clear the cached bulk-read data.
Well organized code will reset the cache once at the beginning of the control cycle, and then immediately read and store all the encoder values.
This approach will produce the shortest cycle times, but it does require the user to manually clear the cache.
Since NO automatic Bulk-Reads are performed, neglecting to clear the bulk cache will result in the same values being returned
each time an encoder read is performed.
-------------------------------------
General tip to speed up your control cycles:
No matter what method you use to read encoders and other inputs, you should try to
avoid reading the same encoder input multiple times around a control loop.
Under normal conditions, this will slow down the control loop.
The preferred method is to read all the required inputs ONCE at the beginning of the loop,
and save the values in variable that can be used by other parts of the control code.
eg: if you are sending encoder positions to your telemetry display, putting a getCurrentPosition()
call in the telemetry statement will force the code to go and get another copy which will take time.
It's much better read the position into a variable once, and use that variable for control AND display.
Reading saved variables takes no time at all.
Once you put all your sensor reads at the beginning of the control cycle, it's very easy to use
the bulk-read AUTO mode to streamline your cycle timing.
*/
/*
* This OpMode illustrates how to use the Expansion Hub's Bulk-Read feature to speed up control cycle times.
* In this example there are 4 motors that need their encoder positions, and velocities read.
* The sample is written to work with one or two expansion hubs, with no assumption as to where the motors are located.
*
* Three scenarios are tested:
* Cache Mode = OFF This is the normal default, where no cache is used, and every read produces a discrete transaction with
* an expansion hub, which is the slowest approach, but guarentees that the value is as fresh (recent) as possible..
*
* Cache Mode = AUTO This mode will attempt to minimize the number of discrete read commands, by performing bulk-reads
* and then returning values that have been cached. The cache is updated automatically whenever any specific encoder is re-read.
* This mode will always return new data, but it may perform more bulk-reads than absolutely required.
* Extra reads will be performed if multiple encoder/velocity reads are performed on the same encoder in one control cycle.
* This mode is a good compromise between the OFF and MANUAL modes.
* Note: If there are significant user-program delays between encoder reads, the cached value may not be fresh (recent).
* You can issue a clearBulkCache() call at any time force a fresh bulk-read on the next encoder read.
*
* Cache Mode = MANUAL This mode requires the user's code to determine the best time to clear the cached bulk-read data.
* Well organized code will reset the cache once at the beginning of the control cycle, and then immediately read and store all the encoder values.
* This approach will produce the shortest cycle times, but it does require the user to manually clear the cache.
* Since NO automatic Bulk-Reads are performed, neglecting to clear the bulk cache will result in the same values being returned
* each time an encoder read is performed.
*
* -------------------------------------
*
* General tip to speed up your control cycles:
*
* No matter what method you use to read encoders and other inputs, you should try to
* avoid reading the same encoder input multiple times around a control loop.
* Under normal conditions, this will slow down the control loop.
* The preferred method is to read all the required inputs ONCE at the beginning of the loop,
* and save the values in variable that can be used by other parts of the control code.
*
* eg: if you are sending encoder positions to your telemetry display, putting a getCurrentPosition()
* call in the telemetry statement will force the code to go and get another copy which will take time.
* It's much better read the position into a variable once, and use that variable for control AND display.
* Reading saved variables takes no time at all.
*
* Once you put all your sensor reads at the beginning of the control cycle, it's very easy to use
* the bulk-read AUTO mode to streamline your cycle timing.
*/
@TeleOp (name = "Motor Bulk Reads", group = "Tests")
@Disabled
public class ConceptMotorBulkRead extends LinearOpMode {

40
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java vendored
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@ -34,11 +34,8 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.ElapsedTime;
import java.text.SimpleDateFormat;
import java.util.Date;
/**
* Demonstrates empty OpMode
/*
* Demonstrates an empty iterative OpMode
*/
@TeleOp(name = "Concept: NullOp", group = "Concept")
@Disabled
@ -46,34 +43,47 @@ public class ConceptNullOp extends OpMode {
private ElapsedTime runtime = new ElapsedTime();
/**
* This method will be called once, when the INIT button is pressed.
*/
@Override
public void init() {
telemetry.addData("Status", "Initialized");
}
/*
* Code to run when the op mode is first enabled goes here
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()
*/
/**
* 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
* OpMode is stopped).
*/
@Override
public void init_loop() {
}
/*
* This method will be called ONCE when start is pressed
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
/**
* This method will be called once, when the play button is pressed.
*/
@Override
public void start() {
runtime.reset();
}
/*
* This method will be called repeatedly in a loop
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
/**
* This method will be called repeatedly during the period between when
* the play button is pressed and when the OpMode is stopped.
*/
@Override
public void loop() {
telemetry.addData("Status", "Run Time: " + runtime.toString());
}
/**
* This method will be called once, when this OpMode is stopped.
* <p>
* Your ability to control hardware from this method will be limited.
*/
@Override
public void stop() {
}
}

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRampMotorSpeed.java vendored
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@ -34,7 +34,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
/**
/*
* This OpMode ramps a single motor speed up and down repeatedly until Stop is pressed.
* The code is structured as a LinearOpMode
*
@ -44,7 +44,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
* CYCLE_MS sets the update period.
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name = "Concept: Ramp Motor Speed", group = "Concept")
@Disabled

3
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java vendored
View File

@ -37,8 +37,7 @@ import com.qualcomm.robotcore.util.ElapsedTime;
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
* robot configuration, use the drop down list under 'Servos' to select 'REV SPARKmini Controller'

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptScanServo.java vendored
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@ -34,7 +34,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Servo;
/**
/*
* This OpMode scans a single servo back and forward until Stop is pressed.
* The code is structured as a LinearOpMode
* INCREMENT sets how much to increase/decrease the servo position each cycle
@ -46,7 +46,7 @@ import com.qualcomm.robotcore.hardware.Servo;
* connected servos are able to move freely before running this test.
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name = "Concept: Scan Servo", group = "Concept")
@Disabled

8
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java vendored
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@ -34,17 +34,15 @@ import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.io.File;
/**
* This file demonstrates how to play simple sounds on both the RC and DS phones.
/*
* This OpMode demonstrates how to play simple sounds on both the RC and DS phones.
* It illustrates how to build sounds into your application as a resource.
* This technique is best suited for use with Android Studio since it assumes you will be creating a new application
*
* If you are using OnBotJava, please see the ConceptSoundsOnBotJava sample
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*
* Operation:
*

5
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsOnBotJava.java vendored
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@ -33,10 +33,11 @@ import com.qualcomm.ftccommon.SoundPlayer;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.io.File;
/**
* This file demonstrates how to play simple sounds on both the RC and DS phones.
/*
* This OpMode demonstrates how to play simple sounds on both the RC and DS phones.
* It illustrates how to play sound files that have been copied to the RC Phone
* This technique is best suited for use with OnBotJava since it does not require the app to be modified.
*

7
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsSKYSTONE.java vendored
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@ -30,14 +30,13 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
import android.content.Context;
import com.qualcomm.ftccommon.SoundPlayer;
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.eventloop.opmode.Disabled;
/**
* This file demonstrates how to play one of the several SKYSTONE/Star Wars sounds loaded into the SDK.
/*
* This OpMode demonstrates how to play one of the several SKYSTONE/Star Wars sounds loaded into the SDK.
* It does this by creating a simple "chooser" controlled by the gamepad Up Down buttons.
* This code also prevents sounds from stacking up by setting a "playing" flag, which is cleared when the sound finishes playing.
*

29
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTelemetry.java vendored
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@ -34,26 +34,25 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.VoltageSensor;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.Func;
import org.firstinspires.ftc.robotcore.external.Telemetry;
/**
* {@link ConceptTelemetry} illustrates various ways in which telemetry can be
/*
* This OpMode illustrates various ways in which telemetry can be
* transmitted from the robot controller to the driver station. The sample illustrates
* numeric and text data, formatted output, and optimized evaluation of expensive-to-acquire
* information. The telemetry {@link Telemetry#log() log} is illustrated by scrolling a poem
* information. The telemetry log is illustrated by scrolling a poem
* to the driver station.
*
* @see Telemetry
* Also see the Telemetry javadocs.
*/
@TeleOp(name = "Concept: Telemetry", group = "Concept")
@Disabled
public class ConceptTelemetry extends LinearOpMode {
/** keeps track of the line of the poem which is to be emitted next */
/** Keeps track of the line of the poem which is to be emitted next */
int poemLine = 0;
/** keeps track of how long it's been since we last emitted a line of poetry */
/** Keeps track of how long it's been since we last emitted a line of poetry */
ElapsedTime poemElapsed = new ElapsedTime();
static final String[] poem = new String[] {
@ -94,10 +93,10 @@ public class ConceptTelemetry extends LinearOpMode {
// The interval between lines of poetry, in seconds
double sPoemInterval = 0.6;
/**
/*
* Wait until we've been given the ok to go. For something to do, we emit the
* elapsed time as we sit here and wait. If we didn't want to do anything while
* we waited, we would just call {@link #waitForStart()}.
* we waited, we would just call waitForStart().
*/
while (!isStarted()) {
telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
@ -107,10 +106,10 @@ public class ConceptTelemetry extends LinearOpMode {
// Ok, we've been given the ok to go
/**
/*
* As an illustration, the first line on our telemetry display will display the battery voltage.
* The idea here is that it's expensive to compute the voltage (at least for purposes of illustration)
* so you don't want to do it unless the data is <em>actually</em> going to make it to the
* so you don't want to do it unless the data is _actually_ going to make it to the
* driver station (recall that telemetry transmission is throttled to reduce bandwidth use.
* Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached.
*
@ -122,7 +121,7 @@ public class ConceptTelemetry extends LinearOpMode {
}
});
// Reset to keep some timing stats for the post-'start' part of the opmode
// Reset to keep some timing stats for the post-'start' part of the OpMode
opmodeRunTime.reset();
int loopCount = 1;
@ -146,13 +145,13 @@ public class ConceptTelemetry extends LinearOpMode {
.addData("x", gamepad1.right_stick_x)
.addData("y", gamepad1.right_stick_y);
/**
/*
* Transmit the telemetry to the driver station, subject to throttling.
* @see Telemetry#getMsTransmissionInterval()
* See the documentation for Telemetry.getMsTransmissionInterval() for more information.
*/
telemetry.update();
/** Update loop info and play nice with the rest of the {@link Thread}s in the system */
// Update loop info
loopCount++;
}
}

13
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java vendored
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@ -32,15 +32,16 @@ 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,
import java.util.List;
/*
* This 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.
@ -53,12 +54,12 @@ public class ConceptTensorFlowObjectDetection 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.
* 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.
* The variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@ -158,7 +159,7 @@ public class ConceptTensorFlowObjectDetection extends LinearOpMode {
} // end method initTfod()
/**
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
* Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
*/
private void telemetryTfod() {

13
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionEasy.java vendored
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@ -32,15 +32,16 @@ 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
import java.util.List;
/*
* This 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.
@ -53,12 +54,12 @@ 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.
* 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.
* The variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@ -118,7 +119,7 @@ public class ConceptTensorFlowObjectDetectionEasy extends LinearOpMode {
} // end method initTfod()
/**
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
* Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
*/
private void telemetryTfod() {

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

@ -32,7 +32,6 @@ 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;
@ -41,8 +40,10 @@ import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.VisionPortal.CameraState;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
/**
* This 2023-2024 OpMode illustrates the basics of TensorFlow Object Detection, using
import java.util.List;
/*
* This 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.
@ -60,12 +61,12 @@ public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpM
private boolean oldRightBumper;
/**
* {@link #tfod} is the variable to store our instance of the TensorFlow Object Detection processor.
* 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.
* The variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@ -130,7 +131,7 @@ public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpM
} // end method initTfod()
/**
* Function to add telemetry about camera switching.
* Add telemetry about camera switching.
*/
private void telemetryCameraSwitching() {
if (visionPortal.getActiveCamera().equals(webcam1)) {
@ -143,7 +144,7 @@ public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpM
} // end method telemetryCameraSwitching()
/**
* Function to add telemetry about TensorFlow Object Detection (TFOD) recognitions.
* Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
*/
private void telemetryTfod() {
@ -164,7 +165,7 @@ public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpM
} // end method telemetryTfod()
/**
* Function to set the active camera according to input from the gamepad.
* Set the active camera according to input from the gamepad.
*/
private void doCameraSwitching() {
if (visionPortal.getCameraState() == CameraState.STREAMING) {

11
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByEncoder_Linear.java vendored
View File

@ -33,11 +33,10 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of driving a path based on encoder counts.
/*
* This OpMode illustrates the concept of driving a path based on encoder counts.
* The code is structured as a LinearOpMode
*
* The code REQUIRES that you DO have encoders on the wheels,
@ -59,7 +58,7 @@ import com.qualcomm.robotcore.util.ElapsedTime;
* This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@Autonomous(name="Robot: Auto Drive By Encoder", group="Robot")
@ -131,7 +130,7 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
* Move will stop if any of three conditions occur:
* 1) Move gets to the desired position
* 2) Move runs out of time
* 3) Driver stops the opmode running.
* 3) Driver stops the OpMode running.
*/
public void encoderDrive(double speed,
double leftInches, double rightInches,
@ -139,7 +138,7 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
int newLeftTarget;
int newRightTarget;
// Ensure that the opmode is still active
// Ensure that the OpMode is still active
if (opModeIsActive()) {
// Determine new target position, and pass to motor controller

94
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByGyro_Linear.java vendored
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@ -29,21 +29,19 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
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.YawPitchRollAngles;
/**
* This file illustrates the concept of driving an autonomous path based on Gyro heading and encoder counts.
/*
* This OpMode illustrates the concept of driving an autonomous path based on Gyro (IMU) heading and encoder counts.
* The code is structured as a LinearOpMode
*
* The path to be followed by the robot is built from a series of drive, turn or pause steps.
@ -51,9 +49,10 @@ import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
*
* The code REQUIRES that you have encoders on the drive motors, otherwise you should use: RobotAutoDriveByTime;
*
* This code ALSO requires that you have a BOSCH BNO055 IMU, otherwise you would use: RobotAutoDriveByEncoder;
* This IMU is found in REV Control/Expansion Hubs shipped prior to July 2022, and possibly also on later models.
* This code uses the Universal IMU interface so it will work with either the BNO055, or BHI260 IMU.
* To run as written, the Control/Expansion hub should be mounted horizontally on a flat part of the robot chassis.
* The REV Logo should be facing UP, and the USB port should be facing forward.
* If this is not the configuration of your REV Control Hub, then the code should be modified to reflect the correct orientation.
*
* This sample requires that the drive Motors have been configured with names : left_drive and right_drive.
* It also requires that a positive power command moves both motors forward, and causes the encoders to count UP.
@ -61,7 +60,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
* See the beginning of runOpMode() to set the FORWARD/REVERSE option for each motor.
*
* This code uses RUN_TO_POSITION mode for driving straight, and RUN_USING_ENCODER mode for turning and holding.
* Note: You must call setTargetPosition() at least once before switching to RUN_TO_POSITION mode.
* Note: This code implements the requirement of calling setTargetPosition() at least once before switching to RUN_TO_POSITION mode.
*
* Notes:
*
@ -96,10 +95,8 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
/* Declare OpMode members. */
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
private BNO055IMU imu = null; // Control/Expansion Hub IMU
private IMU imu = null; // Control/Expansion Hub IMU
private double robotHeading = 0;
private double headingOffset = 0;
private double headingError = 0;
// These variable are declared here (as class members) so they can be updated in various methods,
@ -151,11 +148,19 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
// define initialization values for IMU, and then initialize it.
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
imu = hardwareMap.get(BNO055IMU.class, "imu");
imu.initialize(parameters);
/* The next two lines define Hub orientation.
* The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
*
* To Do: EDIT these two lines to match YOUR mounting configuration.
*/
RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
RevHubOrientationOnRobot.UsbFacingDirection usbDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
// Now initialize the IMU with this mounting orientation
// This sample expects the IMU to be in a REV Hub and named "imu".
imu = hardwareMap.get(IMU.class, "imu");
imu.initialize(new IMU.Parameters(orientationOnRobot));
// Ensure the robot is stationary. Reset the encoders and set the motors to BRAKE mode
leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
@ -165,14 +170,14 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
// Wait for the game to start (Display Gyro value while waiting)
while (opModeInInit()) {
telemetry.addData(">", "Robot Heading = %4.0f", getRawHeading());
telemetry.addData(">", "Robot Heading = %4.0f", getHeading());
telemetry.update();
}
// Set the encoders for closed loop speed control, and reset the heading.
leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
resetHeading();
imu.resetYaw();
// Step through each leg of the path,
// Notes: Reverse movement is obtained by setting a negative distance (not speed)
@ -208,10 +213,10 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
// ********** HIGH Level driving functions. ********************
/**
* Method to drive in a straight line, on a fixed compass heading (angle), based on encoder counts.
* Drive in a straight line, on a fixed compass heading (angle), based on encoder counts.
* Move will stop if either of these conditions occur:
* 1) Move gets to the desired position
* 2) Driver stops the opmode running.
* 2) Driver stops the OpMode running.
*
* @param maxDriveSpeed MAX Speed for forward/rev motion (range 0 to +1.0) .
* @param distance Distance (in inches) to move from current position. Negative distance means move backward.
@ -223,7 +228,7 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
double distance,
double heading) {
// Ensure that the opmode is still active
// Ensure that the OpMode is still active
if (opModeIsActive()) {
// Determine new target position, and pass to motor controller
@ -269,10 +274,13 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
}
/**
* Method to spin on central axis to point in a new direction.
* Spin on the central axis to point in a new direction.
* <p>
* Move will stop if either of these conditions occur:
* <p>
* 1) Move gets to the heading (angle)
* 2) Driver stops the opmode running.
* <p>
* 2) Driver stops the OpMode running.
*
* @param maxTurnSpeed Desired MAX speed of turn. (range 0 to +1.0)
* @param heading Absolute Heading Angle (in Degrees) relative to last gyro reset.
@ -305,8 +313,10 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
}
/**
* Method to obtain & hold a heading for a finite amount of time
* Obtain & hold a heading for a finite amount of time
* <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.
*
* @param maxTurnSpeed Maximum differential turn speed (range 0 to +1.0)
@ -342,7 +352,7 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
// ********** LOW Level driving functions. ********************
/**
* This method uses a Proportional Controller to determine how much steering correction is required.
* Use a Proportional Controller to determine how much steering correction is required.
*
* @param desiredHeading The desired absolute heading (relative to last heading reset)
* @param proportionalGain Gain factor applied to heading error to obtain turning power.
@ -351,11 +361,8 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
public double getSteeringCorrection(double desiredHeading, double proportionalGain) {
targetHeading = desiredHeading; // Save for telemetry
// Get the robot heading by applying an offset to the IMU heading
robotHeading = getRawHeading() - headingOffset;
// Determine the heading current error
headingError = targetHeading - robotHeading;
headingError = targetHeading - getHeading();
// Normalize the error to be within +/- 180 degrees
while (headingError > 180) headingError -= 360;
@ -366,7 +373,7 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
}
/**
* This method takes separate drive (fwd/rev) and turn (right/left) requests,
* Take separate drive (fwd/rev) and turn (right/left) requests,
* combines them, and applies the appropriate speed commands to the left and right wheel motors.
* @param drive forward motor speed
* @param turn clockwise turning motor speed.
@ -406,26 +413,17 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
telemetry.addData("Motion", "Turning");
}
telemetry.addData("Angle Target:Current", "%5.2f:%5.0f", targetHeading, robotHeading);
telemetry.addData("Error:Steer", "%5.1f:%5.1f", headingError, turnSpeed);
telemetry.addData("Wheel Speeds L:R.", "%5.2f : %5.2f", leftSpeed, rightSpeed);
telemetry.addData("Heading- Target : Current", "%5.2f : %5.0f", targetHeading, getHeading());
telemetry.addData("Error : Steer Pwr", "%5.1f : %5.1f", headingError, turnSpeed);
telemetry.addData("Wheel Speeds L : R", "%5.2f : %5.2f", leftSpeed, rightSpeed);
telemetry.update();
}
/**
* read the raw (un-offset Gyro heading) directly from the IMU
* read the Robot heading directly from the IMU (in degrees)
*/
public double getRawHeading() {
Orientation angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
return angles.firstAngle;
}
/**
* Reset the "offset" heading back to zero
*/
public void resetHeading() {
// Save a new heading offset equal to the current raw heading.
headingOffset = getRawHeading();
robotHeading = 0;
public double getHeading() {
YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
return orientation.getYaw(AngleUnit.DEGREES);
}
}

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByTime_Linear.java vendored
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@ -35,8 +35,8 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of driving a path based on time.
/*
* This OpMode illustrates the concept of driving a path based on time.
* The code is structured as a LinearOpMode
*
* The code assumes that you do NOT have encoders on the wheels,

14
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagOmni.java vendored
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@ -34,7 +34,6 @@ 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;
@ -46,7 +45,7 @@ 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.
*
@ -151,11 +150,13 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
// 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)) ){
if ((detection.metadata != null) &&
((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) ){
targetFound = true;
desiredTag = detection;
break; // don't look any further.
} else {
telemetry.addData("Unknown Target", "Tag ID %d is not in TagLibrary\n", detection.id);
}
}
@ -167,7 +168,7 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
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");
telemetry.addData(">","Drive using joysticks to find valid target\n");
}
// If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
@ -202,8 +203,11 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
/**
* Move robot according to desired axes motions
* <p>
* Positive X is forward
* <p>
* Positive Y is strafe left
* <p>
* Positive Yaw is counter-clockwise
*/
public void moveRobot(double x, double y, double yaw) {

13
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagTank.java vendored
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@ -34,7 +34,6 @@ 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;
@ -46,7 +45,7 @@ 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
*
@ -141,11 +140,13 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
// 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)) ){
if ((detection.metadata != null) &&
((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) ){
targetFound = true;
desiredTag = detection;
break; // don't look any further.
} else {
telemetry.addData("Unknown Target", "Tag ID %d is not in TagLibrary\n", detection.id);
}
}
@ -156,7 +157,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
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");
telemetry.addData(">","Drive using joysticks to find valid target\n");
}
// If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
@ -188,7 +189,9 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
/**
* Move robot according to desired axes motions
* <p>
* Positive X is forward
* <p>
* Positive Yaw is counter-clockwise
*/
public void moveRobot(double x, double yaw) {

8
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToLine_Linear.java vendored
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@ -32,15 +32,13 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.LightSensor;
import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
import com.qualcomm.robotcore.hardware.SwitchableLight;
/**
* This file illustrates the concept of driving up to a line and then stopping.
/*
* This OpMode illustrates the concept of driving up to a line and then stopping.
* The code is structured as a LinearOpMode
*
* The Sensor used here can be a REV Color Sensor V2 or V3. Make sure the white LED is turned on.
@ -70,7 +68,7 @@ public class RobotAutoDriveToLine_Linear extends LinearOpMode {
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
/** The colorSensor field will contain a reference to our color sensor hardware object */
/** The variable to store a reference to our color sensor hardware object */
NormalizedColorSensor colorSensor;
static final double WHITE_THRESHOLD = 0.5; // spans between 0.0 - 1.0 from dark to light

8
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotHardware.java vendored
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@ -34,7 +34,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;
/**
/*
* This file works in conjunction with the External Hardware Class sample called: ConceptExternalHardwareClass.java
* Please read the explanations in that Sample about how to use this class definition.
*
@ -48,8 +48,8 @@ import com.qualcomm.robotcore.util.Range;
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with *exactly the same name*.
*
* Or.. In OnBot Java, add a new file named RobotHardware.java, drawing from this Sample; select Not an OpMode.
* Also add a new OpMode, drawing from the Sample ConceptExternalHardwareClass.java; select TeleOp.
* Or... In OnBot Java, add a new file named RobotHardware.java, select this sample, and select Not an OpMode.
* Also add a new OpMode, select the sample ConceptExternalHardwareClass.java, and select TeleOp.
*
*/
@ -79,7 +79,7 @@ public class RobotHardware {
/**
* Initialize all the robot's hardware.
* This method must be called ONCE when the OpMode is initialized.
*
* <p>
* All of the hardware devices are accessed via the hardware map, and initialized.
*/
public void init() {

6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopPOV_Linear.java vendored
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@ -36,8 +36,8 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;
/**
* This particular OpMode executes a POV Game style Teleop for a direct drive robot
/*
* This OpMode executes a POV Game style Teleop for a direct drive robot
* The code is structured as a LinearOpMode
*
* In this mode the left stick moves the robot FWD and back, the Right stick turns left and right.
@ -45,7 +45,7 @@ import com.qualcomm.robotcore.util.Range;
* It also opens and closes the claws slowly using the left and right Bumper buttons.
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name="Robot: Teleop POV", group="Robot")

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopTank_Iterative.java vendored
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@ -36,8 +36,8 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;
/**
* This particular OpMode executes a Tank Drive control TeleOp a direct drive robot
/*
* This OpMode executes a Tank Drive control TeleOp a direct drive robot
* The code is structured as an Iterative OpMode
*
* In this mode, the left and right joysticks control the left and right motors respectively.

3
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SampleRevBlinkinLedDriver.java vendored
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@ -33,14 +33,13 @@ import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.robotcore.internal.system.Deadline;
import java.util.concurrent.TimeUnit;
/*
* Display patterns of a REV Robotics Blinkin LED Driver.
* This OpMode demonstrates use of the REV Robotics Blinkin LED Driver.
* AUTO mode cycles through all of the patterns.
* MANUAL mode allows the user to manually change patterns using the
* left and right bumpers of a gamepad.

11
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java vendored
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@ -34,7 +34,6 @@ import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
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.Func;
import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
@ -46,19 +45,19 @@ import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
import java.util.Locale;
/**
* {@link SensorBNO055IMU} gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
/*
* This OpMode gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
*
* Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
* Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*
* @see <a href="http://www.adafruit.com/products/2472">Adafruit IMU</a>
*/
@TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor")
@Disabled // Comment this out to add to the opmode list
@Disabled // Comment this out to add to the OpMode list
public class SensorBNO055IMU extends LinearOpMode
{
//----------------------------------------------------------------------------------------------
@ -84,7 +83,7 @@ public class SensorBNO055IMU extends LinearOpMode
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample opmode
parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample OpMode
parameters.loggingEnabled = true;
parameters.loggingTag = "IMU";
parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

73
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java vendored
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@ -29,13 +29,11 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.adafruit.AdafruitBNO055IMU;
import com.qualcomm.hardware.bosch.BNO055IMU;
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.ReadWriteFile;
import org.firstinspires.ftc.robotcore.external.Func;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
@ -46,63 +44,60 @@ import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
import java.io.File;
import java.util.Locale;
/**
* {@link SensorBNO055IMUCalibration} calibrates the IMU accelerometer per
/*
* This OpMode calibrates a BNO055 IMU per
* "Section 3.11 Calibration" of the BNO055 specification.
*
* Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
* Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
*
* <p>Manual calibration of the IMU is definitely NOT necessary: except for the magnetometer
* (which is not used by the default {@link BNO055IMU.SensorMode#IMU
* SensorMode#IMU}), the BNO055 is internally self-calibrating and thus can be very successfully
* used without manual intervention. That said, performing a one-time calibration, saving the
* results persistently, then loading them again at each run can help reduce the time that automatic
* calibration requires.</p>
* Manual calibration of the IMU is definitely NOT necessary: except for the magnetometer (which is not used by the
* default "IMU" SensorMode), the BNO055 is internally self-calibrating and thus can be very successfully used without
* manual intervention. That said, performing a one-time calibration, saving the results persistently, then loading them
* again at each run can help reduce the time that automatic calibration requires.
*
* <p>This summary of the calibration process, from <a href="http://iotdk.intel.com/docs/master/upm/classupm_1_1_b_n_o055.html">
* Intel</a>, is informative:</p>
* This summary of the calibration process from Intel is informative:
* http://iotdk.intel.com/docs/master/upm/classupm_1_1_b_n_o055.html
*
* <p>"This device requires calibration in order to operate accurately. [...] Calibration data is
* "This device requires calibration in order to operate accurately. [...] Calibration data is
* lost on a power cycle. See one of the examples for a description of how to calibrate the device,
* but in essence:</p>
* but in essence:
*
* <p>There is a calibration status register available [...] that returns the calibration status
* There is a calibration status register available [...] that returns the calibration status
* of the accelerometer (ACC), magnetometer (MAG), gyroscope (GYR), and overall system (SYS).
* Each of these values range from 0 (uncalibrated) to 3 (fully calibrated). Calibration [ideally]
* involves certain motions to get all 4 values at 3. The motions are as follows (though see the
* datasheet for more information):</p>
* datasheet for more information):
*
* <li>
* <ol>GYR: Simply let the sensor sit flat for a few seconds.</ol>
* <ol>ACC: Move the sensor in various positions. Start flat, then rotate slowly by 45
* degrees, hold for a few seconds, then continue rotating another 45 degrees and
* hold, etc. 6 or more movements of this type may be required. You can move through
* any axis you desire, but make sure that the device is lying at least once
* perpendicular to the x, y, and z axis.</ol>
* <ol>MAG: Move slowly in a figure 8 pattern in the air, until the calibration values reaches 3.</ol>
* <ol>SYS: This will usually reach 3 when the other items have also reached 3. If not, continue
* slowly moving the device though various axes until it does."</ol>
* </li>
* 1. GYR: Simply let the sensor sit flat for a few seconds.</ol>
* 2. ACC: Move the sensor in various positions. Start flat, then rotate slowly by 45
* degrees, hold for a few seconds, then continue rotating another 45 degrees and
* hold, etc. 6 or more movements of this type may be required. You can move through
* any axis you desire, but make sure that the device is lying at least once
* perpendicular to the x, y, and z axis.</ol>
* 3. MAG: Move slowly in a figure 8 pattern in the air, until the calibration values reaches 3.</ol>
* 4. SYS: This will usually reach 3 when the other items have also reached 3. If not, continue
* slowly moving the device though various axes until it does."</ol>
*
* <p>To calibrate the IMU, run this sample opmode with a gamepad attached to the driver station.
* To calibrate the IMU, run this sample OpMode with a gamepad attached to the driver station.
* Once the IMU has reached sufficient calibration as reported on telemetry, press the 'A'
* button on the gamepad to write the calibration to a file. That file can then be indicated
* later when running an opmode which uses the IMU.</p>
* later when running an OpMode which uses the IMU.
*
* <p>Note: if your intended uses of the IMU do not include use of all its sensors (for exmaple,
* Note: if your intended uses of the IMU do not include use of all its sensors (for example,
* you might not use the magnetometer), then it makes little sense for you to wait for full
* calibration of the sensors you are not using before saving the calibration data. Indeed,
* it appears that in a SensorMode that doesn't use the magnetometer (for example), the
* magnetometer cannot actually be calibrated.</p>
* magnetometer cannot actually be calibrated.
*
* @see AdafruitBNO055IMU
* @see BNO055IMU.Parameters#calibrationDataFile
* @see <a href="https://www.bosch-sensortec.com/bst/products/all_products/bno055">BNO055 product page</a>
* @see <a href="https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST_BNO055_DS000_14.pdf">BNO055 specification</a>
* References:
* The AdafruitBNO055IMU Javadoc
* The BNO055IMU.Parameters.calibrationDataFile Javadoc
* The BNO055 product page: https://www.bosch-sensortec.com/bst/products/all_products/bno055
* The BNO055 datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf
*/
@TeleOp(name = "Sensor: BNO055 IMU Calibration", group = "Sensor")
@Disabled // Uncomment this to add to the opmode list
@Disabled // Uncomment this to add to the OpMode list
public class SensorBNO055IMUCalibration extends LinearOpMode
{
//----------------------------------------------------------------------------------------------
@ -125,7 +120,7 @@ public class SensorBNO055IMUCalibration extends LinearOpMode
telemetry.log().add("");
telemetry.log().add("Please refer to the calibration instructions");
telemetry.log().add("contained in the Adafruit IMU calibration");
telemetry.log().add("sample opmode.");
telemetry.log().add("sample OpMode.");
telemetry.log().add("");
telemetry.log().add("When sufficient calibration has been reached,");
telemetry.log().add("press the 'A' button to write the current");
@ -159,7 +154,7 @@ public class SensorBNO055IMUCalibration extends LinearOpMode
// Save the calibration data to a file. You can choose whatever file
// name you wish here, but you'll want to indicate the same file name
// when you initialize the IMU in an opmode in which it is used. If you
// when you initialize the IMU in an OpMode in which it is used. If you
// have more than one IMU on your robot, you'll of course want to use
// different configuration file names for each.
String filename = "AdafruitIMUCalibration.json";
@ -232,4 +227,4 @@ public class SensorBNO055IMUCalibration extends LinearOpMode
String formatDegrees(double degrees){
return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
}
}
}

18
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorColor.java vendored
View File

@ -32,7 +32,6 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
import android.app.Activity;
import android.graphics.Color;
import android.view.View;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@ -40,12 +39,11 @@ import com.qualcomm.robotcore.hardware.DistanceSensor;
import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
import com.qualcomm.robotcore.hardware.SwitchableLight;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
/**
* This is an example LinearOpMode that shows how to use a color sensor in a generic
* way, regardless of which particular make or model of color sensor is used. The Op Mode
/*
* This OpMode shows how to use a color sensor in a generic
* way, regardless of which particular make or model of color sensor is used. The OpMode
* assumes that the color sensor is configured with a name of "sensor_color".
*
* There will be some variation in the values measured depending on the specific sensor you are using.
@ -64,7 +62,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
* and surface reflectivity. You should use a different sensor if you need precise distance measurements.
*
* 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 Op Mode to the Driver Station OpMode list
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name = "Sensor: Color", group = "Sensor")
@Disabled
@ -78,13 +76,13 @@ public class SensorColor extends LinearOpMode {
* robot. Note that you won't see anything change on the Driver Station, only on the Robot Controller. */
View relativeLayout;
/**
* The runOpMode() method is the root of this Op Mode, as it is in all LinearOpModes.
/*
* The runOpMode() method is the root of this OpMode, as it is in all LinearOpModes.
* Our implementation here, though is a bit unusual: we've decided to put all the actual work
* in the runSample() method rather than directly in runOpMode() itself. The reason we do that is
* that in this sample we're changing the background color of the robot controller screen as the
* Op Mode runs, and we want to be able to *guarantee* that we restore it to something reasonable
* and palatable when the Op Mode ends. The simplest way to do that is to use a try...finally
* OpMode runs, and we want to be able to *guarantee* that we restore it to something reasonable
* and palatable when the OpMode ends. The simplest way to do that is to use a try...finally
* block around the main, core logic, and an easy way to make that all clear was to separate
* the former from the latter in separate methods.
*/

149
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorHuskyLens.java vendored Normal file
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@ -0,0 +1,149 @@
/*
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.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;
/*
* This OpMode illustrates how to use the DFRobot HuskyLens.
*
* The HuskyLens is a Vision Sensor with a built-in object detection model. It can
* 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
*
* 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
* a name of "huskylens".
*
* 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 = "Sensor: HuskyLens", group = "Sensor")
@Disabled
public class SensorHuskyLens extends LinearOpMode {
private final int READ_PERIOD = 1;
private HuskyLens huskyLens;
@Override
public void runOpMode()
{
huskyLens = hardwareMap.get(HuskyLens.class, "huskylens");
/*
* This sample rate limits the reads solely to allow a user time to observe
* what is happening on the Driver Station telemetry. Typical applications
* would not likely rate limit.
*/
Deadline rateLimit = new Deadline(READ_PERIOD, TimeUnit.SECONDS);
/*
* Immediately expire so that the first time through we'll do the read.
*/
rateLimit.expire();
/*
* Basic check to see if the device is alive and communicating. This is not
* technically necessary here as the HuskyLens class does this in its
* doInitialization() method which is called when the device is pulled out of
* the hardware map. However, sometimes it's unclear why a device reports as
* failing on initialization. In the case of this device, it's because the
* call to knock() failed.
*/
if (!huskyLens.knock()) {
telemetry.addData(">>", "Problem communicating with " + huskyLens.getDeviceName());
} else {
telemetry.addData(">>", "Press start to continue");
}
/*
* The device uses the concept of an algorithm to determine what types of
* objects it will look for and/or what mode it is in. The algorithm may be
* selected using the scroll wheel on the device, or via software as shown in
* the call to selectAlgorithm().
*
* The SDK itself does not assume that the user wants a particular algorithm on
* startup, and hence does not set an algorithm.
*
* 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.
*/
huskyLens.selectAlgorithm(HuskyLens.Algorithm.TAG_RECOGNITION);
telemetry.update();
waitForStart();
/*
* Looking for AprilTags per the call to selectAlgorithm() above. A handy grid
* for testing may be found at https://wiki.dfrobot.com/HUSKYLENS_V1.0_SKU_SEN0305_SEN0336#target_20.
*
* Note again that the device only recognizes the 36h11 family of tags out of the box.
*/
while(opModeIsActive()) {
if (!rateLimit.hasExpired()) {
continue;
}
rateLimit.reset();
/*
* All algorithms, except for LINE_TRACKING, return a list of Blocks where a
* Block represents the outline of a recognized object along with its ID number.
* ID numbers allow you to identify what the device saw. See the HuskyLens documentation
* referenced in the header comment above for more information on IDs and how to
* assign them to objects.
*
* Returns an empty array if no objects are seen.
*/
HuskyLens.Block[] blocks = huskyLens.blocks();
telemetry.addData("Block count", blocks.length);
for (int i = 0; i < blocks.length; i++) {
telemetry.addData("Block", blocks[i].toString());
}
telemetry.update();
}
}
}

30
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUNonOrthogonal.java vendored
View File

@ -29,46 +29,44 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.xyzOrientation;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
/**
* {@link SensorIMUNonOrthogonal} shows how to use the new universal {@link IMU} interface. This
import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.xyzOrientation;
/*
* This OpMode shows how to use the new universal IMU interface. This
* interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
* on the robot with the name "imu".
* <p>
*
* The sample will display the current Yaw, Pitch and Roll of the robot.<br>
* With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
* <p>
* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
* <p>
* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X)
* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y)
* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z)
*
* The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
* <p>
*
* This specific sample DOES NOT assume that the Hub is mounted on one of the three orthogonal
* planes (X/Y, X/Z or Y/Z) OR that the Hub has only been rotated in a range of 90 degree increments.
* <p>
*
* 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.
* <p>
*
* 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
* illustrated here.
* <p>
*
* 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.
* <p>
*
* Finally, edit this OpMode to use at least one angle around an axis to orient your Hub.
*/
@TeleOp(name = "Sensor: IMU Non-Orthogonal", group = "Sensor")

26
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUOrthogonal.java vendored
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@ -34,46 +34,44 @@ 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.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
/**
* {@link SensorIMUOrthogonal} shows how to use the new universal {@link IMU} interface. This
/*
* This OpMode shows how to use the new universal IMU interface. This
* interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
* on the robot with the name "imu".
* <p>
*
* The sample will display the current Yaw, Pitch and Roll of the robot.<br>
* With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
* <p>
* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
* <p>
*
* The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
* <p>
*
* This specific sample assumes that the Hub is mounted on one of the three orthogonal planes
* (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments.
* <p>
*
* 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.
* <p>
*
* This "Orthogonal" requirement means that:
* <p>
*
* 1) The Logo printed on the top of the Hub can ONLY be pointing in one of six directions:
* FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
* <p>
*
* 2) The USB ports can only be pointing in one of the same six directions:<br>
* FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
* <p>
*
* So, To fully define how your Hub is mounted to the robot, you must simply specify:<br>
* logoFacingDirection<br>
* usbFacingDirection
* <p>
*
* 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.
* <p>
*
* Finally, choose the two correct parameters to define how your Hub is mounted and edit this OpMode
* to use those parameters.
*/

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

@ -36,7 +36,6 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gyroscope;
import com.qualcomm.robotcore.hardware.IntegratingGyroscope;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
@ -44,11 +43,11 @@ import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
/*
* This is an example LinearOpMode that shows how to use Kauai Labs navX Micro Robotics Navigation
* This OpMode shows how to use Kauai Labs navX Micro Robotics Navigation
* Sensor. It assumes that the sensor is configured with a name of "navx".
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name = "Sensor: KL navX Micro", group = "Sensor")
@Disabled

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

@ -32,7 +32,6 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
import android.app.Activity;
import android.graphics.Color;
import android.view.View;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@ -40,10 +39,10 @@ import com.qualcomm.robotcore.hardware.ColorSensor;
/*
*
* This is an example LinearOpMode that shows how to use
* This OpMode that shows how to use
* a Modern Robotics Color Sensor.
*
* The op mode assumes that the color sensor
* The OpMode assumes that the color sensor
* is configured with a name of "sensor_color".
*
* You can use the X button on gamepad1 to toggle the LED on and off.
@ -88,7 +87,7 @@ public class SensorMRColor extends LinearOpMode {
// wait for the start button to be pressed.
waitForStart();
// while the op mode is active, loop and read the RGB data.
// while the OpMode is active, loop and read the RGB data.
// Note we use opModeIsActive() as our loop condition because it is an interruptible method.
while (opModeIsActive()) {

148
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRCompass.java vendored
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@ -1,148 +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.hardware.modernrobotics.ModernRoboticsI2cCompassSensor;
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.CompassSensor;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
/**
* The {@link SensorMRCompass} op mode provides a demonstration of the
* functionality provided by the Modern Robotics compass sensor.
*
* The op mode assumes that the MR compass is configured with a name of "compass".
*
* 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 <a href="http://www.modernroboticsinc.com/compass">MR Compass Sensor</a>
*/
@TeleOp(name = "Sensor: MR compass", group = "Sensor")
@Disabled // comment out or remove this line to enable this opmode
public class SensorMRCompass extends LinearOpMode {
ModernRoboticsI2cCompassSensor compass;
ElapsedTime timer = new ElapsedTime();
@Override public void runOpMode() {
// get a reference to our compass
compass = hardwareMap.get(ModernRoboticsI2cCompassSensor.class, "compass");
telemetry.log().setCapacity(20);
telemetry.log().add("The compass sensor operates quite well out-of-the");
telemetry.log().add("box, as shipped by the manufacturer. Precision can");
telemetry.log().add("however be somewhat improved with calibration.");
telemetry.log().add("");
telemetry.log().add("To calibrate the compass once the opmode is");
telemetry.log().add("started, make sure the compass is level, then");
telemetry.log().add("press 'A' on the gamepad. Next, slowly rotate the ");
telemetry.log().add("compass in a full 360 degree circle while keeping");
telemetry.log().add("it level. When complete, press 'B'.");
// wait for the start button to be pressed
waitForStart();
telemetry.log().clear();
while (opModeIsActive()) {
// If the A button is pressed, start calibration and wait for the A button to rise
if (gamepad1.a && !compass.isCalibrating()) {
telemetry.log().clear();
telemetry.log().add("Calibration started");
telemetry.log().add("Slowly rotate compass 360deg");
telemetry.log().add("Press 'B' when complete");
compass.setMode(CompassSensor.CompassMode.CALIBRATION_MODE);
timer.reset();
while (gamepad1.a && opModeIsActive()) {
doTelemetry();
idle();
}
}
// If the B button is pressed, stop calibration and wait for the B button to rise
if (gamepad1.b && compass.isCalibrating()) {
telemetry.log().clear();
telemetry.log().add("Calibration complete");
compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE);
if (compass.calibrationFailed()) {
telemetry.log().add("Calibration failed");
compass.writeCommand(ModernRoboticsI2cCompassSensor.Command.NORMAL);
}
while (gamepad1.a && opModeIsActive()) {
doTelemetry();
idle();
}
}
doTelemetry();
}
}
protected void doTelemetry() {
if (compass.isCalibrating()) {
telemetry.addData("compass", "calibrating %s", Math.round(timer.seconds())%2==0 ? "|.." : "..|");
} else {
// getDirection() returns a traditional compass heading in the range [0,360),
// with values increasing in a CW direction
telemetry.addData("heading", "%.1f", compass.getDirection());
// getAcceleration() returns the current 3D acceleration experienced by
// the sensor. This is used internally to the sensor to compute its tilt and thence
// to correct the magnetometer reading to produce tilt-corrected values in getDirection()
Acceleration accel = compass.getAcceleration();
double accelMagnitude = Math.sqrt(accel.xAccel*accel.xAccel + accel.yAccel*accel.yAccel + accel.zAccel*accel.zAccel);
telemetry.addData("accel", accel);
telemetry.addData("accel magnitude", "%.3f", accelMagnitude);
// getMagneticFlux returns the 3D magnetic field flux experienced by the sensor
telemetry.addData("mag flux", compass.getMagneticFlux());
}
// the command register provides status data
telemetry.addData("command", "%s", compass.readCommand());
telemetry.update();
}
}

8
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRGyro.java vendored
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@ -33,19 +33,17 @@ import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro;
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.Gyroscope;
import com.qualcomm.robotcore.hardware.IntegratingGyroscope;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
/*
* This is an example LinearOpMode that shows how to use the Modern Robotics Gyro.
* This OpMode shows how to use the Modern Robotics Gyro.
*
* The op mode assumes that the gyro sensor is attached to a Device Interface Module
* The OpMode assumes that the gyro sensor is attached to a Device Interface Module
* I2C channel and is configured with a name of "gyro".
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
@ -55,7 +53,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
@Disabled
public class SensorMRGyro extends LinearOpMode {
/** In this sample, for illustration purposes we use two interfaces on the one gyro object.
/* In this sample, for illustration purposes we use two interfaces on the one gyro object.
* That's likely atypical: you'll probably use one or the other in any given situation,
* depending on what you're trying to do. {@link IntegratingGyroscope} (and it's base interface,
* {@link Gyroscope}) are common interfaces supported by possibly several different gyro

84
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRIrSeeker.java vendored
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@ -1,84 +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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.IrSeekerSensor;
/*
* This is an example LinearOpMode that shows how to use
* the Modern Robotics ITR Seeker
*
* The op mode assumes that the IR Seeker
* is configured with a name of "sensor_ir".
*
* Set the switch on the Modern Robotics IR beacon to 1200 at 180. <br>
* Turn on the IR beacon.
* Make sure the side of the beacon with the LED on is facing the robot. <br>
*
* 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 = "Sensor: MR IR Seeker", group = "Sensor")
@Disabled
public class SensorMRIrSeeker extends LinearOpMode {
@Override
public void runOpMode() {
IrSeekerSensor irSeeker; // Hardware Device Object
// get a reference to our GyroSensor object.
irSeeker = hardwareMap.get(IrSeekerSensor.class, "sensor_ir");
// wait for the start button to be pressed.
waitForStart();
while (opModeIsActive()) {
// Ensure we have a IR signal
if (irSeeker.signalDetected())
{
// Display angle and strength
telemetry.addData("Angle", irSeeker.getAngle());
telemetry.addData("Strength", irSeeker.getStrength());
}
else
{
// Display loss of signal
telemetry.addData("Seeker", "Signal Lost");
}
telemetry.update();
}
}
}

7
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMROpticalDistance.java vendored
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@ -35,12 +35,11 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.OpticalDistanceSensor;
/*
* This is an example LinearOpMode that shows how to use
* a Modern Robotics Optical Distance Sensor
* This OpMode shows how to use a Modern Robotics Optical Distance Sensor
* It assumes that the ODS sensor is configured with a name of "sensor_ods".
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name = "Sensor: MR ODS", group = "Sensor")
@Disabled
@ -57,7 +56,7 @@ public class SensorMROpticalDistance extends LinearOpMode {
// wait for the start button to be pressed.
waitForStart();
// while the op mode is active, loop and read the light levels.
// while the OpMode is active, loop and read the light levels.
// Note we use opModeIsActive() as our loop condition because it is an interruptible method.
while (opModeIsActive()) {

12
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRRangeSensor.java vendored
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@ -33,22 +33,20 @@ import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;
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.DistanceUnit;
/**
* {@link SensorMRRangeSensor} illustrates how to use the Modern Robotics
* Range Sensor.
/*
* This OpMode illustrates how to use the Modern Robotics Range Sensor.
*
* The op mode assumes that the range sensor is configured with a name of "sensor_range".
* The OpMode assumes that the range sensor is configured with a name of "sensor_range".
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*
* @see <a href="http://modernroboticsinc.com/range-sensor">MR Range Sensor</a>
*/
@TeleOp(name = "Sensor: MR range sensor", group = "Sensor")
@Disabled // comment out or remove this line to enable this opmode
@Disabled // comment out or remove this line to enable this OpMode
public class SensorMRRangeSensor extends LinearOpMode {
ModernRoboticsI2cRangeSensor rangeSensor;

32
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorREV2mDistance.java vendored
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@ -33,38 +33,36 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
/**
* {@link SensorREV2mDistance} illustrates how to use the REV Robotics
* Time-of-Flight Range Sensor.
/*
* This OpMode illustrates how to use the REV Robotics 2M Distance Sensor.
*
* The op mode assumes that the range sensor is configured with a name of "sensor_range".
* The OpMode assumes that the sensor is configured with a name of "sensor_distance".
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*
* @see <a href="http://revrobotics.com">REV Robotics Web Page</a>
* See the sensor's product page: https://www.revrobotics.com/rev-31-1505/
*/
@TeleOp(name = "Sensor: REV2mDistance", group = "Sensor")
@Disabled
public class SensorREV2mDistance extends LinearOpMode {
private DistanceSensor sensorRange;
private DistanceSensor sensorDistance;
@Override
public void runOpMode() {
// you can use this as a regular DistanceSensor.
sensorRange = hardwareMap.get(DistanceSensor.class, "sensor_range");
sensorDistance = hardwareMap.get(DistanceSensor.class, "sensor_distance");
// you can also cast this to a Rev2mDistanceSensor if you want to use added
// methods associated with the Rev2mDistanceSensor class.
Rev2mDistanceSensor sensorTimeOfFlight = (Rev2mDistanceSensor)sensorRange;
Rev2mDistanceSensor sensorTimeOfFlight = (Rev2mDistanceSensor) sensorDistance;
telemetry.addData(">>", "Press start to continue");
telemetry.update();
@ -72,11 +70,11 @@ public class SensorREV2mDistance extends LinearOpMode {
waitForStart();
while(opModeIsActive()) {
// generic DistanceSensor methods.
telemetry.addData("deviceName",sensorRange.getDeviceName() );
telemetry.addData("range", String.format("%.01f mm", sensorRange.getDistance(DistanceUnit.MM)));
telemetry.addData("range", String.format("%.01f cm", sensorRange.getDistance(DistanceUnit.CM)));
telemetry.addData("range", String.format("%.01f m", sensorRange.getDistance(DistanceUnit.METER)));
telemetry.addData("range", String.format("%.01f in", sensorRange.getDistance(DistanceUnit.INCH)));
telemetry.addData("deviceName", sensorDistance.getDeviceName() );
telemetry.addData("range", String.format("%.01f mm", sensorDistance.getDistance(DistanceUnit.MM)));
telemetry.addData("range", String.format("%.01f cm", sensorDistance.getDistance(DistanceUnit.CM)));
telemetry.addData("range", String.format("%.01f m", sensorDistance.getDistance(DistanceUnit.METER)));
telemetry.addData("range", String.format("%.01f in", sensorDistance.getDistance(DistanceUnit.INCH)));
// Rev2mDistanceSensor specific methods.
telemetry.addData("ID", String.format("%x", sensorTimeOfFlight.getModelID()));
@ -86,4 +84,4 @@ public class SensorREV2mDistance extends LinearOpMode {
}
}
}
}

46
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDigitalTouch.java → FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorTouch.java vendored
View File

@ -32,54 +32,44 @@ 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.DigitalChannel;
import com.qualcomm.robotcore.hardware.TouchSensor;
/*
* This is an example LinearOpMode that shows how to use
* a REV Robotics Touch Sensor.
* This OpMode demonstrates how to use a REV Robotics Touch Sensor, REV Robotics Magnetic Limit Switch, or other device
* that implements the TouchSensor interface. Any touch sensor that connects its output to ground when pressed
* (known as "active low") can be configured as a "REV Touch Sensor". This includes REV's Magnetic Limit Switch.
*
* It assumes that the touch sensor is configured with a name of "sensor_digital".
* The OpMode assumes that the touch sensor is configured with a name of "sensor_touch".
*
* A REV Robotics Touch Sensor must be configured on digital port number 1, 3, 5, or 7.
* A Magnetic Limit Switch can be configured on any digital port.
*
* 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.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@TeleOp(name = "Sensor: Digital touch", group = "Sensor")
@TeleOp(name = "Sensor: REV touch sensor", group = "Sensor")
@Disabled
public class SensorDigitalTouch extends LinearOpMode {
/**
* The REV Robotics Touch Sensor
* is treated as a digital channel. It is HIGH if the button is unpressed.
* It pulls LOW if the button is pressed.
*
* Also, when you connect a REV Robotics Touch Sensor to the digital I/O port on the
* Expansion Hub using a 4-wire JST cable, the second pin gets connected to the Touch Sensor.
* The lower (first) pin stays unconnected.*
*/
DigitalChannel digitalTouch; // Hardware Device Object
public class SensorTouch extends LinearOpMode {
TouchSensor touchSensor; // Touch sensor Object
@Override
public void runOpMode() {
// get a reference to our digitalTouch object.
digitalTouch = hardwareMap.get(DigitalChannel.class, "sensor_digital");
// set the digital channel to input.
digitalTouch.setMode(DigitalChannel.Mode.INPUT);
// get a reference to our touchSensor object.
touchSensor = hardwareMap.get(TouchSensor.class, "sensor_touch");
// wait for the start button to be pressed.
waitForStart();
// while the op mode is active, loop and read the light levels.
// while the OpMode is active, loop and read whether the sensor is being pressed.
// Note we use opModeIsActive() as our loop condition because it is an interruptible method.
while (opModeIsActive()) {
// send the info back to driver station using telemetry function.
// if the digital channel returns true it's HIGH and the button is unpressed.
if (digitalTouch.getState() == true) {
telemetry.addData("Digital Touch", "Is Not Pressed");
if (touchSensor.isPressed()) {
telemetry.addData("Touch Sensor", "Is Pressed");
} else {
telemetry.addData("Digital Touch", "Is Pressed");
telemetry.addData("Touch Sensor", "Is Not Pressed");
}
telemetry.update();

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

@ -34,19 +34,17 @@
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
/*
* This 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:
@ -54,9 +52,9 @@ import java.util.Locale;
* 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.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* In OnBot Java, use "Add File" to add this file from the list of Samples.
* In OnBot Java, use "Add File" to add this OpMode from the list of Samples.
*/
@TeleOp(name = "Utility: Camera Frame Capture", group = "Utility")

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java
View File

@ -37,7 +37,7 @@ import com.qualcomm.robotcore.eventloop.opmode.OpModeRegister;
import org.firstinspires.ftc.robotcontroller.external.samples.ConceptNullOp;
/**
* {@link FtcOpModeRegister} is responsible for registering opmodes for use in an FTC game.
* {@link FtcOpModeRegister} is responsible for registering OpModes for use in an FTC game.
* @see #register(OpModeManager)
*/
public class FtcOpModeRegister implements OpModeRegister {