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Branch-Yix
| Author | SHA1 | Date | |
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| 9d71ef670c | |||
| a9ebe79e01 | |||
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| d77067538a | |||
| bf1b45618e |
@ -1,78 +0,0 @@
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package org.firstinspires.ftc.teamcode;
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import android.util.Size;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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import org.firstinspires.ftc.vision.VisionPortal;
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import java.util.Locale;
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@TeleOp(name = "DevApp - Camera Test (HDMI)", group = "SCDS Development")
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public class CometBotsCameraTest extends LinearOpMode {
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final boolean USING_WEBCAM = true;
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final BuiltinCameraDirection INTERNAL_CAM_DIR = BuiltinCameraDirection.FRONT;
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final int RESOLUTION_WIDTH = 640;
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final int RESOLUTION_HEIGHT = 480;
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// Internal state
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boolean lastX;
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int frameCount;
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long capReqTime;
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@Override
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public void runOpMode() throws InterruptedException {
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telemetry.speak("Development - Camera Test");
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VisionPortal portal;
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if (USING_WEBCAM)
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{
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portal = new VisionPortal.Builder()
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.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
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.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
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.build();
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}
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else
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{
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portal = new VisionPortal.Builder()
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.setCamera(INTERNAL_CAM_DIR)
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.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
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.build();
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}
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while (!isStopRequested())
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{
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boolean x = gamepad1.x;
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if (x && !lastX)
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{
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portal.saveNextFrameRaw(String.format(Locale.US, "CameraFrameCapture-%06d", frameCount++));
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capReqTime = System.currentTimeMillis();
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}
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lastX = x;
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telemetry.addLine("######## Camera Capture Utility ########");
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telemetry.addLine(String.format(Locale.US, " > Resolution: %dx%d", RESOLUTION_WIDTH, RESOLUTION_HEIGHT));
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telemetry.addLine(" > Press X (or Square) to capture a frame");
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telemetry.addData(" > Camera Status", portal.getCameraState());
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if (capReqTime != 0)
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{
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telemetry.addLine("\nCaptured Frame!");
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}
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if (capReqTime != 0 && System.currentTimeMillis() - capReqTime > 1000)
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{
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capReqTime = 0;
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}
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telemetry.update();
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}
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}
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}
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@ -1,72 +0,0 @@
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.IMU;
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import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
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import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
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import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
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@TeleOp(name = "DevApp - IMU Test", group = "SCDS Development")
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public class CometBotsIMUTest extends LinearOpMode {
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IMU imu;
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@Override
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public void runOpMode() throws InterruptedException {
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// Retrieve and initialize the IMU.
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// This sample expects the IMU to be in a REV Hub and named "imu".
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imu = hardwareMap.get(IMU.class, "imu");
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/* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
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*
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* Two input parameters are required to fully specify the Orientation.
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* The first parameter specifies the direction the printed logo on the Hub is pointing.
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* The second parameter specifies the direction the USB connector on the Hub is pointing.
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* All directions are relative to the robot, and left/right is as-viewed from behind the robot.
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*/
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/* The next two lines define Hub orientation.
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* The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
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*
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* To Do: EDIT these two lines to match YOUR mounting configuration.
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*/
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RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
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RevHubOrientationOnRobot.UsbFacingDirection usbDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
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RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
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// Now initialize the IMU with this mounting orientation
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// Note: if you choose two conflicting directions, this initialization will cause a code exception.
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imu.initialize(new IMU.Parameters(orientationOnRobot));
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// Loop and update the dashboard
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while (!isStopRequested()) {
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telemetry.addData("Hub orientation", "Logo=%s USB=%s\n ", logoDirection, usbDirection);
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// Check to see if heading reset is requested
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if (gamepad1.y) {
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telemetry.addData("Yaw", "Resetting\n");
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imu.resetYaw();
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} else {
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telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
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}
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// Retrieve Rotational Angles and Velocities
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YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
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AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
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telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
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telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
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telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
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telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
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telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
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telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
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telemetry.update();
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}
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}
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}
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@ -1,44 +0,0 @@
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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import org.openftc.easyopencv.OpenCvCamera;
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import org.openftc.easyopencv.OpenCvCameraFactory;
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import org.openftc.easyopencv.OpenCvCameraRotation;
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@Autonomous(name="DevApp - OpenCV Test", group="SCDS Development")
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public class CometBotsOpenCVTest extends LinearOpMode {
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private OpenCvCamera controlHubCam; // Use OpenCvCamera class from FTC SDK
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private static final int CAMERA_WIDTH = 1280; // width of wanted camera resolution
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private static final int CAMERA_HEIGHT = 720; // height of wanted camera resolution
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// Calculate the distance using the formula
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public static final double objectWidthInRealWorldUnits = 3.75; // Replace with the actual width of the object in real-world units
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public static final double focalLength = 728; // Replace with the focal length of the camera in pixels
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private void initOpenCV() {
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// Create an instance of the camera
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int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
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"cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
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// Use OpenCvCameraFactory class from FTC SDK to create camera instance
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controlHubCam = OpenCvCameraFactory.getInstance().createWebcam(
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hardwareMap.get(WebcamName.class, "Webcam 1"), cameraMonitorViewId);
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controlHubCam.setPipeline(new YellowBlobDetectionPipeline());
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controlHubCam.openCameraDevice();
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controlHubCam.startStreaming(CAMERA_WIDTH, CAMERA_HEIGHT, OpenCvCameraRotation.UPRIGHT);
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}
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@Override
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public void runOpMode() throws InterruptedException {
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}
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}
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@ -1,142 +0,0 @@
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/* Copyright (c) 2019 FIRST. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted (subject to the limitations in the disclaimer below) provided that
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* the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright notice, this list
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* of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright notice, this
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* list of conditions and the following disclaimer in the documentation and/or
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* other materials provided with the distribution.
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*
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* Neither the name of FIRST nor the names of its contributors may be used to endorse or
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* promote products derived from this software without specific prior written permission.
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*
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* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
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import org.firstinspires.ftc.vision.VisionPortal;
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import org.firstinspires.ftc.vision.tfod.TfodProcessor;
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import java.util.List;
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/*
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* This OpMode illustrates the basics of TensorFlow Object Detection, using
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* the easiest way.
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
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*/
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@TeleOp(name = "Concept: TensorFlow Object Detection Easy", group = "Concept")
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public class ConceptTensorFlowObjectDetectionEasy extends LinearOpMode {
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private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
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/**
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* The variable to store our instance of the TensorFlow Object Detection processor.
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*/
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private TfodProcessor tfod;
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/**
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* The variable to store our instance of the vision portal.
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*/
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private VisionPortal visionPortal;
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@Override
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public void runOpMode() {
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initTfod();
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// Wait for the DS start button to be touched.
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telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
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telemetry.addData(">", "Touch Play to start OpMode");
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telemetry.update();
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waitForStart();
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if (opModeIsActive()) {
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while (opModeIsActive()) {
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telemetryTfod();
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// Push telemetry to the Driver Station.
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telemetry.update();
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// Save CPU resources; can resume streaming when needed.
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if (gamepad1.dpad_down) {
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visionPortal.stopStreaming();
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} else if (gamepad1.dpad_up) {
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visionPortal.resumeStreaming();
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}
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// Share the CPU.
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sleep(20);
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}
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}
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// Save more CPU resources when camera is no longer needed.
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visionPortal.close();
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} // end runOpMode()
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/**
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||||||
* Initialize the TensorFlow Object Detection processor.
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||||||
*/
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private void initTfod() {
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// Create the TensorFlow processor the easy way.
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tfod = TfodProcessor.easyCreateWithDefaults();
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// Create the vision portal the easy way.
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if (USE_WEBCAM) {
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visionPortal = VisionPortal.easyCreateWithDefaults(
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hardwareMap.get(WebcamName.class, "Webcam 1"), tfod);
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} else {
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||||||
visionPortal = VisionPortal.easyCreateWithDefaults(
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BuiltinCameraDirection.BACK, tfod);
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||||||
}
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||||||
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|
||||||
} // end method initTfod()
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||||||
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|
||||||
/**
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||||||
* Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
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|
||||||
*/
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|
||||||
private void telemetryTfod() {
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||||||
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|
||||||
List<Recognition> currentRecognitions = tfod.getRecognitions();
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telemetry.addData("# Objects Detected", currentRecognitions.size());
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||||||
// Step through the list of recognitions and display info for each one.
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for (Recognition recognition : currentRecognitions) {
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double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
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double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
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telemetry.addData(""," ");
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telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
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telemetry.addData("- Position", "%.0f / %.0f", x, y);
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telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
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} // end for() loop
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} // end method telemetryTfod()
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||||||
} // end class
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@ -0,0 +1,41 @@
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package org.firstinspires.ftc.teamcode;
|
||||||
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|
||||||
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import com.qualcomm.robotcore.hardware.DcMotor;
|
||||||
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import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||||
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|
||||||
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public class MovementLibrary {
|
||||||
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public static void setDirectionForward(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
|
||||||
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rhw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
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rlw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
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lhw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
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llw.setDirection(DcMotorSimple.Direction.REVERSE);}
|
||||||
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|
||||||
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public static void setDirectionBackward(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
|
||||||
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rhw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
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rlw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
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lhw.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
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llw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
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}
|
||||||
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|
||||||
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public static void setSpeed (double speedValue,DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
|
||||||
|
rhw.setPower(speedValue);
|
||||||
|
rlw.setPower(speedValue);
|
||||||
|
llw.setPower(speedValue);
|
||||||
|
lhw.setPower(speedValue);
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
public static void setDirectionRight(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
|
||||||
|
rhw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
|
rlw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
|
lhw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
|
llw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
|
|
||||||
|
}
|
||||||
|
public static void setDirectionLeft(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
|
||||||
|
rhw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
|
rlw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
|
lhw.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
llw.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,99 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode;
|
||||||
|
|
||||||
|
import static java.lang.Math.round;
|
||||||
|
|
||||||
|
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||||
|
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||||
|
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||||
|
import com.qualcomm.robotcore.hardware.AnalogSensor;
|
||||||
|
import com.qualcomm.robotcore.hardware.ColorSensor;
|
||||||
|
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||||
|
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||||
|
import com.qualcomm.robotcore.hardware.DistanceSensor;
|
||||||
|
import com.qualcomm.robotcore.hardware.TouchSensor;
|
||||||
|
import org.firstinspires.ftc.teamcode.MovementLibrary;
|
||||||
|
|
||||||
|
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.List;
|
||||||
|
|
||||||
|
@Autonomous(name="Name")
|
||||||
|
public class Name extends LinearOpMode {
|
||||||
|
private DcMotor rightHandWheel;
|
||||||
|
private DcMotor rightLegWheel;
|
||||||
|
private DcMotor leftHandWheel;
|
||||||
|
private DcMotor leftLegWheel;
|
||||||
|
private TouchSensor touchSensor;
|
||||||
|
private DistanceSensor distanceSensor;
|
||||||
|
private ColorSensor colorSensor;
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void runOpMode() throws InterruptedException {
|
||||||
|
|
||||||
|
rightHandWheel = hardwareMap.get(DcMotor.class,"right hand wheel");
|
||||||
|
rightLegWheel = hardwareMap.get(DcMotor.class,"right leg wheel");
|
||||||
|
leftHandWheel = hardwareMap.get(DcMotor.class, "left hand wheel");
|
||||||
|
leftLegWheel = hardwareMap.get(DcMotor.class, "left leg wheel");
|
||||||
|
touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
|
||||||
|
distanceSensor = hardwareMap.get(DistanceSensor.class , "distancesensor");
|
||||||
|
colorSensor= hardwareMap.get(ColorSensor.class , "colorsensor");
|
||||||
|
|
||||||
|
DcMotor[] motors = {rightHandWheel, leftHandWheel, rightLegWheel, leftLegWheel};
|
||||||
|
|
||||||
|
MovementLibrary.setDirectionForward(rightHandWheel, rightLegWheel, leftHandWheel,leftLegWheel);
|
||||||
|
|
||||||
|
//from this
|
||||||
|
DcMotor[] motors = {rightHandWheel, leftHandWheel, rightLegWheel, leftLegWheel};
|
||||||
|
|
||||||
|
//thismotors
|
||||||
|
MovementLibrary.setDirectionForward(motors);
|
||||||
|
|
||||||
|
// Wait for the game to start (driver presses {Play
|
||||||
|
waitForStart();
|
||||||
|
|
||||||
|
|
||||||
|
// Wait for the game to start (driver presses PLAY)
|
||||||
|
waitForStart();
|
||||||
|
|
||||||
|
while(opModeIsActive()){
|
||||||
|
|
||||||
|
/* telemetry.speak( "Oh see, you see" +
|
||||||
|
"By the dusk's late light" +
|
||||||
|
"What so proudly we rained" +
|
||||||
|
"At the twilight's last gleaming?" +
|
||||||
|
"Whose broad stripes and dark stars" +
|
||||||
|
"Through the perilous fight" +
|
||||||
|
"Under the ramparts we watched" +
|
||||||
|
"Were so gallantly, no, streaming?" +
|
||||||
|
"And the rockets' red glare" +
|
||||||
|
"The bombs contracting in air" +
|
||||||
|
"Gave proof through the night" +
|
||||||
|
"That our flag was not there" +
|
||||||
|
"O say, that star-spangled banner doesn't wave" +
|
||||||
|
"Over the land of the enslaved and the home of the cowardly");*/
|
||||||
|
|
||||||
|
MovementLibrary.setSpeed(0.2, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
|
||||||
|
if(touchSensor.isPressed()) {
|
||||||
|
telemetry.speak("Ouchie that hurt me and my feelings");
|
||||||
|
telemetry.addData("was i triggered", touchSensor.isPressed());
|
||||||
|
}
|
||||||
|
|
||||||
|
double nicerValue = distanceSensor.getDistance(DistanceUnit.INCH);
|
||||||
|
|
||||||
|
telemetry.addData("you are this far (in inches) --> ", "%.2f", nicerValue);
|
||||||
|
telemetry.addData("green color value",colorSensor.green());
|
||||||
|
telemetry.addData("blue color value" ,colorSensor.blue());
|
||||||
|
telemetry.update();
|
||||||
|
|
||||||
|
if (colorSensor.blue() > 800 && colorSensor.green() > 1100) {
|
||||||
|
MovementLibrary.setSpeed(0.4, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
}else {
|
||||||
|
MovementLibrary.setSpeed(0.2, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@ -1,4 +0,0 @@
|
|||||||
https://www.youtube.com/watch?v=aeMWWvteF2U
|
|
||||||
|
|
||||||
https://www.youtube.com/watch?v=1xdo8QP6_mI
|
|
||||||
|
|
||||||
@ -1,7 +1,6 @@
|
|||||||
repositories {
|
repositories {
|
||||||
mavenCentral()
|
mavenCentral()
|
||||||
google() // Needed for androidx
|
google() // Needed for androidx
|
||||||
maven { url = 'https://maven.brott.dev/' }
|
|
||||||
}
|
}
|
||||||
|
|
||||||
dependencies {
|
dependencies {
|
||||||
@ -18,6 +17,5 @@ dependencies {
|
|||||||
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
|
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
|
||||||
runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
|
runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
|
||||||
implementation 'androidx.appcompat:appcompat:1.2.0'
|
implementation 'androidx.appcompat:appcompat:1.2.0'
|
||||||
implementation 'com.acmerobotics.dashboard:dashboard:0.4.15' // FTC Dashboard
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
Reference in New Issue
Block a user