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Branch-Ash
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| 00fddffd32 |
@ -23,17 +23,7 @@ android {
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}
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}
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}
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}
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repositories {
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maven {
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url = 'https://maven.brott.dev/'
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}
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}
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dependencies {
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dependencies {
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implementation project(':FtcRobotController')
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implementation project(':FtcRobotController')
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annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
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annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
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implementation "com.acmerobotics.roadrunner:ftc:0.1.12"
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implementation "com.acmerobotics.roadrunner:core:1.0.0-beta8"
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implementation "com.acmerobotics.roadrunner:actions:1.0.0-beta8"
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implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
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}
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}
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@ -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 = "CometBots Camera Demo (HDMI)", group = "[14493] CometBots")
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public class CometBotsCameraDemo 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, "watch out"))
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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 = "CometBots IMU Demo", group = "[14493] CometBots")
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public class CometBotsIMUDemo 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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@ -1,166 +0,0 @@
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/* Copyright (c) 2021 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 com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.Gamepad;
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import com.qualcomm.robotcore.util.ElapsedTime;
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import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
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/*
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* This file contains an example of a Linear "OpMode".
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* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
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* The names of OpModes appear on the menu of the FTC Driver Station.
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* When a selection is made from the menu, the corresponding OpMode is executed.
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*
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* This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
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* This code will work with either a Mecanum-Drive or an X-Drive train.
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* Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
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* Note that a Mecanum drive must display an X roller-pattern when viewed from above.
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*
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* Also note that it is critical to set the correct rotation direction for each motor. See details below.
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*
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* Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
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* Each motion axis is controlled by one Joystick axis.
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*
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* 1) Axial: Driving forward and backward Left-joystick Forward/Backward
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* 2) Lateral: Strafing right and left Left-joystick Right and Left
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* 3) Yaw: Rotating Clockwise and counter clockwise Right-joystick Right and Left
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*
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* This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
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* When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
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* the direction of all 4 motors (see code below).
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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="CometBots Linear OpMode Demo", group = "[14493] CometBots")
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public class CometBotsLinearOpMode extends LinearOpMode {
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// Declare OpMode members for each of the 4 motors.
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private ElapsedTime runtime = new ElapsedTime();
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private DcMotor rhw = null;
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private DcMotor rlw = null;
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private DcMotor lhw = null;
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private DcMotor llw = null;
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@Override
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public void runOpMode() {
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// Initialize the hardware variables. Note that the strings used here must correspond
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// to the names assigned during the robot configuration step on the DS or RC devices.
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rhw = hardwareMap.get(DcMotor.class, "right hand wheel");
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rlw = hardwareMap.get(DcMotor.class, "right leg wheel");
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lhw = hardwareMap.get(DcMotor.class, "left hand wheel");
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llw = hardwareMap.get(DcMotor.class, "left leg wheel");
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/*
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Put all motors in an array for easier handling
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NOTE: Placement of motor in array is important especially when dealing with functions
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that set direction
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*/
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DcMotor[] motors = {rhw, rlw, lhw, llw};
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/*
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Initialize all wheels forward using motors a
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*/
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MovementLibrary.setDirectionForward(motors);
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telemetry.addData("Status", "Initialized");
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telemetry.update();
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waitForStart();
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runtime.reset();
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// run until the end of the match (driver presses STOP)
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while (opModeIsActive()) {
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double max;
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// POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
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double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value
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double lateral = gamepad1.left_stick_x;
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double yaw = gamepad1.right_stick_x;
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// Combine the joystick requests for each axis-motion to determine each wheel's power.
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// Set up a variable for each drive wheel to save the power level for telemetry.
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|
||||||
double leftFrontPower = axial + lateral + yaw;
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double rightFrontPower = axial - lateral - yaw;
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double leftBackPower = axial - lateral + yaw;
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|
||||||
double rightBackPower = axial + lateral - yaw;
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|
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// Normalize the values so no wheel power exceeds 100%
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|
||||||
// This ensures that the robot maintains the desired motion.
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|
||||||
max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
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max = Math.max(max, Math.abs(leftBackPower));
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|
||||||
max = Math.max(max, Math.abs(rightBackPower));
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|
||||||
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|
||||||
if (max > 1.0) {
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|
||||||
leftFrontPower /= max;
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|
||||||
rightFrontPower /= max;
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|
||||||
leftBackPower /= max;
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|
||||||
rightBackPower /= max;
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|
||||||
}
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|
||||||
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|
||||||
// This is test code:
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|
||||||
//
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|
||||||
// Uncomment the following code to test your motor directions.
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|
||||||
// Each button should make the corresponding motor run FORWARD.
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|
||||||
// 1) First get all the motors to take to correct positions on the robot
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|
||||||
// by adjusting your Robot Configuration if necessary.
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|
||||||
// 2) Then make sure they run in the correct direction by modifying the
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|
||||||
// the setDirection() calls above.
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|
||||||
// Once the correct motors move in the correct direction re-comment this code.
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|
||||||
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|
||||||
/*
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|
||||||
leftFrontPower = gamepad1.x ? 1.0 : 0.0; // X gamepad
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|
||||||
leftBackPower = gamepad1.a ? 1.0 : 0.0; // A gamepad
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rightFrontPower = gamepad1.y ? 1.0 : 0.0; // Y gamepad
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rightBackPower = gamepad1.b ? 1.0 : 0.0; // B gamepad
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||||||
*/
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||||||
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|
||||||
// Send calculated power to wheels
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|
||||||
lhw.setPower(leftFrontPower);
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|
||||||
rhw.setPower(rightFrontPower);
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|
||||||
llw.setPower(leftBackPower);
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|
||||||
rlw.setPower(rightBackPower);
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||||||
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|
||||||
// Show the elapsed game time and wheel power.
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|
||||||
telemetry.addData("Status", "Run Time: " + runtime.toString());
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|
||||||
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
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|
||||||
telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
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|
||||||
telemetry.update();
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|
||||||
}
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|
||||||
}}
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|
||||||
@ -1,46 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
|
||||||
import org.openftc.easyopencv.OpenCvCamera;
|
|
||||||
import org.openftc.easyopencv.OpenCvCameraFactory;
|
|
||||||
import org.openftc.easyopencv.OpenCvCameraRotation;
|
|
||||||
|
|
||||||
@Disabled
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|
||||||
@Autonomous(name="DevApp - OpenCV Demo", group="[14493] CometBots")
|
|
||||||
public class CometBotsOpenCVDemo extends LinearOpMode {
|
|
||||||
|
|
||||||
private OpenCvCamera controlHubCam; // Use OpenCvCamera class from FTC SDK
|
|
||||||
private static final int CAMERA_WIDTH = 1280; // width of wanted camera resolution
|
|
||||||
private static final int CAMERA_HEIGHT = 720; // height of wanted camera resolution
|
|
||||||
|
|
||||||
// Calculate the distance using the formula
|
|
||||||
public static final double objectWidthInRealWorldUnits = 3.75; // Replace with the actual width of the object in real-world units
|
|
||||||
public static final double focalLength = 728; // Replace with the focal length of the camera in pixels
|
|
||||||
|
|
||||||
private void initOpenCV() {
|
|
||||||
|
|
||||||
// Create an instance of the camera
|
|
||||||
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
|
|
||||||
"cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
|
|
||||||
|
|
||||||
// Use OpenCvCameraFactory class from FTC SDK to create camera instance
|
|
||||||
controlHubCam = OpenCvCameraFactory.getInstance().createWebcam(
|
|
||||||
hardwareMap.get(WebcamName.class, "watch out"), cameraMonitorViewId);
|
|
||||||
|
|
||||||
// controlHubCam.setPipeline(new YellowBlobDetectionPipeline());
|
|
||||||
|
|
||||||
controlHubCam.openCameraDevice();
|
|
||||||
controlHubCam.startStreaming(CAMERA_WIDTH, CAMERA_HEIGHT, OpenCvCameraRotation.UPRIGHT);
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,100 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.cometbots.Constants.*;
|
|
||||||
|
|
||||||
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.DistanceSensor;
|
|
||||||
import com.qualcomm.robotcore.hardware.TouchSensor;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
|
||||||
import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
|
|
||||||
|
|
||||||
@Disabled
|
|
||||||
@Autonomous(name = "Development Class", group = "[14493] CometBots")
|
|
||||||
public class CometBotsProject extends LinearOpMode {
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
DcMotor rhw = hardwareMap.get(DcMotor.class, "right hand wheel");
|
|
||||||
DcMotor rlw = hardwareMap.get(DcMotor.class, "right leg wheel");
|
|
||||||
DcMotor lhw = hardwareMap.get(DcMotor.class, "left hand wheel");
|
|
||||||
DcMotor llw = hardwareMap.get(DcMotor.class, "left leg wheel");
|
|
||||||
TouchSensor touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
|
|
||||||
DistanceSensor distanceSensor = hardwareMap.get(DistanceSensor.class, "distancesensor");
|
|
||||||
ColorSensor colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor");
|
|
||||||
|
|
||||||
/*
|
|
||||||
Put all motors in an array for easier handling
|
|
||||||
|
|
||||||
NOTE: Placement of motor in array is important
|
|
||||||
especially when dealing with functions that
|
|
||||||
set direction
|
|
||||||
*/
|
|
||||||
DcMotor[] motors = {rhw, rlw, lhw, llw};
|
|
||||||
|
|
||||||
/*
|
|
||||||
Initialize all wheels forward using motors array
|
|
||||||
*/
|
|
||||||
// MovementLibrary.setDirectionForward(motors);
|
|
||||||
MovementLibrary.setLeftSideBackward(motors);
|
|
||||||
MovementLibrary.setRightSideForward(motors);
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture color readout from color sensor
|
|
||||||
*/
|
|
||||||
telemetry.addData("Color Sensor [Red]", colorSensor.red());
|
|
||||||
telemetry.addData("Color Sensor [Green]", colorSensor.green());
|
|
||||||
telemetry.addData("Color Sensor [Blue]", colorSensor.blue());
|
|
||||||
telemetry.addData("Color Sensor [Alpha]", colorSensor.alpha());
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture distance readout from distance sensor
|
|
||||||
*/
|
|
||||||
telemetry.addData("Distance Sensor [inches]", distanceSensor.getDistance(DistanceUnit.INCH));
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture state when touch sensor is pressed
|
|
||||||
*/
|
|
||||||
if (touchSensor.isPressed()) {
|
|
||||||
telemetry.speak("Touch sensor is pressed");
|
|
||||||
telemetry.addData("Touch sensor pressed?", touchSensor.isPressed());
|
|
||||||
}
|
|
||||||
|
|
||||||
telemetry.update();
|
|
||||||
|
|
||||||
/*
|
|
||||||
Wait for the driver to hit START in the driver hub
|
|
||||||
*/
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
|
|
||||||
/*
|
|
||||||
Initialize wheel direction with base speed
|
|
||||||
*/
|
|
||||||
MovementLibrary.setSpeed(motors, CB_BASE_SPEED);
|
|
||||||
|
|
||||||
|
|
||||||
/*
|
|
||||||
Distance traveled in inches
|
|
||||||
*/
|
|
||||||
double distanceInInches = distanceSensor.getDistance(DistanceUnit.INCH);
|
|
||||||
telemetry.addData("Distance traveled (inches)", "%.2f", distanceInInches);
|
|
||||||
|
|
||||||
/*
|
|
||||||
Speed up when going over an object that is blue-ish / green
|
|
||||||
*/
|
|
||||||
if (colorSensor.blue() > 800 && colorSensor.green() > 1100) {
|
|
||||||
telemetry.speak("Green speed boost");
|
|
||||||
MovementLibrary.setSpeed(motors, CB_BASE_SPEED * 2.0);
|
|
||||||
} else {
|
|
||||||
MovementLibrary.setSpeed(motors, CB_BASE_SPEED);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,111 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.hardware.ColorSensor;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
||||||
import com.qualcomm.robotcore.hardware.DistanceSensor;
|
|
||||||
import com.qualcomm.robotcore.hardware.TouchSensor;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
|
||||||
import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
|
|
||||||
import org.openftc.easyopencv.OpenCvCamera;
|
|
||||||
import org.openftc.easyopencv.OpenCvCameraFactory;
|
|
||||||
import org.openftc.easyopencv.OpenCvCameraRotation;
|
|
||||||
|
|
||||||
@Autonomous(name = "CometBot Sensor Demo", group = "[14493] CometBots")
|
|
||||||
public class CometBotsSensorDemo extends LinearOpMode {
|
|
||||||
|
|
||||||
private OpenCvCamera controlHubCam; // Use OpenCvCamera class from FTC SDK
|
|
||||||
private static final int CAMERA_WIDTH = 1280; // width of wanted camera resolution
|
|
||||||
private static final int CAMERA_HEIGHT = 720; // height of wanted camera resolution
|
|
||||||
|
|
||||||
// Calculate the distance using the formula
|
|
||||||
public static final double objectWidthInRealWorldUnits = 3.75; // Replace with the actual width of the object in real-world units
|
|
||||||
public static final double focalLength = 728; // Replace with the focal length of the camera in pixels
|
|
||||||
|
|
||||||
private DcMotor rhw = null;
|
|
||||||
private DcMotor rlw = null;
|
|
||||||
private DcMotor lhw = null;
|
|
||||||
private DcMotor llw = null;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
// Initialize the hardware variables. Note that the strings used here must correspond
|
|
||||||
// to the names assigned during the robot configuration step on the DS or RC devices.
|
|
||||||
rhw = hardwareMap.get(DcMotor.class, "right hand wheel");
|
|
||||||
rlw = hardwareMap.get(DcMotor.class, "right leg wheel");
|
|
||||||
lhw = hardwareMap.get(DcMotor.class, "left hand wheel");
|
|
||||||
llw = hardwareMap.get(DcMotor.class, "left leg wheel");
|
|
||||||
|
|
||||||
/*
|
|
||||||
Put all motors in an array for easier handling
|
|
||||||
|
|
||||||
NOTE: Placement of motor in array is important especially when dealing with functions
|
|
||||||
that set direction
|
|
||||||
*/
|
|
||||||
DcMotor[] motors = {rhw, rlw, lhw, llw};
|
|
||||||
|
|
||||||
// Create an instance of the camera
|
|
||||||
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
|
|
||||||
"cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
|
|
||||||
|
|
||||||
// Use OpenCvCameraFactory class from FTC SDK to create camera instance
|
|
||||||
controlHubCam = OpenCvCameraFactory.getInstance().createWebcam(
|
|
||||||
hardwareMap.get(WebcamName.class, "watch out"), cameraMonitorViewId);
|
|
||||||
|
|
||||||
TouchSensor touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
|
|
||||||
DistanceSensor distanceSensor = hardwareMap.get(DistanceSensor.class, "distancesensor");
|
|
||||||
ColorSensor colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor");
|
|
||||||
|
|
||||||
controlHubCam.openCameraDevice();
|
|
||||||
controlHubCam.startStreaming(CAMERA_WIDTH, CAMERA_HEIGHT, OpenCvCameraRotation.UPRIGHT);
|
|
||||||
|
|
||||||
FtcDashboard.getInstance().startCameraStream(controlHubCam, 0);
|
|
||||||
|
|
||||||
/*
|
|
||||||
Wait for the driver to hit START in the driver hub
|
|
||||||
*/
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture color readout from color sensor
|
|
||||||
*/
|
|
||||||
telemetry.addData("Color Sensor [Red]", colorSensor.red());
|
|
||||||
telemetry.addData("Color Sensor [Green]", colorSensor.green());
|
|
||||||
telemetry.addData("Color Sensor [Blue]", colorSensor.blue());
|
|
||||||
telemetry.addData("Color Sensor [Alpha]", colorSensor.alpha());
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture distance readout from distance sensor
|
|
||||||
*/
|
|
||||||
telemetry.addData("Distance Sensor [inches]", distanceSensor.getDistance(DistanceUnit.INCH));
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture state when touch sensor is pressed
|
|
||||||
*/
|
|
||||||
telemetry.addData("Touch sensor pressed?", touchSensor.isPressed());
|
|
||||||
if (touchSensor.isPressed()) {
|
|
||||||
telemetry.speak("Touch sensor is pressed");
|
|
||||||
}
|
|
||||||
|
|
||||||
if (distanceSensor.getDistance(DistanceUnit.INCH) < 3) {
|
|
||||||
telemetry.speak("Warning, unknown object near robot");
|
|
||||||
MovementLibrary.setDirectionRight(motors);
|
|
||||||
MovementLibrary.setSpeed(motors,0.25);
|
|
||||||
sleep(1500);
|
|
||||||
MovementLibrary.setSpeed(motors,0);
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
Update stats continually
|
|
||||||
*/
|
|
||||||
telemetry.update();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,141 +0,0 @@
|
|||||||
/* Copyright (c) 2019 FIRST. All rights reserved.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without modification,
|
|
||||||
* are permitted (subject to the limitations in the disclaimer below) provided that
|
|
||||||
* the following conditions are met:
|
|
||||||
*
|
|
||||||
* Redistributions of source code must retain the above copyright notice, this list
|
|
||||||
* of conditions and the following disclaimer.
|
|
||||||
*
|
|
||||||
* Redistributions in binary form must reproduce the above copyright notice, this
|
|
||||||
* list of conditions and the following disclaimer in the documentation and/or
|
|
||||||
* other materials provided with the distribution.
|
|
||||||
*
|
|
||||||
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
|
|
||||||
* promote products derived from this software without specific prior written permission.
|
|
||||||
*
|
|
||||||
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
|
|
||||||
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
|
|
||||||
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
||||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
|
|
||||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
||||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
|
||||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
||||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
||||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
||||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*/
|
|
||||||
|
|
||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
|
|
||||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
|
||||||
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
|
|
||||||
import org.firstinspires.ftc.vision.VisionPortal;
|
|
||||||
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
|
|
||||||
|
|
||||||
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.
|
|
||||||
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
|
|
||||||
*/
|
|
||||||
@TeleOp(name = "CometBots TensorFlow Demo (HDMI)", group = "[14493] CometBots")
|
|
||||||
public class CometBotsTensorFlowDemo extends LinearOpMode {
|
|
||||||
|
|
||||||
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
|
|
||||||
|
|
||||||
/**
|
|
||||||
* The variable to store our instance of the TensorFlow Object Detection processor.
|
|
||||||
*/
|
|
||||||
private TfodProcessor tfod;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* The variable to store our instance of the vision portal.
|
|
||||||
*/
|
|
||||||
private VisionPortal visionPortal;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() {
|
|
||||||
|
|
||||||
initTfod();
|
|
||||||
|
|
||||||
// Wait for the DS start button to be touched.
|
|
||||||
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
|
|
||||||
telemetry.addData(">", "Touch Play to start OpMode");
|
|
||||||
telemetry.update();
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
if (opModeIsActive()) {
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
|
|
||||||
telemetryTfod();
|
|
||||||
|
|
||||||
// Push telemetry to the Driver Station.
|
|
||||||
telemetry.update();
|
|
||||||
|
|
||||||
// Save CPU resources; can resume streaming when needed.
|
|
||||||
if (gamepad1.dpad_down) {
|
|
||||||
visionPortal.stopStreaming();
|
|
||||||
} else if (gamepad1.dpad_up) {
|
|
||||||
visionPortal.resumeStreaming();
|
|
||||||
}
|
|
||||||
|
|
||||||
// Share the CPU.
|
|
||||||
sleep(20);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Save more CPU resources when camera is no longer needed.
|
|
||||||
visionPortal.close();
|
|
||||||
|
|
||||||
} // end runOpMode()
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Initialize the TensorFlow Object Detection processor.
|
|
||||||
*/
|
|
||||||
private void initTfod() {
|
|
||||||
|
|
||||||
// Create the TensorFlow processor the easy way.
|
|
||||||
tfod = TfodProcessor.easyCreateWithDefaults();
|
|
||||||
|
|
||||||
// Create the vision portal the easy way.
|
|
||||||
if (USE_WEBCAM) {
|
|
||||||
visionPortal = VisionPortal.easyCreateWithDefaults(
|
|
||||||
hardwareMap.get(WebcamName.class, "watch out"), tfod);
|
|
||||||
} else {
|
|
||||||
visionPortal = VisionPortal.easyCreateWithDefaults(
|
|
||||||
BuiltinCameraDirection.BACK, tfod);
|
|
||||||
}
|
|
||||||
|
|
||||||
} // end method initTfod()
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
|
|
||||||
*/
|
|
||||||
private void telemetryTfod() {
|
|
||||||
|
|
||||||
List<Recognition> currentRecognitions = tfod.getRecognitions();
|
|
||||||
telemetry.addData("# Objects Detected", currentRecognitions.size());
|
|
||||||
|
|
||||||
// Step through the list of recognitions and display info for each one.
|
|
||||||
for (Recognition recognition : currentRecognitions) {
|
|
||||||
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
|
|
||||||
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
|
|
||||||
|
|
||||||
telemetry.addData(""," ");
|
|
||||||
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
|
|
||||||
telemetry.addData("- Position", "%.0f / %.0f", x, y);
|
|
||||||
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
|
|
||||||
} // end for() loop
|
|
||||||
|
|
||||||
} // end method telemetryTfod()
|
|
||||||
|
|
||||||
} // end class
|
|
||||||
@ -0,0 +1,45 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode;
|
||||||
|
|
||||||
|
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||||
|
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||||
|
|
||||||
|
public class MovementLibrary {
|
||||||
|
|
||||||
|
|
||||||
|
public static void setDirectionForward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
|
||||||
|
rhw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
|
rlw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
|
lhw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
|
llw.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void setDirectionBackward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
|
||||||
|
rhw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
|
rlw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
|
lhw.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
llw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void setDirectionLeft (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 setDirectionRight (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);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void setSpeed (double speedValue, DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
|
||||||
|
rhw.setPower(speedValue);
|
||||||
|
rlw.setPower(speedValue);
|
||||||
|
lhw.setPower(speedValue);
|
||||||
|
llw.setPower(speedValue);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,87 @@
|
|||||||
|
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;
|
||||||
|
|
||||||
|
@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");
|
||||||
|
|
||||||
|
MovementLibrary.setDirectionForward(rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
|
||||||
|
// 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("Red: ", colorSensor.red());
|
||||||
|
telemetry.addData("Green: ", colorSensor.green());
|
||||||
|
telemetry.addData("Blue: ", colorSensor.blue());
|
||||||
|
|
||||||
|
if(colorSensor.green() > 1100 && colorSensor.blue() > 1000) {
|
||||||
|
MovementLibrary.setSpeed(0.4,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
} else {
|
||||||
|
MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
};
|
||||||
|
|
||||||
|
telemetry.update();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@ -1,7 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.cometbots;
|
|
||||||
|
|
||||||
public class Constants {
|
|
||||||
|
|
||||||
public static double CB_BASE_SPEED = 0.2;
|
|
||||||
|
|
||||||
}
|
|
||||||
@ -1,58 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.cometbots;
|
|
||||||
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
|
||||||
|
|
||||||
public class MovementLibrary {
|
|
||||||
|
|
||||||
public static void setDirectionForward(DcMotor[] motors) {
|
|
||||||
setLeftSideForward(motors);
|
|
||||||
setRightSideForward(motors);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setLeftSideForward(DcMotor[] motors) {
|
|
||||||
motors[2].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[3].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setRightSideForward(DcMotor[] motors) {
|
|
||||||
motors[0].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[1].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setLeftSideBackward(DcMotor[] motors) {
|
|
||||||
motors[2].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[3].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setRightSideBackward(DcMotor[] motors) {
|
|
||||||
motors[0].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[1].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
public static void setDirectionBackward(DcMotor[] motors) {
|
|
||||||
setLeftSideBackward(motors);
|
|
||||||
setRightSideBackward(motors);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setSpeed(DcMotor[] motors, double speedValue) {
|
|
||||||
for (DcMotor motor : motors) {
|
|
||||||
motor.setPower(speedValue);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setDirectionLeft(DcMotor[] motors) {
|
|
||||||
motors[0].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[1].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[2].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[3].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setDirectionRight(DcMotor[] motors) {
|
|
||||||
motors[0].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[1].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[2].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[3].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -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