Complete refactoring of classes; added additional demo for 04/20/2024 event at SRJC

TeamCode/build.gradle

@@ -23,7 +23,17 @@ android {
     }
 }
 
+repositories {
+    maven {
+        url = 'https://maven.brott.dev/'
+    }
+}
+
 dependencies {
     implementation project(':FtcRobotController')
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.12"
+    implementation "com.acmerobotics.roadrunner:core:1.0.0-beta8"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.0-beta8"
+    implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsCameraDemo.java

@@ -0,0 +1,78 @@
+package org.firstinspires.ftc.teamcode;
+
+import android.util.Size;
+
+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;
+
+@TeleOp(name = "CometBots Camera Demo (HDMI)", group = "[14493] CometBots")
+public class CometBotsCameraDemo extends LinearOpMode {
+
+    final boolean USING_WEBCAM = true;
+    final BuiltinCameraDirection INTERNAL_CAM_DIR = BuiltinCameraDirection.FRONT;
+    final int RESOLUTION_WIDTH = 640;
+    final int RESOLUTION_HEIGHT = 480;
+
+    // Internal state
+    boolean lastX;
+    int frameCount;
+    long capReqTime;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        telemetry.speak("Development - Camera Test");
+
+        VisionPortal portal;
+
+        if (USING_WEBCAM)
+        {
+            portal = new VisionPortal.Builder()
+                    .setCamera(hardwareMap.get(WebcamName.class, "watch out"))
+                    .setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
+                    .build();
+        }
+        else
+        {
+            portal = new VisionPortal.Builder()
+                    .setCamera(INTERNAL_CAM_DIR)
+                    .setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
+                    .build();
+        }
+
+        while (!isStopRequested())
+        {
+            boolean x = gamepad1.x;
+
+            if (x && !lastX)
+            {
+                portal.saveNextFrameRaw(String.format(Locale.US, "CameraFrameCapture-%06d", frameCount++));
+                capReqTime = System.currentTimeMillis();
+            }
+
+            lastX = x;
+
+            telemetry.addLine("######## Camera Capture Utility ########");
+            telemetry.addLine(String.format(Locale.US, " > Resolution: %dx%d", RESOLUTION_WIDTH, RESOLUTION_HEIGHT));
+            telemetry.addLine(" > Press X (or Square) to capture a frame");
+            telemetry.addData(" > Camera Status", portal.getCameraState());
+
+            if (capReqTime != 0)
+            {
+                telemetry.addLine("\nCaptured Frame!");
+            }
+
+            if (capReqTime != 0 && System.currentTimeMillis() - capReqTime > 1000)
+            {
+                capReqTime = 0;
+            }
+            telemetry.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsIMUDemo.java

@@ -0,0 +1,72 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+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;
+
+@TeleOp(name = "CometBots IMU Demo", group = "[14493] CometBots")
+public class CometBotsIMUDemo extends LinearOpMode {
+
+    IMU imu;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        // Retrieve and initialize the IMU.
+        // This sample expects the IMU to be in a REV Hub and named "imu".
+        imu = hardwareMap.get(IMU.class, "imu");
+
+        /* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
+         *
+         * Two input parameters are required to fully specify the Orientation.
+         * The first parameter specifies the direction the printed logo on the Hub is pointing.
+         * The second parameter specifies the direction the USB connector on the Hub is pointing.
+         * All directions are relative to the robot, and left/right is as-viewed from behind the robot.
+         */
+
+        /* 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
+        // Note: if you choose two conflicting directions, this initialization will cause a code exception.
+        imu.initialize(new IMU.Parameters(orientationOnRobot));
+
+        // Loop and update the dashboard
+        while (!isStopRequested()) {
+
+            telemetry.addData("Hub orientation", "Logo=%s   USB=%s\n ", logoDirection, usbDirection);
+
+            // Check to see if heading reset is requested
+            if (gamepad1.y) {
+                telemetry.addData("Yaw", "Resetting\n");
+                imu.resetYaw();
+            } else {
+                telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
+            }
+
+            // Retrieve Rotational Angles and Velocities
+            YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
+            AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
+
+            telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
+            telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
+            telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
+            telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
+            telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
+            telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
+            telemetry.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsLinearOpMode.java

@@ -0,0 +1,166 @@
+/* Copyright (c) 2021 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.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
+
+/*
+ * 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.
+ * When a selection is made from the menu, the corresponding OpMode is executed.
+ *
+ * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
+ * This code will work with either a Mecanum-Drive or an X-Drive train.
+ * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
+ * Note that a Mecanum drive must display an X roller-pattern when viewed from above.
+ *
+ * Also note that it is critical to set the correct rotation direction for each motor.  See details below.
+ *
+ * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
+ * Each motion axis is controlled by one Joystick axis.
+ *
+ * 1) Axial:    Driving forward and backward               Left-joystick Forward/Backward
+ * 2) Lateral:  Strafing right and left                     Left-joystick Right and Left
+ * 3) Yaw:      Rotating Clockwise and counter clockwise    Right-joystick Right and Left
+ *
+ * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
+ * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
+ * 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
+ */
+
+@TeleOp(name="CometBots Linear OpMode Demo", group = "[14493] CometBots")
+public class CometBotsLinearOpMode extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor rhw = null;
+    private DcMotor rlw = null;
+    private DcMotor lhw = null;
+    private DcMotor llw = null;
+
+    @Override
+    public void runOpMode() {
+
+        // 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};
+
+        /*
+            Initialize all wheels forward using motors a
+        */
+        MovementLibrary.setDirectionForward(motors);
+
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        waitForStart();
+        runtime.reset();
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+            double max;
+
+            // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
+            double axial   = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
+            double lateral =  gamepad1.left_stick_x;
+            double yaw     =  gamepad1.right_stick_x;
+
+            // Combine the joystick requests for each axis-motion to determine each wheel's power.
+            // Set up a variable for each drive wheel to save the power level for telemetry.
+            double leftFrontPower  = axial + lateral + yaw;
+            double rightFrontPower = axial - lateral - yaw;
+            double leftBackPower   = axial - lateral + yaw;
+            double rightBackPower  = axial + lateral - yaw;
+
+            // Normalize the values so no wheel power exceeds 100%
+            // This ensures that the robot maintains the desired motion.
+            max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
+            max = Math.max(max, Math.abs(leftBackPower));
+            max = Math.max(max, Math.abs(rightBackPower));
+
+            if (max > 1.0) {
+                leftFrontPower  /= max;
+                rightFrontPower /= max;
+                leftBackPower   /= max;
+                rightBackPower  /= max;
+            }
+
+            // This is test code:
+            //
+            // Uncomment the following code to test your motor directions.
+            // Each button should make the corresponding motor run FORWARD.
+            //   1) First get all the motors to take to correct positions on the robot
+            //      by adjusting your Robot Configuration if necessary.
+            //   2) Then make sure they run in the correct direction by modifying the
+            //      the setDirection() calls above.
+            // Once the correct motors move in the correct direction re-comment this code.
+
+            /*
+            leftFrontPower  = gamepad1.x ? 1.0 : 0.0;  // X gamepad
+            leftBackPower   = gamepad1.a ? 1.0 : 0.0;  // A gamepad
+            rightFrontPower = gamepad1.y ? 1.0 : 0.0;  // Y gamepad
+            rightBackPower  = gamepad1.b ? 1.0 : 0.0;  // B gamepad
+            */
+
+            // Send calculated power to wheels
+            lhw.setPower(leftFrontPower);
+            rhw.setPower(rightFrontPower);
+            llw.setPower(leftBackPower);
+            rlw.setPower(rightBackPower);
+
+            // Show the elapsed game time and wheel power.
+            telemetry.addData("Status", "Run Time: " + runtime.toString());
+            telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
+            telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
+            telemetry.update();
+        }
+    }}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsOpenCVDemo.java

@@ -0,0 +1,46 @@
+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
+@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 {
+
+
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsProject.java

@@ -0,0 +1,100 @@
+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);
+            }
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsSensorDemo.java

@@ -0,0 +1,111 @@
+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();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsTensorFlowDemo.java

@@ -0,0 +1,141 @@
+/* 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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementLibrary.java

@@ -1,45 +0,0 @@
-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);
-    }
-
-
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Name.java

@@ -1,87 +0,0 @@
-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();
-
-        }
-
-    }
-
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/Constants.java

@@ -0,0 +1,7 @@
+package org.firstinspires.ftc.teamcode.cometbots;
+
+public class Constants {
+
+    public static double CB_BASE_SPEED = 0.2;
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/MovementLibrary.java

@@ -0,0 +1,58 @@
+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);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/notes.md

@@ -0,0 +1,4 @@
+https://www.youtube.com/watch?v=aeMWWvteF2U
+
+https://www.youtube.com/watch?v=1xdo8QP6_mI
+

build.dependencies.gradle

@@ -1,6 +1,7 @@
 repositories {
     mavenCentral()
     google() // Needed for androidx
+    maven { url = 'https://maven.brott.dev/' }
 }
 
 dependencies {
@@ -17,5 +18,6 @@ dependencies {
     implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
     runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
+    implementation 'com.acmerobotics.dashboard:dashboard:0.4.15'    // FTC Dashboard
 }