Added dashboard to project

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsCameraTest.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 = "DevApp - Camera Test (HDMI)", group = "SCDS Development")
+public class CometBotsCameraTest 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, "Webcam 1"))
+                    .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/CometBotsIMUTest.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 = "DevApp - IMU Test", group = "SCDS Development")
+public class CometBotsIMUTest 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/CometBotsOpenCVTest.java

@@ -0,0 +1,44 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+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;
+
+@Autonomous(name="DevApp - OpenCV Test", group="SCDS Development")
+public class CometBotsOpenCVTest 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, "Webcam 1"), 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/MovementLibrary.java

@@ -1,41 +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 setSpeed (double speedValue,DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
-        rhw.setPower(speedValue);
-        rlw.setPower(speedValue);
-        llw.setPower(speedValue);
-        lhw.setPower(speedValue);
-
-
-    }
-    public static void setDirectionRight(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
-        rhw.setDirection(DcMotor.Direction.REVERSE);
-        rlw.setDirection(DcMotor.Direction.REVERSE);
-        lhw.setDirection(DcMotorSimple.Direction.FORWARD);
-        llw.setDirection(DcMotorSimple.Direction.FORWARD);
-
-    }
-    public static void setDirectionLeft(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
-        rhw.setDirection(DcMotor.Direction.FORWARD);
-        rlw.setDirection(DcMotor.Direction.FORWARD);
-        lhw.setDirection(DcMotorSimple.Direction.REVERSE);
-        llw.setDirection(DcMotorSimple.Direction.REVERSE);
-    }
-}

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

@@ -1,99 +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;
-
-import java.util.ArrayList;
-import java.util.List;
-
-@Autonomous(name="Name")
-public class Name extends LinearOpMode  {
-    private DcMotor rightHandWheel;
-    private DcMotor rightLegWheel;
-    private DcMotor leftHandWheel;
-    private DcMotor leftLegWheel;
-    private TouchSensor touchSensor;
-    private DistanceSensor distanceSensor;
-    private ColorSensor colorSensor;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        rightHandWheel = hardwareMap.get(DcMotor.class,"right hand wheel");
-        rightLegWheel = hardwareMap.get(DcMotor.class,"right leg wheel");
-        leftHandWheel = hardwareMap.get(DcMotor.class, "left hand wheel");
-        leftLegWheel = hardwareMap.get(DcMotor.class, "left leg wheel");
-        touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
-        distanceSensor = hardwareMap.get(DistanceSensor.class , "distancesensor");
-        colorSensor= hardwareMap.get(ColorSensor.class , "colorsensor");
-
-        DcMotor[] motors = {rightHandWheel, leftHandWheel, rightLegWheel, leftLegWheel};
-
-        MovementLibrary.setDirectionForward(rightHandWheel, rightLegWheel, leftHandWheel,leftLegWheel);
-
-        //from this
-        DcMotor[] motors = {rightHandWheel, leftHandWheel, rightLegWheel, leftLegWheel};
-
-        //thismotors
-        MovementLibrary.setDirectionForward(motors);
-
-        // Wait for the game to start (driver presses {Play
-        waitForStart();
-
-
-        // Wait for the game to start (driver presses PLAY)
-        waitForStart();
-
-        while(opModeIsActive()){
-
-       /* telemetry.speak( "Oh see, you see" +
-                "By the dusk's late light" +
-                "What so proudly we rained" +
-                "At the twilight's last gleaming?" +
-                "Whose broad stripes and dark stars" +
-                "Through the perilous fight" +
-                "Under the ramparts we watched" +
-                "Were so gallantly, no, streaming?" +
-                "And the rockets' red glare" +
-                "The bombs contracting in air" +
-                "Gave proof through the night" +
-                "That our flag was not there" +
-                "O say, that star-spangled banner doesn't wave" +
-                "Over the land of the enslaved and the home of the cowardly");*/
-
-            MovementLibrary.setSpeed(0.2, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
-
-            if(touchSensor.isPressed()) {
-                telemetry.speak("Ouchie that hurt me and my feelings");
-                telemetry.addData("was i triggered", touchSensor.isPressed());
-            }
-
-            double nicerValue = distanceSensor.getDistance(DistanceUnit.INCH);
-
-            telemetry.addData("you are this far (in inches) --> ", "%.2f", nicerValue);
-            telemetry.addData("green color value",colorSensor.green());
-            telemetry.addData("blue color value" ,colorSensor.blue());
-            telemetry.update();
-
-            if (colorSensor.blue() > 800 && colorSensor.green() > 1100) {
-                MovementLibrary.setSpeed(0.4, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
-            }else {
-                MovementLibrary.setSpeed(0.2, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
-            }
-        }
-
-    }
-
-}

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
 }