From 3cbae2b118bd2141bc541b9d3e2525acaea79fc7 Mon Sep 17 00:00:00 2001
From: FTC Engineering <ftctechnh@users.noreply.github.com>
Date: Tue, 27 Oct 2020 12:35:20 -0400
Subject: [PATCH] Updated Java Sample TensorFlow Object Detection Op Mode
 (markdown)

---
 ...ple-TensorFlow-Object-Detection-Op-Mode.md | 54 +++++++++++--------
 1 file changed, 31 insertions(+), 23 deletions(-)

diff --git a/Java-Sample-TensorFlow-Object-Detection-Op-Mode.md b/Java-Sample-TensorFlow-Object-Detection-Op-Mode.md
index d0c2248..8740825 100644
--- a/Java-Sample-TensorFlow-Object-Detection-Op-Mode.md
+++ b/Java-Sample-TensorFlow-Object-Detection-Op-Mode.md
@@ -190,37 +190,45 @@ If the list is not empty, then the op mode iterates through the list and calls a
 Let's modify the sample Blocks Op Mode so it will indicate which target zone the robot should drive to.  Using the Blocks editor, add a conditional clause for an empty list (i.e., no targets detected) so that a telemetry message indicating that zone A should be targeted by the robot.
 
 ```
+        if (opModeIsActive()) {
+            while (opModeIsActive()) {
+                if (tfod != null) {
                     // getUpdatedRecognitions() will return null if no new information is available since
                     // the last time that call was made.
                     List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
                     if (updatedRecognitions != null) {
                       telemetry.addData("# Object Detected", updatedRecognitions.size());
+                      if (updatedRecognitions.size() == 0 ) {
+                          // empty list.  no objects recognized.
+                          telemetry.addData("TFOD", "No items detected.");
+                          telemetry.addData("Target Zone", "A");
+                      } else {
+                          // list is not empty.
+                          // step through the list of recognitions and display boundary info.
+                          int i = 0;
+                          for (Recognition recognition : updatedRecognitions) {
+                              telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
+                              telemetry.addData(String.format("  left,top (%d)", i), "%.03f , %.03f",
+                                      recognition.getLeft(), recognition.getTop());
+                              telemetry.addData(String.format("  right,bottom (%d)", i), "%.03f , %.03f",
+                                      recognition.getRight(), recognition.getBottom());
+
+                              // check label to see which target zone to go after.
+                              if (recognition.getLabel().equals("Single")) {
+                                  telemetry.addData("Target Zone", "B");
+                              } else if (recognition.getLabel().equals("Quad")) {
+                                  telemetry.addData("Target Zone", "C");
+                              } else {
+                                  telemetry.addData("Target Zone", "UNKNOWN");
+                              }
+                          }
+                      }
 
-                      // step through the list of recognitions and display boundary info.
-                      int i = 0;
-                      for (Recognition recognition : updatedRecognitions) {
-                        telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
-                        telemetry.addData(String.format("  left,top (%d)", i), "%.03f , %.03f",
-                                          recognition.getLeft(), recognition.getTop());
-                        telemetry.addData(String.format("  right,bottom (%d)", i), "%.03f , %.03f",
-                                recognition.getRight(), recognition.getBottom());
-                        
-                        // display target zone based on this object.
-                        if(recognition.getLabel().equals("Single")) {
-                            telemetry.addData("Target Zone", "B");
-                        } else if ((recognition.getLabel().equals("Quad"))) {
-                            telemetry.addData("Target Zone", "C");
-                        } else {
-                            telemetry.addData("Target Zone", "UNKNOWN");
-                        }
-                      } 
                       telemetry.update();
-                    } else {
-                        // updatedRecognitions is null (no objects recognized).
-                        telemetry.addData("TFOD", "No items detected.");
-                        telemetry.addData("Target Zone", "A");
-                        telemetry.update();
                     }
+                }
+            }
+        }
 ```
 
 Also, when an object is detected, check its label to see which target zone is associated with that object.  If the label reads "Single" then send a telemetry message to indicate target zone B.  If the label reads "Quad" then send a telemetry message to indicate target zone C.  If the label is neither "Single" or "Quad" send a telemetry message indicating that the target zone is unknown.