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Sync'd latest changes from IntoTheDeep.

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Updated ftclib, trclib.
This commit is contained in:
Titan Robotics Club
2024-12-24 02:37:08 -08:00
parent 94b100eca4
commit 5a3bb9474b
10 changed files with 287 additions and 101 deletions
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59
TeamCode/src/main/java/teamcode/FtcTest.java
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@ -54,7 +54,7 @@ import trclib.timer.TrcTimer;
* testing purposes. It provides numerous tests for diagnosing problems with the robot. It also provides tools
* for tuning and calibration.
*/
@TeleOp(name="FtcTest", group="Ftcxxxx")
@TeleOp(name="FtcTest", group="FtcTeam")
public class FtcTest extends FtcTeleOp
{
private final String moduleName = getClass().getSimpleName();
@ -232,10 +232,16 @@ public class FtcTest extends FtcTeleOp
// Vision generally will impact performance, so we only enable it if it's needed.
if (robot.vision.aprilTagVision != null)
{
robot.globalTracer.traceInfo(moduleName, "Enabling AprilTagVision.");
robot.globalTracer.traceInfo(moduleName, "Enabling AprilTagVision for Webcam.");
robot.vision.setAprilTagVisionEnabled(true);
}
if (robot.vision.limelightVision != null)
{
robot.globalTracer.traceInfo(moduleName, "Enabling AprilTagVision for Limelight.");
robot.vision.setLimelightVisionEnabled(0, true);
}
if (robot.vision.redBlobVision != null)
{
robot.globalTracer.traceInfo(moduleName, "Enabling RedBlobVision.");
@ -247,12 +253,6 @@ public class FtcTest extends FtcTeleOp
robot.globalTracer.traceInfo(moduleName, "Enabling BlueBlobVision.");
robot.vision.setColorBlobVisionEnabled(Vision.ColorBlobType.BlueBlob, true);
}
if (robot.vision.limelightVision != null)
{
robot.globalTracer.traceInfo(moduleName, "Enabling LimelightVision.");
robot.vision.setLimelightVisionEnabled(0, true);
}
}
break;
@ -436,12 +436,12 @@ public class FtcTest extends FtcTeleOp
{
case SENSORS_TEST:
case SUBSYSTEMS_TEST:
doSensorsTest();
doSensorsTest(lineNum);
break;
case VISION_TEST:
case TUNE_COLORBLOB_VISION:
doVisionTest();
doVisionTest(lineNum);
break;
case X_TIMED_DRIVE:
@ -617,6 +617,17 @@ public class FtcTest extends FtcTeleOp
}
passToTeleOp = false;
}
else if (testChoices.test == Test.VISION_TEST &&
robot.vision != null && robot.vision.isLimelightVisionEnabled())
{
if (pressed)
{
int pipelineIndex = (robot.vision.limelightVision.getPipeline() + 1) %
Vision.LimelightParams.NUM_PIPELINES;
robot.vision.limelightVision.setPipeline(pipelineIndex);
robot.globalTracer.traceInfo(moduleName, "Switch Limelight pipeline to " + pipelineIndex);
}
}
break;
case LeftBumper:
@ -1015,10 +1026,11 @@ public class FtcTest extends FtcTeleOp
* This method reads all sensors and prints out their values. This is a very useful diagnostic tool to check
* if all sensors are working properly. For encoders, since test sensor mode is also teleop mode, you can
* operate the gamepads to turn the motors and check the corresponding encoder counts.
*
* @param lineNum specifies the starting line number on the dashboard to display sensor states.
*/
private void doSensorsTest()
private void doSensorsTest(int lineNum)
{
int lineNum = 9;
//
// Read all sensors and display on the dashboard.
// Drive the robot around to sample different locations of the field.
@ -1062,17 +1074,19 @@ public class FtcTest extends FtcTeleOp
/**
* This method calls vision code to detect target objects and display their info.
*
* @param lineNum specifies the starting line number on the dashboard to display vision info.
*/
private void doVisionTest()
private void doVisionTest(int lineNum)
{
if (robot.vision != null)
{
int lineNum = 9;
if (robot.vision.vision != null)
if (robot.vision.limelightVision != null)
{
// displayExposureSettings is only available for VisionPortal.
robot.vision.displayExposureSettings(lineNum++);
robot.vision.getLimelightDetectedObject(
robot.vision.limelightVision.getPipeline() == 0?
FtcLimelightVision.ResultType.Fiducial: FtcLimelightVision.ResultType.Python,
null, lineNum++);
}
if (robot.vision.rawColorBlobVision != null)
@ -1087,17 +1101,18 @@ public class FtcTest extends FtcTeleOp
if (robot.vision.redBlobVision != null)
{
robot.vision.getDetectedColorBlob(Vision.ColorBlobType.RedBlob, lineNum++);
robot.vision.getDetectedColorBlob(Vision.ColorBlobType.RedBlob, 0.0, lineNum++);
}
if (robot.vision.blueBlobVision != null)
{
robot.vision.getDetectedColorBlob(Vision.ColorBlobType.BlueBlob, lineNum++);
robot.vision.getDetectedColorBlob(Vision.ColorBlobType.BlueBlob, 0.0, lineNum++);
}
if (robot.vision.limelightVision != null)
if (robot.vision.vision != null)
{
robot.vision.getLimelightDetectedObject(FtcLimelightVision.ResultType.Fiducial, null, lineNum++);
// displayExposureSettings is only available for VisionPortal.
robot.vision.displayExposureSettings(lineNum++);
}
}
} //doVisionTest