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Updated ftclib.

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Updated trclib.
Refactored RobotParams to make it more structured.
Restructured CmdPidDrive to add a start method so that the caller can repeatedly call it to set a new path.
Created new RobotBase class that will create the appropriate robot DriveBase according to robotType.
Generalized and moved RobotDrive, MecanumDrive and SwerveDrive to ftclib.
This commit is contained in:
Titan Robotics Club
2024-08-20 12:20:12 -07:00
parent e0328f5a29
commit 5bfd77ccc2
12 changed files with 597 additions and 1041 deletions
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33
TeamCode/src/main/java/teamcode/vision/Vision.java
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@ -106,11 +106,18 @@ public class Vision
{
FtcOpMode opMode = FtcOpMode.getInstance();
if (robot.robotInfo.webCam1Name == null &&
(RobotParams.Preferences.useWebCam || RobotParams.Preferences.tuneColorBlobVision))
{
throw new IllegalArgumentException("Must provide a valid WebCam 1 name.");
}
this.tracer = new TrcDbgTrace();
this.robot = robot;
this.webcam1 = opMode.hardwareMap.get(WebcamName.class, RobotParams.HWNAME_WEBCAM1);
this.webcam2 = RobotParams.Preferences.hasWebCam2?
opMode.hardwareMap.get(WebcamName.class, RobotParams.HWNAME_WEBCAM2): null;
this.webcam1 = robot.robotInfo.webCam1Name != null?
opMode.hardwareMap.get(WebcamName.class, robot.robotInfo.webCam1Name): null;
this.webcam2 = robot.robotInfo.webCam2Name != null?
opMode.hardwareMap.get(WebcamName.class, robot.robotInfo.webCam2Name): null;
if (RobotParams.Preferences.tuneColorBlobVision)
{
OpenCvCamera openCvCamera;
@ -133,8 +140,8 @@ public class Vision
rawColorBlobPipeline.setVideoOutput(0);
rawColorBlobPipeline.setAnnotateEnabled(true);
rawColorBlobVision = new FtcRawEocvVision(
"rawColorBlobVision", RobotParams.CAM_IMAGE_WIDTH, RobotParams.CAM_IMAGE_HEIGHT, null, null,
openCvCamera, RobotParams.CAM_ORIENTATION);
"rawColorBlobVision", robot.robotInfo.camImageWidth, robot.robotInfo.camImageHeight, null, null,
openCvCamera, robot.robotInfo.camOrientation);
rawColorBlobVision.setFpsMeterEnabled(RobotParams.Preferences.showVisionStat);
setRawColorBlobVisionEnabled(false);
}
@ -165,13 +172,13 @@ public class Vision
redBlobVision = new FtcVisionEocvColorBlob(
"RedBlob", colorConversion, redBlobColorThresholds, colorBlobFilterContourParams, true,
RobotParams.cameraRect, RobotParams.worldRect, true);
robot.robotInfo.cameraRect, robot.robotInfo.worldRect, true);
redBlobProcessor = redBlobVision.getVisionProcessor();
visionProcessorsList.add(redBlobProcessor);
blueBlobVision = new FtcVisionEocvColorBlob(
"BlueBlob", colorConversion, blueBlobColorThresholds, colorBlobFilterContourParams, true,
RobotParams.cameraRect, RobotParams.worldRect, true);
robot.robotInfo.cameraRect, robot.robotInfo.worldRect, true);
blueBlobProcessor = blueBlobVision.getVisionProcessor();
visionProcessorsList.add(blueBlobProcessor);
}
@ -180,7 +187,8 @@ public class Vision
{
tracer.traceInfo(moduleName, "Starting TensorFlowVision...");
tensorFlowVision = new FtcVisionTensorFlow(
null, true, TFOD_MODEL_ASSET, TFOD_TARGET_LABELS, RobotParams.cameraRect, RobotParams.worldRect);
null, true, TFOD_MODEL_ASSET, TFOD_TARGET_LABELS, robot.robotInfo.cameraRect,
robot.robotInfo.worldRect);
tensorFlowProcessor = tensorFlowVision.getVisionProcessor();
tensorFlowProcessor.setMinResultConfidence(TFOD_MIN_CONFIDENCE);
visionProcessorsList.add(tensorFlowProcessor);
@ -192,7 +200,7 @@ public class Vision
{
// Use USB webcams.
vision = new FtcVision(
webcam1, webcam2, RobotParams.CAM_IMAGE_WIDTH, RobotParams.CAM_IMAGE_HEIGHT,
webcam1, webcam2, robot.robotInfo.camImageWidth, robot.robotInfo.camImageHeight,
RobotParams.Preferences.showVisionView, RobotParams.Preferences.showVisionStat, visionProcessors);
}
else
@ -201,7 +209,7 @@ public class Vision
vision = new FtcVision(
RobotParams.Preferences.useBuiltinCamBack?
BuiltinCameraDirection.BACK: BuiltinCameraDirection.FRONT,
RobotParams.CAM_IMAGE_WIDTH, RobotParams.CAM_IMAGE_HEIGHT,
robot.robotInfo.camImageWidth, robot.robotInfo.camImageHeight,
RobotParams.Preferences.showVisionView, RobotParams.Preferences.showVisionStat, visionProcessors);
}
// Disable all vision until they are needed.
@ -426,9 +434,10 @@ public class Vision
if (aprilTagInfo != null)
{
TrcPose2D aprilTagPose = RobotParams.APRILTAG_POSES[aprilTagInfo.detectedObj.aprilTagDetection.id - 1];
TrcPose2D aprilTagPose =
RobotParams.Game.APRILTAG_POSES[aprilTagInfo.detectedObj.aprilTagDetection.id - 1];
TrcPose2D cameraPose = aprilTagPose.subtractRelativePose(aprilTagInfo.objPose);
robotPose = cameraPose.subtractRelativePose(RobotParams.CAM_POSE);
robotPose = cameraPose.subtractRelativePose(robot.robotInfo.camPose);
tracer.traceInfo(
moduleName,
"AprilTagId=" + aprilTagInfo.detectedObj.aprilTagDetection.id +