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Updated ftclib, trclib.

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Added Gobilda LED indicator support.
This commit is contained in:
Titan Robotics Club
2024-10-18 01:12:31 -07:00
parent e93227a213
commit 616119dce3
8 changed files with 169 additions and 127 deletions
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22
TeamCode/src/main/java/teamcode/vision/Vision.java
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@ -22,6 +22,8 @@
package teamcode.vision;
import com.qualcomm.robotcore.hardware.LED;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
@ -45,7 +47,7 @@ import ftclib.vision.FtcVisionAprilTag;
import ftclib.vision.FtcVisionEocvColorBlob;
import teamcode.Robot;
import teamcode.RobotParams;
import teamcode.subsystems.BlinkinLEDs;
import teamcode.subsystems.LEDIndicator;
import trclib.pathdrive.TrcPose2D;
import trclib.robotcore.TrcDbgTrace;
import trclib.vision.TrcOpenCvColorBlobPipeline;
@ -441,9 +443,9 @@ public class Vision
}
}
if (objectName != null && robot.blinkin != null)
if (objectName != null && robot.ledIndicator != null)
{
robot.blinkin.setDetectedPattern(objectName);
robot.ledIndicator.setDetectedPattern(objectName);
}
if (lineNum != -1)
@ -542,15 +544,15 @@ public class Vision
aprilTagInfo.detectedObj.getRotatedRectVertices());
}
if (aprilTagInfo != null && robot.blinkin != null)
if (aprilTagInfo != null && robot.ledIndicator != null)
{
robot.blinkin.setDetectedPattern(BlinkinLEDs.APRIL_TAG);
robot.ledIndicator.setDetectedPattern(LEDIndicator.APRIL_TAG);
}
if (lineNum != -1)
{
robot.dashboard.displayPrintf(
lineNum, "%s: %s", BlinkinLEDs.APRIL_TAG, aprilTagInfo != null? aprilTagInfo : "Not found.");
lineNum, "%s: %s", LEDIndicator.APRIL_TAG, aprilTagInfo != null? aprilTagInfo : "Not found.");
}
return aprilTagInfo;
@ -681,13 +683,13 @@ public class Vision
case RedBlob:
colorBlobInfo = redBlobVision != null? redBlobVision.getBestDetectedTargetInfo(
null, this::compareDistance, 0.0, 0.0): null;
colorBlobName = BlinkinLEDs.RED_BLOB;
colorBlobName = LEDIndicator.RED_BLOB;
break;
case BlueBlob:
colorBlobInfo = blueBlobVision != null? blueBlobVision.getBestDetectedTargetInfo(
null, this::compareDistance, 0.0, 0.0): null;
colorBlobName = BlinkinLEDs.BLUE_BLOB;
colorBlobName = LEDIndicator.BLUE_BLOB;
break;
case AnyColorBlob:
@ -726,9 +728,9 @@ public class Vision
colorBlobInfo.detectedObj.label, colorBlobInfo.detectedObj.getRotatedRectVertices());
}
if (colorBlobInfo != null && robot.blinkin != null)
if (colorBlobInfo != null && robot.ledIndicator != null)
{
robot.blinkin.setDetectedPattern(colorBlobName);
robot.ledIndicator.setDetectedPattern(colorBlobName);
}
if (lineNum != -1)