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Sync'd latest vision changes from IntoTheDeep.

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This commit is contained in:
Titan Robotics Club
2024-09-23 01:13:31 -07:00
parent accc1a549f
commit 64f5acbf83
3 changed files with 162 additions and 121 deletions
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19
TeamCode/src/main/java/teamcode/FtcTest.java
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@ -26,8 +26,6 @@ import androidx.annotation.NonNull;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import java.util.Arrays;
import java.util.Locale;
@ -38,6 +36,7 @@ import ftclib.driverio.FtcGamepad;
import ftclib.driverio.FtcMenu;
import ftclib.driverio.FtcValueMenu;
import ftclib.robotcore.FtcPidCoeffCache;
import teamcode.vision.Vision;
import trclib.command.CmdDriveMotorsTest;
import trclib.command.CmdPidDrive;
import trclib.command.CmdTimedDrive;
@ -138,8 +137,6 @@ public class FtcTest extends FtcTeleOp
private double colorThresholdMultiplier = 1.0;
private boolean teleOpControlEnabled = true;
private long exposure;
private WebcamName frontWebcam = null;
private WebcamName rearWebcam = null;
private boolean fpsMeterEnabled = false;
//
// Overrides FtcOpMode abstract method.
@ -156,12 +153,6 @@ public class FtcTest extends FtcTeleOp
// TeleOp initialization.
//
super.robotInit();
if (robot.vision != null)
{
frontWebcam = robot.vision.getFrontWebcam();
rearWebcam = robot.vision.getRearWebcam();
}
if (RobotParams.Preferences.useLoopPerformanceMonitor)
{
elapsedTimer = new TrcElapsedTimer("TestLoopMonitor", 2.0);
@ -242,13 +233,13 @@ public class FtcTest extends FtcTeleOp
if (robot.vision.redBlobVision != null)
{
robot.globalTracer.traceInfo(moduleName, "Enabling RedBlobVision.");
robot.vision.setRedBlobVisionEnabled(true);
robot.vision.setColorBlobVisionEnabled(Vision.ColorBlobType.RedBlob, true);
}
if (robot.vision.blueBlobVision != null)
{
robot.globalTracer.traceInfo(moduleName, "Enabling BlueBlobVision.");
robot.vision.setBlueBlobVisionEnabled(true);
robot.vision.setColorBlobVisionEnabled(Vision.ColorBlobType.BlueBlob, true);
}
}
break;
@ -1072,12 +1063,12 @@ public class FtcTest extends FtcTeleOp
if (robot.vision.redBlobVision != null)
{
robot.vision.getDetectedRedBlob(lineNum++);
robot.vision.getDetectedColorBlob(Vision.ColorBlobType.RedBlob, lineNum++);
}
if (robot.vision.blueBlobVision != null)
{
robot.vision.getDetectedBlueBlob(lineNum++);
robot.vision.getDetectedColorBlob(Vision.ColorBlobType.BlueBlob, lineNum++);
}
}
} //doVisionTest