mirror of
https://github.com/trc492/FtcTemplate.git
synced 2025-07-01 13:01:24 -07:00
Updated ftclib.
Sync'd with FRC changes.
This commit is contained in:
Titan Robotics Club
Submodule TeamCode/src/main/java/ftclib updated: a4b99cd416...542c65c802
@ -129,7 +129,7 @@ public class FtcAuto extends FtcOpMode
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Robot.matchInfo = FtcMatchInfo.getMatchInfo();
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String filePrefix = String.format(
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Locale.US, "%s%02d_Auto", Robot.matchInfo.matchType, Robot.matchInfo.matchNumber);
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TrcDbgTrace.openTraceLog(RobotParams.System.LOG_FOLDER_PATH, filePrefix);
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TrcDbgTrace.openTraceLog(RobotParams.Robot.LOG_FOLDER_PATH, filePrefix);
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}
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//
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// Create and run choice menus.
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@ -68,8 +68,8 @@ public class FtcTeleOp extends FtcOpMode
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// Create and initialize robot object.
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//
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robot = new Robot(TrcRobot.getRunMode());
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drivePowerScale = robot.robotInfo.driveNormalScale;
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turnPowerScale = robot.robotInfo.turnNormalScale;
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drivePowerScale = RobotParams.Robot.DRIVE_NORMAL_SCALE;
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turnPowerScale = RobotParams.Robot.TURN_NORMAL_SCALE;
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//
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// Open trace log.
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@ -79,7 +79,7 @@ public class FtcTeleOp extends FtcOpMode
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String filePrefix = Robot.matchInfo != null?
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String.format(Locale.US, "%s%02d_TeleOp", Robot.matchInfo.matchType, Robot.matchInfo.matchNumber):
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"Unknown_TeleOp";
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TrcDbgTrace.openTraceLog(RobotParams.System.LOG_FOLDER_PATH, filePrefix);
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TrcDbgTrace.openTraceLog(RobotParams.Robot.LOG_FOLDER_PATH, filePrefix);
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}
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//
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// Create and initialize Gamepads.
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@ -90,7 +90,7 @@ public class FtcTeleOp extends FtcOpMode
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operatorGamepad.setButtonEventHandler(this::operatorButtonEvent);
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driverGamepad.setLeftStickInverted(false, true);
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operatorGamepad.setRightStickInverted(false, true);
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setDriveOrientation(robot.robotInfo.driveOrientation);
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setDriveOrientation(RobotParams.Robot.DRIVE_ORIENTATION);
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} //robotInit
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//
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@ -183,7 +183,7 @@ public class FtcTeleOp extends FtcOpMode
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else
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{
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double[] inputs = driverGamepad.getDriveInputs(
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robot.robotInfo.driveMode, true, drivePowerScale, turnPowerScale);
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RobotParams.Robot.DRIVE_MODE, true, drivePowerScale, turnPowerScale);
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if (robot.robotDrive.driveBase.supportsHolonomicDrive())
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{
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@ -312,14 +312,14 @@ public class FtcTeleOp extends FtcOpMode
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if (pressed)
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{
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robot.globalTracer.traceInfo(moduleName, ">>>>> DrivePower slow.");
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drivePowerScale = robot.robotInfo.driveSlowScale;
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turnPowerScale = robot.robotInfo.turnSlowScale;
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drivePowerScale = RobotParams.Robot.DRIVE_SLOW_SCALE;
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turnPowerScale = RobotParams.Robot.TURN_SLOW_SCALE;
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}
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else
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{
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robot.globalTracer.traceInfo(moduleName, ">>>>> DrivePower normal.");
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drivePowerScale = robot.robotInfo.driveNormalScale;
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turnPowerScale = robot.robotInfo.turnNormalScale;
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drivePowerScale = RobotParams.Robot.DRIVE_NORMAL_SCALE;
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turnPowerScale = RobotParams.Robot.TURN_NORMAL_SCALE;
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}
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break;
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@ -117,7 +117,7 @@ public class FtcTest extends FtcTeleOp
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} //class TestChoices
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private final FtcPidCoeffCache pidCoeffCache = new FtcPidCoeffCache(RobotParams.System.TEAM_FOLDER_PATH);
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private final FtcPidCoeffCache pidCoeffCache = new FtcPidCoeffCache(RobotParams.Robot.TEAM_FOLDER_PATH);
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private final TestChoices testChoices = new TestChoices();
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private TrcElapsedTimer elapsedTimer = null;
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private FtcChoiceMenu<Test> testMenu = null;
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@ -125,7 +125,7 @@ public class Robot
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@Override
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public String toString()
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{
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return robotInfo != null? robotInfo.robotName: RobotParams.System.DEF_ROBOT_NAME;
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return robotInfo != null? robotInfo.robotName: RobotParams.Robot.ROBOT_CODEBASE;
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} //toString
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/**
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@ -267,6 +267,9 @@ public class Robot
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//
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// Display other subsystem status here.
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//
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if (RobotParams.Preferences.showSubsystems)
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{
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}
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}
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} //updateStatus
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@ -34,6 +34,7 @@ import ftclib.motor.FtcMotorActuator.MotorType;
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import trclib.dataprocessor.TrcUtil;
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import trclib.drivebase.TrcDriveBase.DriveOrientation;
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import trclib.driverio.TrcGameController;
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import trclib.driverio.TrcGameController.DriveMode;
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import trclib.pathdrive.TrcPose2D;
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import trclib.robotcore.TrcPidController.PidCoefficients;
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import trclib.vision.TrcHomographyMapper;
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@ -86,13 +87,24 @@ public class RobotParams
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/**
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* This class contains miscellaneous robot info.
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*/
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public static class System
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public static class Robot
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{
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public static final String TEAM_FOLDER_PATH =
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Environment.getExternalStorageDirectory().getPath() + "/FIRST/ftcTeam";
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public static final String LOG_FOLDER_PATH = TEAM_FOLDER_PATH + "/tracelogs";
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public static final String DEF_ROBOT_NAME = "Robot3543";
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} //class System
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public static final String STEER_ZERO_CAL_FILE = TEAM_FOLDER_PATH + "/SteerZeroCalibration.txt";
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public static final double DASHBOARD_UPDATE_INTERVAL = 0.1; // in msec
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public static final String ROBOT_CODEBASE = "Robot2025";
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public static final double ROBOT_LENGTH = 17.0;
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public static final double ROBOT_WIDTH = 17.0;
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// Robot Drive Parameters.
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public static final DriveMode DRIVE_MODE = DriveMode.ArcadeMode;
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public static final DriveOrientation DRIVE_ORIENTATION = DriveOrientation.ROBOT;
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public static final double DRIVE_SLOW_SCALE = 0.3;
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public static final double DRIVE_NORMAL_SCALE = 1.0;
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public static final double TURN_SLOW_SCALE = 0.3;
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public static final double TURN_NORMAL_SCALE = 0.6;
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} //class Robot
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/**
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* When the season starts, the competition robot may not be ready for programmers. It's crucial to save time by
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@ -149,36 +161,80 @@ public class RobotParams
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// Robot Parameters.
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//
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/**
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* This class contains the parameters of the front camera.
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*/
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public static class FrontCamParams extends FtcRobotDrive.VisionInfo
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{
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public FrontCamParams()
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{
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camName = "WebCam 1";
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camImageWidth = 640;
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camImageHeight = 480;
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camXOffset = 0.0; // Inches to the right from robot center
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camYOffset = 2.0; // Inches forward from robot center
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camZOffset = 9.75; // Inches up from the floor
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camPitch = 15.0; // degrees down from horizontal
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camYaw = 0.0; // degrees clockwise from robot front
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camRoll = 0.0;
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camPose = new TrcPose2D(camXOffset, camYOffset, camYaw);
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camOrientation = OpenCvCameraRotation.UPRIGHT;
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// Homography: cameraRect in pixels, worldRect in inches
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cameraRect = new TrcHomographyMapper.Rectangle(
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0.0, 120.0, // Camera Top Left
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camImageWidth -1, 120.0, // Camera Top Right
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0.0, camImageHeight - 1, // Camera Bottom Left
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camImageWidth - 1, camImageHeight - 1); // Camera Bottom Right
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worldRect = new TrcHomographyMapper.Rectangle(
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-12.5626, 48.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset, // World Top Left
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11.4375, 44.75 - Robot.ROBOT_LENGTH/2.0 - camYOffset, // World Top Right
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-2.5625, 21.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset, // World Bottom Left
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2.5626, 21.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset); // World Bottom Right
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} //FrontCamParams
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} //class FrontCamParams
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/**
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* This class contains the parameters of the front camera.
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*/
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public static class BackCamParams extends FtcRobotDrive.VisionInfo
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{
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public BackCamParams()
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{
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camName = "WebCam 2";
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camImageWidth = 640;
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camImageHeight = 480;
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camXOffset = 0.0; // Inches to the right from robot center
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camYOffset = 2.0; // Inches forward from robot center
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camZOffset = 9.75; // Inches up from the floor
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camPitch = 15.0; // degrees down from horizontal
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camYaw = 0.0; // degrees clockwise from robot front
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camRoll = 0.0;
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camPose = new TrcPose2D(camXOffset, camYOffset, camYaw);
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camOrientation = OpenCvCameraRotation.UPRIGHT;
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// Homography: cameraRect in pixels, worldRect in inches
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cameraRect = new TrcHomographyMapper.Rectangle(
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0.0, 120.0, // Camera Top Left
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camImageWidth -1, 120.0, // Camera Top Right
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0.0, camImageHeight - 1, // Camera Bottom Left
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camImageWidth - 1, camImageHeight - 1); // Camera Bottom Right
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worldRect = new TrcHomographyMapper.Rectangle(
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-12.5626, 48.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset, // World Top Left
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11.4375, 44.75 - Robot.ROBOT_LENGTH/2.0 - camYOffset, // World Top Right
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-2.5625, 21.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset, // World Bottom Left
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2.5626, 21.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset); // World Bottom Right
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} //BackCamParams
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} //class BackCamParams
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public static class VisionOnlyParams extends FtcRobotDrive.RobotInfo
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{
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public VisionOnlyParams()
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{
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robotName = "VisionOnly";
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// Vision
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webCam1Name = "Webcam 1";
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webCam2Name = "Webcam 2";
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camImageWidth = 640;
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camImageHeight = 480;
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camOrientation = OpenCvCameraRotation.UPRIGHT;
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// Camera location On Robot
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camXOffset = 0.0; //Camera right offset from robot centroid
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camYOffset = 2.0; //Camera forward offset from robot centroid
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camZOffset = 9.75; //Camera height offset from floor
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camTiltDown = 15.00; //Camera tilt down angle from horizontal in deg
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camPose = new TrcPose2D(camXOffset, camYOffset, 0.0);
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// Homography: cameraRect in pixels, worldRect in inches
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cameraRect = new TrcHomographyMapper.Rectangle(
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0.0, 120.0, // Camera Top Left
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camImageWidth -1, 120.0, // Camera Top Right
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0.0, camImageHeight - 1, // Camera Bottom Left
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camImageWidth - 1, camImageHeight - 1); // Camera Bottom Right
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worldRect = new TrcHomographyMapper.Rectangle(
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-12.5626, 48.0 - robotLength/2.0 - camYOffset, // World Top Left
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11.4375, 44.75 - robotLength/2.0 - camYOffset, // World Top Right
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-2.5625, 21.0 - robotLength/2.0 - camYOffset, // World Bottom Left
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2.5626, 21.0 - robotLength/2.0 - camYOffset); // World Bottom Right
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// Front Camera
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webCam1 = new FrontCamParams();
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// Back Camera
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webCam2 = new BackCamParams();
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} //VisionOnlyParams
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} //class VisionOnlyParams
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/**
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@ -193,19 +249,19 @@ public class RobotParams
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public DifferentialParams()
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{
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robotName = "DifferentialRobot";
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// Robot Dimensions
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robotLength = Robot.ROBOT_LENGTH;
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robotWidth = Robot.ROBOT_WIDTH;
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wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
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wheelBaseWidth = 16.0;
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// IMU
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imuName = "imu";
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hubLogoDirection = LogoFacingDirection.UP;
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hubUsbDirection = UsbFacingDirection.FORWARD;
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// Robot Dimensions
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robotLength = 17.0;
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robotWidth = 17.0;
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wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
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wheelBaseWidth = 16.0;
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// Drive Motors
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driveMotorType = MotorType.DcMotor;
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driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
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driveMotorInverted = new boolean[] {true, false, true, false};
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driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor"};
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driveMotorInverted = new boolean[] {true, false};
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// Odometry Wheels
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odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; // 0.00105687652708656383937269814237 in/count
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xOdWheelOffsetX = 0.0;
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@ -215,7 +271,6 @@ public class RobotParams
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yRightOdWheelOffsetX = 144.0 * TrcUtil.INCHES_PER_MM;
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yRightOdWheelOffsetY = -12.0 * TrcUtil.INCHES_PER_MM;
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// Drive Motor Odometry
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xDrivePosScale = 0.01924724265461924299065420560748; // in/count
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yDrivePosScale = 0.02166184604662450653409090909091; // in/count
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// Robot Drive Characteristics
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robotMaxVelocity = 23.0; // inches/sec
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@ -227,9 +282,6 @@ public class RobotParams
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// DriveBase PID Parameters
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drivePidTolerance = 1.0;
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turnPidTolerance = 1.0;
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xDrivePidCoeffs = new PidCoefficients(0.95, 0.0, 0.001, 0.0, 0.0);
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xDrivePidPowerLimit = 1.0;
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xDriveMaxPidRampRate = null;
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yDrivePidCoeffs = new PidCoefficients(0.06, 0.0, 0.002, 0.0, 0.0);
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yDrivePidPowerLimit = 1.0;
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yDriveMaxPidRampRate = null;
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@ -241,39 +293,12 @@ public class RobotParams
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// PurePursuit Parameters
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ppdFollowingDistance = 6.0;
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velPidCoeffs = new PidCoefficients(0.0, 0.0, 0.0, 1.0 / profiledMaxVelocity, 0.0);
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// Robot Drive
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driveMode = TrcGameController.DriveMode.ArcadeMode;
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driveOrientation = DriveOrientation.ROBOT;
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driveSlowScale = 0.3;
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driveNormalScale = 1.0;
|
||||
turnSlowScale = 0.3;
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turnNormalScale = 0.6;
|
||||
// Vision
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webCam1Name = "Webcam 1";
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webCam2Name = "Webcam 2";
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camImageWidth = 640;
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camImageHeight = 480;
|
||||
camOrientation = OpenCvCameraRotation.UPRIGHT;
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||||
// Camera location On Robot
|
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camXOffset = 0.0; //Camera right offset from robot centroid
|
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camYOffset = 2.0; //Camera forward offset from robot centroid
|
||||
camZOffset = 9.75; //Camera height offset from floor
|
||||
camTiltDown = 15.00; //Camera tilt down angle from horizontal in deg
|
||||
camPose = new TrcPose2D(camXOffset, camYOffset, 0.0);
|
||||
// Homography: cameraRect in pixels, worldRect in inches
|
||||
cameraRect = new TrcHomographyMapper.Rectangle(
|
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0.0, 120.0, // Camera Top Left
|
||||
camImageWidth -1, 120.0, // Camera Top Right
|
||||
0.0, camImageHeight - 1, // Camera Bottom Left
|
||||
camImageWidth - 1, camImageHeight - 1); // Camera Bottom Right
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worldRect = new TrcHomographyMapper.Rectangle(
|
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-12.5626, 48.0 - robotLength/2.0 - camYOffset, // World Top Left
|
||||
11.4375, 44.75 - robotLength/2.0 - camYOffset, // World Top Right
|
||||
-2.5625, 21.0 - robotLength/2.0 - camYOffset, // World Bottom Left
|
||||
2.5626, 21.0 - robotLength/2.0 - camYOffset); // World Bottom Right
|
||||
webCam1 = new FrontCamParams();
|
||||
webCam2 = new BackCamParams();
|
||||
// Miscellaneous
|
||||
blinkinName = "blinkin";
|
||||
} //DifferentialParams
|
||||
|
||||
} //class DifferentialParams
|
||||
|
||||
/**
|
||||
@ -288,15 +313,15 @@ public class RobotParams
|
||||
public MecanumParams()
|
||||
{
|
||||
robotName = "MecanumRobot";
|
||||
// Robot Dimensions
|
||||
robotLength = Robot.ROBOT_LENGTH;
|
||||
robotWidth = Robot.ROBOT_WIDTH;
|
||||
wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
|
||||
wheelBaseWidth = 16.0;
|
||||
// IMU
|
||||
imuName = "imu";
|
||||
hubLogoDirection = LogoFacingDirection.UP;
|
||||
hubUsbDirection = UsbFacingDirection.FORWARD;
|
||||
// Robot Dimensions
|
||||
robotLength = 17.0;
|
||||
robotWidth = 17.0;
|
||||
wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
|
||||
wheelBaseWidth = 16.0;
|
||||
// Drive Motors
|
||||
driveMotorType = MotorType.DcMotor;
|
||||
driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
|
||||
@ -336,39 +361,12 @@ public class RobotParams
|
||||
// PurePursuit Parameters
|
||||
ppdFollowingDistance = 6.0;
|
||||
velPidCoeffs = new PidCoefficients(0.0, 0.0, 0.0, 1.0 / profiledMaxVelocity, 0.0);
|
||||
// Robot Drive
|
||||
driveMode = TrcGameController.DriveMode.ArcadeMode;
|
||||
driveOrientation = DriveOrientation.ROBOT;
|
||||
driveSlowScale = 0.3;
|
||||
driveNormalScale = 1.0;
|
||||
turnSlowScale = 0.3;
|
||||
turnNormalScale = 0.6;
|
||||
// Vision
|
||||
webCam1Name = "Webcam 1";
|
||||
webCam2Name = "Webcam 2";
|
||||
camImageWidth = 640;
|
||||
camImageHeight = 480;
|
||||
camOrientation = OpenCvCameraRotation.UPRIGHT;
|
||||
// Camera location On Robot
|
||||
camXOffset = 0.0; //Camera right offset from robot centroid
|
||||
camYOffset = 2.0; //Camera forward offset from robot centroid
|
||||
camZOffset = 9.75; //Camera height offset from floor
|
||||
camTiltDown = 15.00; //Camera tilt down angle from horizontal in deg
|
||||
camPose = new TrcPose2D(camXOffset, camYOffset, 0.0);
|
||||
// Homography: cameraRect in pixels, worldRect in inches
|
||||
cameraRect = new TrcHomographyMapper.Rectangle(
|
||||
0.0, 120.0, // Camera Top Left
|
||||
camImageWidth -1, 120.0, // Camera Top Right
|
||||
0.0, camImageHeight - 1, // Camera Bottom Left
|
||||
camImageWidth - 1, camImageHeight - 1); // Camera Bottom Right
|
||||
worldRect = new TrcHomographyMapper.Rectangle(
|
||||
-12.5626, 48.0 - robotLength/2.0 - camYOffset, // World Top Left
|
||||
11.4375, 44.75 - robotLength/2.0 - camYOffset, // World Top Right
|
||||
-2.5625, 21.0 - robotLength/2.0 - camYOffset, // World Bottom Left
|
||||
2.5626, 21.0 - robotLength/2.0 - camYOffset); // World Bottom Right
|
||||
webCam1 = new FrontCamParams();
|
||||
webCam2 = new BackCamParams();
|
||||
// Miscellaneous
|
||||
blinkinName = "blinkin";
|
||||
} //MecanumParams
|
||||
|
||||
} //class MecanumParams
|
||||
|
||||
/**
|
||||
@ -383,15 +381,15 @@ public class RobotParams
|
||||
public SwerveParams()
|
||||
{
|
||||
robotName = "SwerveRobot";
|
||||
// Robot Dimensions
|
||||
robotLength = Robot.ROBOT_LENGTH;
|
||||
robotWidth = Robot.ROBOT_WIDTH;
|
||||
wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
|
||||
wheelBaseWidth = 16.0;
|
||||
// IMU
|
||||
imuName = "imu";
|
||||
hubLogoDirection = LogoFacingDirection.UP;
|
||||
hubUsbDirection = UsbFacingDirection.FORWARD;
|
||||
// Robot Dimensions
|
||||
robotLength = 17.0;
|
||||
robotWidth = 17.0;
|
||||
wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
|
||||
wheelBaseWidth = 16.0;
|
||||
// Drive Motors
|
||||
driveMotorType = MotorType.DcMotor;
|
||||
driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
|
||||
@ -428,42 +426,16 @@ public class RobotParams
|
||||
// PurePursuit Parameters
|
||||
ppdFollowingDistance = 6.0;
|
||||
velPidCoeffs = new PidCoefficients(0.0, 0.0, 0.0, 1.0 / profiledMaxVelocity, 0.0);
|
||||
// Robot Drive
|
||||
driveMode = TrcGameController.DriveMode.ArcadeMode;
|
||||
driveOrientation = DriveOrientation.ROBOT;
|
||||
driveSlowScale = 0.3;
|
||||
driveNormalScale = 1.0;
|
||||
turnSlowScale = 0.3;
|
||||
turnNormalScale = 0.6;
|
||||
// Vision
|
||||
webCam1Name = "Webcam 1";
|
||||
webCam2Name = "Webcam 2";
|
||||
camImageWidth = 640;
|
||||
camImageHeight = 480;
|
||||
camOrientation = OpenCvCameraRotation.UPRIGHT;
|
||||
// Camera location On Robot
|
||||
camXOffset = 0.0; //Camera right offset from robot centroid
|
||||
camYOffset = 2.0; //Camera forward offset from robot centroid
|
||||
camZOffset = 9.75; //Camera height offset from floor
|
||||
camTiltDown = 15.00; //Camera tilt down angle from horizontal in deg
|
||||
camPose = new TrcPose2D(camXOffset, camYOffset, 0.0);
|
||||
// Homography: cameraRect in pixels, worldRect in inches
|
||||
cameraRect = new TrcHomographyMapper.Rectangle(
|
||||
0.0, 120.0, // Camera Top Left
|
||||
camImageWidth -1, 120.0, // Camera Top Right
|
||||
0.0, camImageHeight - 1, // Camera Bottom Left
|
||||
camImageWidth - 1, camImageHeight - 1); // Camera Bottom Right
|
||||
worldRect = new TrcHomographyMapper.Rectangle(
|
||||
-12.5626, 48.0 - robotLength/2.0 - camYOffset, // World Top Left
|
||||
11.4375, 44.75 - robotLength/2.0 - camYOffset, // World Top Right
|
||||
-2.5625, 21.0 - robotLength/2.0 - camYOffset, // World Bottom Left
|
||||
2.5626, 21.0 - robotLength/2.0 - camYOffset); // World Bottom Right
|
||||
webCam1 = new FrontCamParams();
|
||||
webCam2 = new BackCamParams();
|
||||
// Miscellaneous
|
||||
blinkinName = "blinkin";
|
||||
// Steer Encoders
|
||||
steerEncoderNames = new String[] {"lfSteerEncoder", "rfSteerEncoder", "lbSteerEncoder", "rbSteerEncoder"};
|
||||
steerEncoderInverted = new boolean[] {};
|
||||
steerEncoderInverted = new boolean[] {false, false, false, false};
|
||||
steerEncoderZeros = new double[] {0.474812, 0.467663, 0.541338, 0.545340};
|
||||
steerZerosFilePath = System.TEAM_FOLDER_PATH + "/SteerCalibration.txt";
|
||||
steerZerosFilePath = Robot.STEER_ZERO_CAL_FILE;
|
||||
// Steer Motors
|
||||
steerMotorType = MotorType.CRServo;
|
||||
steerMotorNames = new String[] {"lfSteerServo", "rfSteerServo", "lbSteerServo", "rbSteerServo"};
|
||||
@ -473,7 +445,6 @@ public class RobotParams
|
||||
// Swerve Modules
|
||||
swerveModuleNames = new String[] {"lfWheel", "rfWheel", "lbWheel", "rbWheel"};
|
||||
} //SwerveParams
|
||||
|
||||
} //class SwerveParams
|
||||
|
||||
//
|
||||
|
||||
@ -106,7 +106,7 @@ public class Vision
|
||||
{
|
||||
FtcOpMode opMode = FtcOpMode.getInstance();
|
||||
|
||||
if (robot.robotInfo.webCam1Name == null &&
|
||||
if (robot.robotInfo.webCam1.camName == null &&
|
||||
(RobotParams.Preferences.useWebCam || RobotParams.Preferences.tuneColorBlobVision))
|
||||
{
|
||||
throw new IllegalArgumentException("Must provide a valid WebCam 1 name.");
|
||||
@ -114,10 +114,10 @@ public class Vision
|
||||
|
||||
this.tracer = new TrcDbgTrace();
|
||||
this.robot = robot;
|
||||
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;
|
||||
this.webcam1 = robot.robotInfo.webCam1.camName != null?
|
||||
opMode.hardwareMap.get(WebcamName.class, robot.robotInfo.webCam1.camName): null;
|
||||
this.webcam2 = robot.robotInfo.webCam2.camName != null?
|
||||
opMode.hardwareMap.get(WebcamName.class, robot.robotInfo.webCam2.camName): null;
|
||||
if (RobotParams.Preferences.tuneColorBlobVision)
|
||||
{
|
||||
OpenCvCamera openCvCamera;
|
||||
@ -140,8 +140,9 @@ public class Vision
|
||||
rawColorBlobPipeline.setVideoOutput(0);
|
||||
rawColorBlobPipeline.setAnnotateEnabled(true);
|
||||
rawColorBlobVision = new FtcRawEocvVision(
|
||||
"rawColorBlobVision", robot.robotInfo.camImageWidth, robot.robotInfo.camImageHeight, null, null,
|
||||
openCvCamera, robot.robotInfo.camOrientation);
|
||||
"rawColorBlobVision", robot.robotInfo.webCam1.camImageWidth, robot.robotInfo.webCam1.camImageHeight,
|
||||
null, null,
|
||||
openCvCamera, robot.robotInfo.webCam1.camOrientation);
|
||||
rawColorBlobVision.setFpsMeterEnabled(RobotParams.Preferences.showVisionStat);
|
||||
setRawColorBlobVisionEnabled(false);
|
||||
}
|
||||
@ -172,13 +173,13 @@ public class Vision
|
||||
|
||||
redBlobVision = new FtcVisionEocvColorBlob(
|
||||
"RedBlob", colorConversion, redBlobColorThresholds, colorBlobFilterContourParams, true,
|
||||
robot.robotInfo.cameraRect, robot.robotInfo.worldRect, true);
|
||||
robot.robotInfo.webCam1.cameraRect, robot.robotInfo.webCam1.worldRect, true);
|
||||
redBlobProcessor = redBlobVision.getVisionProcessor();
|
||||
visionProcessorsList.add(redBlobProcessor);
|
||||
|
||||
blueBlobVision = new FtcVisionEocvColorBlob(
|
||||
"BlueBlob", colorConversion, blueBlobColorThresholds, colorBlobFilterContourParams, true,
|
||||
robot.robotInfo.cameraRect, robot.robotInfo.worldRect, true);
|
||||
robot.robotInfo.webCam1.cameraRect, robot.robotInfo.webCam1.worldRect, true);
|
||||
blueBlobProcessor = blueBlobVision.getVisionProcessor();
|
||||
visionProcessorsList.add(blueBlobProcessor);
|
||||
}
|
||||
@ -187,8 +188,8 @@ public class Vision
|
||||
{
|
||||
tracer.traceInfo(moduleName, "Starting TensorFlowVision...");
|
||||
tensorFlowVision = new FtcVisionTensorFlow(
|
||||
null, true, TFOD_MODEL_ASSET, TFOD_TARGET_LABELS, robot.robotInfo.cameraRect,
|
||||
robot.robotInfo.worldRect);
|
||||
null, true, TFOD_MODEL_ASSET, TFOD_TARGET_LABELS, robot.robotInfo.webCam1.cameraRect,
|
||||
robot.robotInfo.webCam1.worldRect);
|
||||
tensorFlowProcessor = tensorFlowVision.getVisionProcessor();
|
||||
tensorFlowProcessor.setMinResultConfidence(TFOD_MIN_CONFIDENCE);
|
||||
visionProcessorsList.add(tensorFlowProcessor);
|
||||
@ -200,7 +201,7 @@ public class Vision
|
||||
{
|
||||
// Use USB webcams.
|
||||
vision = new FtcVision(
|
||||
webcam1, webcam2, robot.robotInfo.camImageWidth, robot.robotInfo.camImageHeight,
|
||||
webcam1, webcam2, robot.robotInfo.webCam1.camImageWidth, robot.robotInfo.webCam1.camImageHeight,
|
||||
RobotParams.Preferences.showVisionView, RobotParams.Preferences.showVisionStat, visionProcessors);
|
||||
}
|
||||
else
|
||||
@ -209,7 +210,7 @@ public class Vision
|
||||
vision = new FtcVision(
|
||||
RobotParams.Preferences.useBuiltinCamBack?
|
||||
BuiltinCameraDirection.BACK: BuiltinCameraDirection.FRONT,
|
||||
robot.robotInfo.camImageWidth, robot.robotInfo.camImageHeight,
|
||||
robot.robotInfo.webCam1.camImageWidth, robot.robotInfo.webCam1.camImageHeight,
|
||||
RobotParams.Preferences.showVisionView, RobotParams.Preferences.showVisionStat, visionProcessors);
|
||||
}
|
||||
// Disable all vision until they are needed.
|
||||
@ -437,7 +438,7 @@ public class Vision
|
||||
TrcPose2D aprilTagPose =
|
||||
RobotParams.Game.APRILTAG_POSES[aprilTagInfo.detectedObj.aprilTagDetection.id - 1];
|
||||
TrcPose2D cameraPose = aprilTagPose.subtractRelativePose(aprilTagInfo.objPose);
|
||||
robotPose = cameraPose.subtractRelativePose(robot.robotInfo.camPose);
|
||||
robotPose = cameraPose.subtractRelativePose(robot.robotInfo.webCam1.camPose);
|
||||
tracer.traceInfo(
|
||||
moduleName,
|
||||
"AprilTagId=" + aprilTagInfo.detectedObj.aprilTagDetection.id +
|
||||
|
||||
Reference in New Issue
Block a user