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| Original file line number | Diff line number | Diff line change |
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| package org.firstinspires.ftc.teamcode; | ||
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| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
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| import org.firstinspires.ftc.teamcode.modules.DriveTrain; | ||
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| public class HybridAuto extends LinearOpMode { | ||
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| private DriveTrain driveTrain; | ||
| protected static final boolean LEFT = false; | ||
| protected static final boolean RIGHT = true; | ||
| /** | ||
| * Whether the robot is on the left or right side of the alliance station. | ||
| */ | ||
| private final boolean sideOfField; | ||
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| public HybridAuto(boolean sideOfField) { | ||
| this.sideOfField = sideOfField; | ||
| } | ||
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| @Override | ||
| public void runOpMode() { | ||
| DriveTrain drivetrain = new DriveTrain(this); | ||
| driveTrain.init(hardwareMap); | ||
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| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,148 @@ | ||
| package org.firstinspires.ftc.teamcode.modules.Webcams; | ||
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| import android.util.Size; | ||
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| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.hardware.HardwareMap; | ||
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| 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; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.Orientation; | ||
| import org.firstinspires.ftc.teamcode.modules.Webcams.AprilTagDetectionPipeline; | ||
| import org.firstinspires.ftc.vision.VisionPortal; | ||
| import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; | ||
| import org.firstinspires.ftc.vision.apriltag.AprilTagGameDatabase; | ||
| import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; | ||
| import org.openftc.easyopencv.OpenCvCamera; | ||
| import org.openftc.easyopencv.OpenCvCameraFactory; | ||
| import org.openftc.easyopencv.OpenCvCameraRotation; | ||
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| import java.util.ArrayList; | ||
| import java.util.List; | ||
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| public class AprilTagWebcam { | ||
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| OpenCvCamera camera; | ||
| AprilTagDetectionPipeline aprilTagDetectionPipeline; | ||
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| static final double FEET_PER_METER = 3.28084; | ||
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| // Lens intrinsics | ||
| // UNITS ARE PIXELS | ||
| // NOTE: this calibration is for the C920 webcam at 800x448. | ||
| // You will need to do your own calibration for other configurations! | ||
| double fx = 578.272; | ||
| double fy = 578.272; | ||
| double cx = 402.145; | ||
| double cy = 221.506; | ||
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| private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera | ||
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| /** | ||
| * The variable to store our instance of the AprilTag processor. | ||
| */ | ||
| private AprilTagProcessor aprilTag; | ||
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| /** | ||
| * The variable to store our instance of the vision portal. | ||
| */ | ||
| private VisionPortal visionPortal; | ||
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| /** | ||
| * Initialize the AprilTag processor. | ||
| */ | ||
| public void init(HardwareMap hardwareMap) { | ||
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| // Create the AprilTag processor. | ||
| aprilTag = new AprilTagProcessor.Builder() | ||
| .setDrawAxes(false) | ||
| .setDrawCubeProjection(false) | ||
| .setDrawTagOutline(true) | ||
| .setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11) | ||
| .setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary()) | ||
| .setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES) | ||
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| // == CAMERA CALIBRATION == | ||
| // If you do not manually specify calibration parameters, the SDK will attempt | ||
| // to load a predefined calibration for your camera. | ||
| .setLensIntrinsics(fx, fy, cx, cy) | ||
| // ... these parameters are fx, fy, cx, cy. | ||
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| .build(); | ||
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| // Adjust Image Decimation to trade-off detection-range for detection-rate. | ||
| // eg: Some typical detection data using a Logitech C920 WebCam | ||
| // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second | ||
| // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second | ||
| // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second (default) | ||
| // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second (default) | ||
| // Note: Decimation can be changed on-the-fly to adapt during a match. | ||
| aprilTag.setDecimation(3); | ||
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| // Create the vision portal by using a builder. | ||
| VisionPortal.Builder builder = new VisionPortal.Builder(); | ||
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| // Set the camera (webcam vs. built-in RC phone camera). | ||
| if (USE_WEBCAM) { | ||
| builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")); | ||
| } else { | ||
| builder.setCamera(BuiltinCameraDirection.BACK); | ||
| } | ||
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| // Choose a camera resolution. Not all cameras support all resolutions. | ||
| builder.setCameraResolution(new Size(640, 480)); | ||
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| // Enable the RC preview (LiveView). Set "false" to omit camera monitoring. | ||
| builder.enableLiveView(true); | ||
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| // Set the stream format; MJPEG uses less bandwidth than default YUY2. | ||
| builder.setStreamFormat(VisionPortal.StreamFormat.YUY2); | ||
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| // Choose whether or not LiveView stops if no processors are enabled. | ||
| // If set "true", monitor shows solid orange screen if no processors enabled. | ||
| // If set "false", monitor shows camera view without annotations. | ||
| builder.setAutoStopLiveView(false); | ||
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| // Set and enable the processor. | ||
| builder.addProcessor(aprilTag); | ||
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| // Build the Vision Portal, using the above settings. | ||
| visionPortal = builder.build(); | ||
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| // Disable or re-enable the aprilTag processor at any time. | ||
| visionPortal.setProcessorEnabled(aprilTag, true); | ||
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| } // end method initAprilTag() | ||
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| /** | ||
| * Add telemetry about AprilTag detections. | ||
| */ | ||
| public double[] detectIter() { | ||
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| List<org.firstinspires.ftc.vision.apriltag.AprilTagDetection> currentDetections = aprilTag.getDetections(); | ||
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| double avg_z = 0; | ||
| double avg_y = 0; | ||
| double avg_x = 0; | ||
| // Step through the list of detections and display info for each one. | ||
| for (AprilTagDetection detection : currentDetections) { | ||
| if (detection.metadata != null) { | ||
| avg_z += detection.metadata.fieldPosition.get(2) - detection.ftcPose.z; | ||
| avg_y += detection.metadata.fieldPosition.get(1) - detection.ftcPose.y; | ||
| avg_x += detection.metadata.fieldPosition.get(0) - detection.ftcPose.x; | ||
| } | ||
| } // end for() loop | ||
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| avg_z /= currentDetections.size(); | ||
| avg_y /= currentDetections.size(); | ||
| avg_x /= currentDetections.size(); | ||
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| return new double[]{avg_x, avg_y, avg_z}; | ||
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| } // end method telemetryAprilTag() | ||
| } |
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