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Camera Implemented, and I have Created all of the states in order of how the autonomous will go. just need to implement values

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This commit is contained in:
SpencerPiha
2022-10-21 14:54:36 -05:00
parent c627e37073
commit 1856a94a0d
2 changed files with 82 additions and 5 deletions
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37
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java
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@@ -3,7 +3,10 @@ package org.timecrafters.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.Autonomous.States.CollectorState;
import org.timecrafters.Autonomous.States.DriverState;
import org.timecrafters.Autonomous.States.LowerArm;
import org.timecrafters.Autonomous.States.RotationState;
import org.timecrafters.Autonomous.States.UpperArm;
import org.timecrafters.testing.states.PrototypeBot1;
@@ -16,8 +19,38 @@ public class TestAutonomousEngine extends CyberarmEngine {
public void setup() {
robot = new PrototypeBot1(this);
addState(new UpperArm(robot, "TestAutonomous", "01-0"));
addState(new LowerArm(robot, "TestAutonomous", "02-0"));
//drive to high pole
addState(new DriverState(robot, "TestAutonomous", "01-0"));
//turn towards high pole
addState(new RotationState(robot, "TestAutonomous", "02-0"));
//lift the upper arm
addState(new UpperArm(robot, "TestAutonomous", "03-0"));
//lift the lower arm
addState(new LowerArm(robot, "TestAutonomous", "04-0"));
//drive forward
addState(new DriverState(robot, "TestAutonomous", "05-0"));
//lower the bottom arm to get closer
addState(new LowerArm(robot, "TestAutonomous", "06-0"));
//make collector release the cone
addState(new CollectorState(robot, "TestAutnomous", "07-0"));
//lift the lower arm to clear the pole
addState(new LowerArm(robot, "TestAutonomous", "08-0"));
//Drive Backwards
addState(new DriverState(robot, "TestAutonomous", "09-0"));
// Rotate to either set up for cones to grab or park somewhere
addState(new RotationState(robot, "TestAutonomous", "10-0"));
// lower the bottom arm so we dont fall over
addState(new LowerArm(robot, "TestAutonomous", "11-0"));
// lower the upper arm so we dont fall over
addState(new UpperArm(robot, "TestAutonomous", "12-0"));
//either dont move if your in the right zone otherwise drive forward a specific variable if we aren't already in the right spot
addState(new DriverState(robot, "TestAutonomous", "13-0"));
}

50
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
View File

@@ -7,12 +7,31 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
public class PrototypeBot1 {
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
private static final String[] LABELS = {
"1 Bolt",
"2 Bulb",
"3 Panel"
};
private static final String VUFORIA_KEY =
"Abmu1jv/////AAABmYzrcgDEi014nv+wD6PkEPVnOlV2pI3S9sGUMMR/X7hF72x20rP1JcVtsU0nI6VK0yUlYbCSA2k+yMo4hQmPDBvrqeqAgXKa57ilPhW5e1cB3BEevP+9VoJ9QYFhKA3JJTiuFS50WQeuFy3dp0gOPoqHL3XClRFZWbhzihyNnLXgXlKiq+i5GbfONECucQU2DgiuuxYlCaeNdUHl1X5C2pO80zZ6y7PYAp3p0ciXJxqfBoVAklhd69avaAE5Z84ctKscvcbxCS16lq81X7XgIFjshLoD/vpWa300llDG83+Y777q7b5v7gsUCZ6FiuK152Rd272HLuBRhoTXAt0ug9Baq5cz3sn0sAIEzSHX1nah";
private VuforiaLocalizer vuforia;
private TFObjectDetector tfod;
public Servo LowRiserLeft, LowRiserRight, HighRiserLeft, HighRiserRight;
private final CyberarmEngine engine;
@@ -29,6 +48,8 @@ public class PrototypeBot1 {
public PrototypeBot1(CyberarmEngine engine) {
this.engine = engine;
initVuforia();
initTfod();
setupRobot();
}
@@ -40,7 +61,7 @@ public class PrototypeBot1 {
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.loggingEnabled = false;
this.imu = engine.hardwareMap.get(BNO055IMU.class,"imu");
this.imu = engine.hardwareMap.get(BNO055IMU.class, "imu");
imu.initialize(parameters);
imu.startAccelerationIntegration(new Position(), new Velocity(), 10);
@@ -78,6 +99,29 @@ public class PrototypeBot1 {
backRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
}
private void initVuforia(){
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
*/
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
parameters.cameraName = engine.hardwareMap.get(WebcamName.class, "Webcam 1");
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
}
private void initTfod() {
int tfodMonitorViewId = engine.hardwareMap.appContext.getResources().getIdentifier(
"tfodMonitorViewId", "id", engine.hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.75f;
tfodParameters.isModelTensorFlow2 = true;
tfodParameters.inputSize = 300;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
}
}