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Implemented Custom Model, and modified Cone identification state to look for the new models. Also modified steering drive tele op I'm doing.

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SpencerPiha
2022-12-04 14:28:34 -06:00
parent efcf34bed1
commit 7d2a0d89ba
5 changed files with 15 additions and 11 deletions
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3
TeamCode/build.gradle
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@@ -17,6 +17,9 @@ apply from: '../build.dependencies.gradle'
android { android {
namespace = 'org.firstinspires.ftc.teamcode' namespace = 'org.firstinspires.ftc.teamcode'
buildFeatures {
mlModelBinding true
}
packagingOptions { packagingOptions {
jniLibs.useLegacyPackaging true jniLibs.useLegacyPackaging true

14
TeamCode/src/main/java/org/timecrafters/Autonomous/States/ConeIdentification.java
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@@ -47,12 +47,12 @@ public class ConeIdentification extends CyberarmState {
engine.telemetry.addData("- Position (Row/Col)","%.0f / %.0f", row, col); engine.telemetry.addData("- Position (Row/Col)","%.0f / %.0f", row, col);
engine.telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height); engine.telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
if (recognition.getLabel().equals("2 Bulb")) { if (recognition.getLabel().equals("Red 2")) {
engine.telemetry.addData("2 Bulb", engine.blackboard.put("parkPlace", "2")); engine.telemetry.addData("Red 2", engine.blackboard.put("parkPlace", "2"));
} else if (recognition.getLabel().equals("3 Panel")) { } else if (recognition.getLabel().equals("Blue 3")) {
engine.telemetry.addData("3 Panel",engine.blackboard.put("parkPlace", "3")); engine.telemetry.addData("Blue 3",engine.blackboard.put("parkPlace", "3"));
} else { } else {
engine.telemetry.addData("1 Bolt", engine.blackboard.put("parkPlace", "1")); engine.telemetry.addData("Yellow 1", engine.blackboard.put("parkPlace", "1"));
} }
} }
} }
@@ -75,9 +75,9 @@ public class ConeIdentification extends CyberarmState {
if (recognition.getConfidence() >= minimumConfidence && recognition.getConfidence() > bestConfidence) { if (recognition.getConfidence() >= minimumConfidence && recognition.getConfidence() > bestConfidence) {
bestConfidence = recognition.getConfidence(); bestConfidence = recognition.getConfidence();
if (recognition.getLabel().equals("2 Bulb")) { if (recognition.getLabel().equals("Red 2")) {
engine.blackboard.put("parkPlace", "2"); engine.blackboard.put("parkPlace", "2");
} else if (recognition.getLabel().equals("3 Panel")) { } else if (recognition.getLabel().equals("Blue 3")) {
engine.blackboard.put("parkPlace", "3"); engine.blackboard.put("parkPlace", "3");
} else { } else {

8
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
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@@ -19,12 +19,12 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
public class PhoenixBot1 { public class PhoenixBot1 {
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite"; private static final String TFOD_MODEL_ASSET = "22-23_PowerPlay_Colors.tflite";
private static final String[] LABELS = { private static final String[] LABELS = {
"1 Bolt", "Yellow 1",
"2 Bulb", "Red 2",
"3 Panel" "Blue 3"
}; };
private static final String VUFORIA_KEY = private static final String VUFORIA_KEY =

1
TeamCode/src/main/java/org/timecrafters/TeleOp/states/SteeringDriveExperiment.java
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@@ -16,6 +16,7 @@ public class SteeringDriveExperiment extends CyberarmState {
public SteeringDriveExperiment(PhoenixBot1 robot) { public SteeringDriveExperiment(PhoenixBot1 robot) {
this.robot = robot; this.robot = robot;
} }
@Override @Override
public void exec() { public void exec() {

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TeamCode/src/main/ml/22-23_PowerPlay_Colors.tflite Normal file
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