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Vision in autonomous is added to init

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SpencerPiha
2022-12-08 20:28:40 -06:00
parent 4c6d289a18
commit b07ed6ddd8
2 changed files with 28 additions and 11 deletions
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28
TeamCode/src/main/java/org/timecrafters/Autonomous/States/ConeIdentification.java
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@@ -11,6 +11,7 @@ public class ConeIdentification extends CyberarmState {
private int time; private int time;
private float minimumConfidence; private float minimumConfidence;
private int ParkPlace; private int ParkPlace;
long initTime;
public ConeIdentification(PhoenixBot1 robot, String groupName, String actionName) { public ConeIdentification(PhoenixBot1 robot, String groupName, String actionName) {
this.robot = robot; this.robot = robot;
@@ -22,6 +23,7 @@ public class ConeIdentification extends CyberarmState {
public void init() { public void init() {
engine.blackboard.put("parkPlace", "1"); engine.blackboard.put("parkPlace", "1");
robot.tfod.activate(); robot.tfod.activate();
initTime = System.currentTimeMillis();
} }
@Override @Override
@@ -47,21 +49,33 @@ 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("Red 2")) { if (recognition.getLabel().equals("2 Bulb")) {
engine.telemetry.addData("Red 2", engine.blackboard.put("parkPlace", "2")); engine.telemetry.addData("2 Bulb", engine.blackboard.put("parkPlace", "2"));
} else if (recognition.getLabel().equals("Blue 3")) { } else if (recognition.getLabel().equals("3 Panel")) {
engine.telemetry.addData("Blue 3",engine.blackboard.put("parkPlace", "3")); engine.telemetry.addData("3 Panel",engine.blackboard.put("parkPlace", "3"));
} else { } else {
engine.telemetry.addData("Yellow 1", engine.blackboard.put("parkPlace", "1")); engine.telemetry.addData("1 Bolt", engine.blackboard.put("parkPlace", "1"));
} }
} }
} }
} }
} }
@Override
public void start() {
long startTime = System.currentTimeMillis() - initTime;
if (startTime < time){
time = (int) (time - startTime);
}
else {
time = 0;
}
}
@Override @Override
public void exec() { public void exec() {
if (robot.tfod != null) { if (robot.tfod != null) {
// getUpdatedRecognitions() will return null if no new information is available since // getUpdatedRecognitions() will return null if no new information is available since
// the last time that call was made. // the last time that call was made.
@@ -75,9 +89,9 @@ 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("Red 2")) { if (recognition.getLabel().equals("2 Bulb")) {
engine.blackboard.put("parkPlace", "2"); engine.blackboard.put("parkPlace", "2");
} else if (recognition.getLabel().equals("Blue 3")) { } else if (recognition.getLabel().equals("3 Panel")) {
engine.blackboard.put("parkPlace", "3"); engine.blackboard.put("parkPlace", "3");
} else { } else {

11
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
View File

@@ -19,12 +19,15 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
public class PhoenixBot1 { public class PhoenixBot1 {
private static final String TFOD_MODEL_ASSET = "22-23_PowerPlay_Colors.tflite"; // private static final String TFOD_MODEL_ASSET = "22-23_PowerPlay_Colors.tflite";
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
private static final String[] LABELS = { private static final String[] LABELS = {
"Yellow 1", "1 Bolt",
"Red 2", "2 Bulb",
"Blue 3" "3 Panel"
}; };
private static final String VUFORIA_KEY = private static final String VUFORIA_KEY =