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more auto work started configuring camera

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Spencer
2021-12-07 20:37:10 -06:00
parent 9532b9e8af
commit 7d3649cb1d
7 changed files with 163 additions and 49 deletions
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58
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/BlueWarehouseEngine.java Normal file
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@@ -0,0 +1,58 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.CollectorToggle;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.DriveState;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TensorFlowState;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretArmExtension;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretArmRiser;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretOrbit;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
@Autonomous (name = "Blue WareHouse", group = "blue")
public class BlueWarehouseEngine extends CyberarmEngine {
Robot robot;
@Override
public void setup() {
this.robot = new Robot(this);
addState(new TurretOrbit(robot, robot.turretServoWhite, robot.whiteMag, "BlueWarehouseAutonomous", "01_0"));
addState(new TensorFlowState(robot, robot.whiteArmRiser, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "01_1"));
// addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "02_0"));
// addState(new TurretArmRiser(robot, robot.whiteArmRiser, "BlueWarehouseAutonomous", "03_0_middle"));
// addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "04_0_middle"));
addState(new CollectorToggle(robot, robot.collectorWhite, "BlueWarehouseAutonomous", "05_0"));
addState(new CollectorToggle(robot, robot.collectorWhite, "BlueWarehouseAutonomous", "06_0"));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "07_0"));
addState(new DriveState(robot,"BlueWarehouseAutonomous", "08_0"));
addState(new DriveState(robot, "BlueWarehouseAutonomous", "09_0"));
addState(new DriveState(robot, "BlueWarehouseAutonomous", "10_0"));
}
public void loop() {
super.loop();
telemetry.addData("white arm extension", robot.whiteArmBobbin.getCurrentPosition());
telemetry.addData("White Riser Arm", robot.whiteArmRiser.getCurrentPosition());
telemetry.addData("white Turret Switch", robot.whiteMag.isPressed());
telemetry.addData("white Turret orbit Power", robot.turretServoWhite.getPower());
telemetry.addData("White Door Position", robot.whiteDispenser.getPosition());
telemetry.addLine();
telemetry.addData("Orange Riser Arm", robot.orangeArmRiser.getCurrentPosition());
telemetry.addData("orange arm extension", robot.orangeArmBobbin.getCurrentPosition());
telemetry.addData("orange Turret Switch", robot.orangeMag.isPressed());
telemetry.addData("orange Turret Orbit Power", robot.turretServoOrange.getPower());
telemetry.addData("Orange Door Position", robot.orangeDispenser.getPosition());
telemetry.addLine();
telemetry.addData("driveWarehouseLeft", robot.driveWarehouseLeft.getCurrentPosition());
telemetry.addData("driveWarehouseRight", robot.driveWarehouseRight.getCurrentPosition());
telemetry.addData("driveGoalLeft", robot.driveGoalLeft.getCurrentPosition());
telemetry.addData("driveGoalRight", robot.driveGoalRight.getCurrentPosition());
}
}

18
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java
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@@ -6,7 +6,9 @@ import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.CollectorToggle;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.DepositorDoor;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.DriveState;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TensorFlowState;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretArmExtension;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretArmRiser;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretOrbit;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
@Autonomous (name = "Red WareHouse", group = "red")
@@ -18,13 +20,17 @@ public class RedWarehouseEngine extends CyberarmEngine {
this.robot = new Robot(this);
addState(new TurretOrbit(robot, robot.turretServoWhite, robot.whiteMag, "RedWarehouseAutonomous", "01_0"));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "02_0"));
addState(new CollectorToggle(robot, robot.collectorWhite, "RedWarehouseAutonomous", "03_0"));
addState(new CollectorToggle(robot, robot.collectorWhite, "RedWarehouseAutonomous", "04_0"));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "05_0"));
addState(new DriveState(robot,"RedWarehouseAutonomous", "07_0"));
addState(new DriveState(robot, "RedWarehouseAutonomous", "08_0"));
addState(new TensorFlowState(robot, robot.whiteArmRiser, robot.whiteArmBobbin, "RedWarehouseAutonomous", "01_1"));
// addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "02_0"));
// addState(new TurretArmRiser(robot, robot.whiteArmRiser, "RedWarehouseAutonomous", "03_0_middle"));
// addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "04_0"));
addState(new CollectorToggle(robot, robot.collectorWhite, "RedWarehouseAutonomous", "05_0"));
addState(new CollectorToggle(robot, robot.collectorWhite, "RedWarehouseAutonomous", "06_0"));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "07_0"));
addState(new DriveState(robot,"RedWarehouseAutonomous", "08_0"));
addState(new DriveState(robot, "RedWarehouseAutonomous", "09_0"));
addState(new TurretOrbit(robot, robot.turretServoWhite, null, "RedWarehouseAutonomous", "10_0"));
addState(new DriveState(robot, "RedWarehouseAutonomous", "10_1"));
}

86
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TensorFlowState.java Normal file
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@@ -0,0 +1,86 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
import java.util.List;
public class TensorFlowState extends CyberarmState {
Robot robot;
private List<Recognition> recognitions;
private double checkTime;
private int manualPath;
private int path = 0;
private String groupName;
private DcMotor armRiser, armExtension;
public TensorFlowState(Robot robot, DcMotor armRiser, DcMotor armExtension, String groupName, String actionName) {
this.robot = robot;
this.groupName = groupName;
this.armRiser = armRiser;
this.armExtension = armExtension;
}
@Override
public void start() {
robot.activateVuforia();
robot.activateTensorflow();
}
@Override
public void exec() {
recognitions = robot.tensorflowDetections();
//
if (runTime() < checkTime) {
if (manualPath != -1) {
if (recognitions != null) {
if (recognitions.size() == 1) {
Recognition recognition = recognitions.get(0);
if (recognition.getLabel().equals("duck")){
if (recognition.getLeft() < 320) {
path = 0;
} else {
path = 1;
}
}
} else {
path = 2;
}
}
}
} else {
if (path == 0){
addState(new TurretArmExtension(robot, armExtension, groupName, "02_0"));
addState(new TurretArmRiser(robot, armRiser, groupName, "03_0_bottom"));
addState(new TurretArmExtension(robot, armExtension, groupName, "04_0_bottom"));
} else if (path == 1){
addState(new TurretArmExtension(robot, armExtension, groupName, "02_0"));
addState(new TurretArmRiser(robot, armRiser, groupName, "03_0_middle"));
addState(new TurretArmExtension(robot, armExtension, groupName, "04_0_middle"));
} else {
addState(new TurretArmExtension(robot, armExtension, groupName, "02_0"));
addState(new TurretArmRiser(robot, armRiser, groupName, "03_0_top"));
addState(new TurretArmExtension(robot, armExtension, groupName, "04_0_top"));
}
setHasFinished(true);
}
}
@Override
public void telemetry() {
for (Recognition recognition : robot.tensorflowDetections()) {
engine.telemetry.addData("Label", recognition.getLabel());
engine.telemetry.addData("Left", recognition.getLeft());
engine.telemetry.addData("Top", recognition.getTop());
engine.telemetry.addData("Confidence", recognition.getConfidence());
}
}
}

8
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmRiser.java
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@@ -12,12 +12,12 @@ public class TurretArmRiser extends CyberarmState {
private int targetPosition, tolerance;
private double power;
public TurretArmRiser(Robot robot, DcMotor motor, int targetPosition, double power, int tolerance) {
public TurretArmRiser(Robot robot, DcMotor motor, String groupName, String actionName) {
this.robot = robot;
this.motor = motor;
this.targetPosition = targetPosition;
this.power = power;
this.tolerance = tolerance;
this.targetPosition = robot.configuration.variable(groupName, actionName, "targetPosition").value();
this.power = robot.configuration.variable(groupName, actionName, "power").value();
this.tolerance = robot.configuration.variable(groupName, actionName, "tolerance").value();
}
@Override

36
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/VuforiaState.java
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@@ -1,36 +0,0 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
import org.cyberarm.engine.V2.CyberarmState;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class VuforiaState extends CyberarmState {
Robot robot;
public VuforiaState(Robot robot) {
this.robot = robot;
}
@Override
public void start() {
robot.activateVuforia();
robot.activateTensorflow();
}
@Override
public void exec() {
for (Recognition recognition : robot.tensorflowDetections()) {
}
}
@Override
public void telemetry() {
for (Recognition recognition : robot.tensorflowDetections()) {
engine.telemetry.addData("Label", recognition.getLabel());
engine.telemetry.addData("Left", recognition.getLeft());
engine.telemetry.addData("Top", recognition.getTop());
engine.telemetry.addData("Confidence", recognition.getConfidence());
}
}
}

4
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
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@@ -101,8 +101,8 @@ public class Robot {
initCollector();
initDepositor();
initCarousel();
// initVuforia();
// initTensorflow();
initVuforia();
initTensorflow();
}
private void initMagnetSwitches() {

2
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Autonomous/TensorFlowCheck.java
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@@ -85,8 +85,8 @@ public class TensorFlowCheck extends CyberarmState {
setHasFinished(true);
}
}
}
@Override
public void telemetry() {
engine.telemetry.addData("Chosen Path", path);