Update configuration

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java

@@ -49,6 +49,8 @@ import android.preference.PreferenceManager;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.annotation.StringRes;
+import androidx.core.content.ContextCompat;
+
 import android.view.Menu;
 import android.view.MenuItem;
 import android.view.MotionEvent;
@@ -410,6 +412,12 @@ public class FtcRobotControllerActivity extends Activity
     checkPreferredChannel();
 
     AnnotatedHooksClassFilter.getInstance().callOnCreateMethods(this);
+
+    /* REV CONTROL HUB APPEARS TO PREVENT ANY APP NOT ON ITS WHITELIST FROM USING ON_BOOT_COMPLETED RECEIVERS */
+    /* USING THIS HACK DUE TO THAT...                                                                         */
+    Intent tacnetIntent = new Intent("org.timecrafters.TimeCraftersConfigurationTool.tacnet.ACTION_START_SERVER");
+    tacnetIntent.setPackage("org.timecrafters.TimeCraftersConfigurationTool");
+    ContextCompat.startForegroundService(context, tacnetIntent);
   }
 
   protected UpdateUI createUpdateUI() {

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/BlueDuckEngine.java

@@ -0,0 +1,59 @@
+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.TurretOrbit;
+import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
+
+@Autonomous (name = "Blue Duck Autonomous", group = "blue")
+public class BlueDuckEngine extends CyberarmEngine {
+    Robot robot;
+
+    @Override
+    public void setup() {
+        this.robot = new Robot(this);
+        robot.resetEncoders();
+
+        addState(new TurretOrbit(robot, robot.turretServoWhite, robot.whiteMag, "BlueDuckAutonomous", "01_0"));
+        addState(new TensorFlowState(robot, robot.whiteArmRiser, robot.whiteArmBobbin, "BlueDuckAutonomous", "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, "BlueDuckAutonomous", "05_0"));
+        addState(new CollectorToggle(robot, robot.collectorWhite, "BlueDuckAutonomous", "06_0"));
+        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueDuckAutonomous", "07_0"));
+        addState(new DriveState(robot,"BlueDuckAutonomous", "08_0"));
+        addState(new DriveState(robot, "BlueDuckAutonomous", "09_0"));
+        addState(new TurretOrbit(robot, robot.turretServoWhite, null, "BlueDuckAutonomous", "10_0"));
+        addState(new DriveState(robot, "BlueDuckAutonomous", "10_1"));
+
+    }
+
+    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());
+    }
+}

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/BlueWarehouseEngine.java

@@ -18,18 +18,20 @@ public class BlueWarehouseEngine extends CyberarmEngine {
     @Override
     public void setup() {
         this.robot = new Robot(this);
+        robot.resetEncoders();
 
-        addState(new TurretOrbit(robot, robot.turretServoWhite, robot.whiteMag, "BlueWarehouseAutonomous", "01_0"));
+        addState(new TurretOrbit(robot, robot.turretServoOrange, robot.orangeMag, "BlueWarehouseAutonomous", "01_0"));
-        addState(new TensorFlowState(robot, robot.whiteArmRiser, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "01_1"));
+        addState(new TensorFlowState(robot, robot.orangeArmRiser, robot.orangeArmBobbin, "BlueWarehouseAutonomous", "01_1"));
-//        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "02_0"));
+//        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedWarehouseAutonomous", "02_0"));
-//        addState(new TurretArmRiser(robot, robot.whiteArmRiser, "BlueWarehouseAutonomous", "03_0_middle"));
+//        addState(new TurretArmRiser(robot, robot.orangeArmRiser, "RedWarehouseAutonomous", "03_0_middle"));
-//        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "04_0_middle"));
+//        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedWarehouseAutonomous", "04_0"));
-        addState(new CollectorToggle(robot, robot.collectorWhite, "BlueWarehouseAutonomous", "05_0"));
+        addState(new CollectorToggle(robot, robot.collectorOrange, "BlueWarehouseAutonomous", "05_0"));
-        addState(new CollectorToggle(robot, robot.collectorWhite, "BlueWarehouseAutonomous", "06_0"));
+        addState(new CollectorToggle(robot, robot.collectorOrange, "BlueWarehouseAutonomous", "06_0"));
-        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "07_0"));
+        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "BlueWarehouseAutonomous", "07_0"));
         addState(new DriveState(robot,"BlueWarehouseAutonomous", "08_0"));
         addState(new DriveState(robot, "BlueWarehouseAutonomous", "09_0"));
-        addState(new DriveState(robot, "BlueWarehouseAutonomous", "10_0"));
+        addState(new TurretOrbit(robot, robot.turretServoOrange, null, "BlueWarehouseAutonomous", "10_0"));
+        addState(new DriveState(robot, "BlueWarehouseAutonomous", "10_1"));
 
     }
 

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedDuckEngine.java

@@ -0,0 +1,36 @@
+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.TurretOrbit;
+import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
+
+@Autonomous(name = "RedDuckAutonomous", group = "red")
+
+public class RedDuckEngine extends CyberarmEngine {
+
+    @Override
+    public void setup() {
+        Robot robot = new Robot(this);
+        robot.resetEncoders();
+
+        addState(new TurretOrbit(robot, robot.turretServoOrange, robot.orangeMag, "RedDuckAutonomous", "01_0"));
+        addState(new TensorFlowState(robot, robot.orangeArmRiser, robot.orangeArmBobbin, "RedDuckAutonomous", "01_1"));
+//        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedWarehouseAutonomous", "02_0"));
+//        addState(new TurretArmRiser(robot, robot.orangeArmRiser, "RedWarehouseAutonomous", "03_0_middle"));
+//        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedWarehouseAutonomous", "04_0"));
+        addState(new CollectorToggle(robot, robot.collectorOrange, "RedDuckAutonomous", "05_0"));
+        addState(new CollectorToggle(robot, robot.collectorOrange, "RedDuckAutonomous", "06_0"));
+        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedDuckAutonomous", "07_0"));
+        addState(new DriveState(robot,"RedDuckAutonomous", "08_0"));
+        addState(new DriveState(robot, "RedDuckAutonomous", "09_0"));
+        addState(new TurretOrbit(robot, robot.turretServoOrange, null, "RedDuckAutonomous", "10_0"));
+        addState(new DriveState(robot, "RedDuckAutonomous", "10_1"));
+
+    }
+}

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java

@@ -18,6 +18,7 @@ public class RedWarehouseEngine extends CyberarmEngine {
     @Override
     public void setup() {
         this.robot = new Robot(this);
+        robot.resetEncoders();
 
         addState(new TurretOrbit(robot, robot.turretServoWhite, robot.whiteMag, "RedWarehouseAutonomous", "01_0"));
         addState(new TensorFlowState(robot, robot.whiteArmRiser, robot.whiteArmBobbin, "RedWarehouseAutonomous", "01_1"));

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/CollectorToggle.java

@@ -12,7 +12,7 @@ public class CollectorToggle extends CyberarmState {
     final static public int MODE_STOPPED = 0;
     double time;
     CRServo servo;
-    int power;
+    double power;
 
     public CollectorToggle(Robot robot, CRServo servo, String groupName, String actionName) {
         this.servo = servo;

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TensorFlowState.java

@@ -15,6 +15,8 @@ public class TensorFlowState extends CyberarmState {
     private double checkTime;
     private int manualPath;
     private int path = 0;
+    private double leftDuck;
+    private double middleDuck;
 
     private String groupName;
     private DcMotor armRiser, armExtension;
@@ -24,6 +26,8 @@ public class TensorFlowState extends CyberarmState {
         this.groupName = groupName;
         this.armRiser = armRiser;
         this.armExtension = armExtension;
+        this.leftDuck = robot.configuration.variable(groupName, actionName, "leftDuck").value();
+        this.middleDuck = robot.configuration.variable(groupName, actionName, "middleDuck").value();
     }
 
     @Override
@@ -35,7 +39,7 @@ public class TensorFlowState extends CyberarmState {
     @Override
     public void exec() {
         recognitions = robot.tensorflowDetections();
-//
+
         if (runTime() < checkTime) {
             if (manualPath != -1) {
 
@@ -43,12 +47,10 @@ public class TensorFlowState extends CyberarmState {
                     if (recognitions.size() == 1) {
                         Recognition recognition = recognitions.get(0);
 
-                        if (recognition.getLabel().equals("duck")){
+                        if (recognition.getLeft() < leftDuck) {
-                            if (recognition.getLeft() < 320) {
+                            path = 0;
-                                path = 0;
+                        } else {
-                            } else {
+                            path = 1;
-                                path = 1;
-                            }
                         }
                     } else {
                         path = 2;
@@ -70,7 +72,7 @@ public class TensorFlowState extends CyberarmState {
                 addState(new TurretArmExtension(robot, armExtension, groupName, "04_0_top"));
             }
 
-            setHasFinished(true);
+          setHasFinished(true);
         }
     }
 

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java

@@ -20,12 +20,6 @@ public class TurretArmExtension extends CyberarmState {
         this.tolerance = robot.configuration.variable(groupName, actionName, "tolerance").value();
     }
 
-    @Override
-    public void start() {
-        motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-    }
-
     @Override
     public void exec() {
         if (motor.getCurrentPosition() < targetPosition - tolerance){
@@ -40,4 +34,9 @@ public class TurretArmExtension extends CyberarmState {
             motor.setPower(0);
         }
     }
+
+    @Override
+    public void telemetry() {
+        engine.telemetry.addData("targetPosition", targetPosition);
+    }
 }

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmRiser.java

@@ -20,12 +20,6 @@ public class TurretArmRiser extends CyberarmState {
         this.tolerance = robot.configuration.variable(groupName, actionName, "tolerance").value();
     }
 
-    @Override
-    public void start() {
-        motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-    }
-
     @Override
     public void exec() {
         if (motor.getCurrentPosition() < targetPosition - tolerance){

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java

@@ -24,7 +24,7 @@ public class TurretOrbit extends CyberarmState {
 
     @Override
     public void exec() {
-  if (magnetSwitch.isPressed() || runTime() < time ){
+  if ((magnetSwitch != null && magnetSwitch.isPressed()) || runTime() > time ){
       servo.setPower(0);
       setHasFinished(true);
   }

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java

@@ -274,6 +274,18 @@ public class Robot {
         }
     }
 
+    public void  resetEncoders(){
+        orangeArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        whiteArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        orangeArmRiser.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        whiteArmRiser.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+        orangeArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        whiteArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        orangeArmRiser.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        whiteArmRiser.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+    }
+
     private void initTensorflow() {
         int tfodMonitorViewId = engine.hardwareMap.appContext.getResources().getIdentifier(
                 "tfodMonitorViewId", "id", engine.hardwareMap.appContext.getPackageName());