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base: TimeCrafters:99bbfee101e1d8433e02b3160036de03738358f3
Branches Tags
TimeCrafters:master TimeCrafters:add_tacnet_controlhub_hack
...
compare: TimeCrafters:aa6ce00f3cfe12519e5b25ae372f5ef5c924e099
Branches Tags
TimeCrafters:master TimeCrafters:add_tacnet_controlhub_hack

3 Commits
99bbfee101 ... aa6ce00f3c

Author SHA1 Message Date
Spencer
aa6ce00f3c Update configuration 2021-12-09 20:38:17 -06:00
Spencer
6eb9c46e59 Autonomous Work 2021-12-09 20:35:53 -06:00
cyberarm
9b98cf5840 Make FtcRobotControllerActivity startup TACNET server since the ControlHub appears to block ON_BOOT_COMPLETED receivers... 2021-12-09 17:28:51 -06:00
12 changed files with 145 additions and 32 deletions
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8
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java
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@@ -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() {

2
TC_Config/FreightFrenzy.json
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File diff suppressed because one or more lines are too long

59
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/BlueDuckEngine.java Normal file
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@@ -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());
}
}

20
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/BlueWarehouseEngine.java
View File

@@ -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 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 TurretOrbit(robot, robot.turretServoOrange, robot.orangeMag, "BlueWarehouseAutonomous", "01_0"));
addState(new TensorFlowState(robot, robot.orangeArmRiser, robot.orangeArmBobbin, "BlueWarehouseAutonomous", "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, "BlueWarehouseAutonomous", "05_0"));
addState(new CollectorToggle(robot, robot.collectorOrange, "BlueWarehouseAutonomous", "06_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"));
}

36
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedDuckEngine.java Normal file
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@@ -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"));
}
}

1
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java
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@@ -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"));

2
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/CollectorToggle.java
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@@ -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;

10
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TensorFlowState.java
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@@ -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) {
@@ -43,13 +47,11 @@ public class TensorFlowState extends CyberarmState {
if (recognitions.size() == 1) {
Recognition recognition = recognitions.get(0);
if (recognition.getLabel().equals("duck")){
if (recognition.getLeft() < 320) {
if (recognition.getLeft() < leftDuck) {
path = 0;
} else {
path = 1;
}
}
} else {
path = 2;
}

11
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java
View File

@@ -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);
}
}

6
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmRiser.java
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@@ -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){

2
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java
View File

@@ -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);
}

12
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
View File

@@ -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());