Make FtcRobotControllerActivity startup TACNET server since the ControlHub appears to block ON_BOOT_COMPLETED receivers...

.idea/.gitignore

@@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml

.idea/compiler.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CompilerConfiguration">
-    <bytecodeTargetLevel target="11" />
-  </component>
-</project>

.idea/jarRepositories.xml

@@ -1,30 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="RemoteRepositoriesConfiguration">
-    <remote-repository>
-      <option name="id" value="central" />
-      <option name="name" value="Maven Central repository" />
-      <option name="url" value="https://repo1.maven.org/maven2" />
-    </remote-repository>
-    <remote-repository>
-      <option name="id" value="jboss.community" />
-      <option name="name" value="JBoss Community repository" />
-      <option name="url" value="https://repository.jboss.org/nexus/content/repositories/public/" />
-    </remote-repository>
-    <remote-repository>
-      <option name="id" value="MavenRepo" />
-      <option name="name" value="MavenRepo" />
-      <option name="url" value="https://repo.maven.apache.org/maven2/" />
-    </remote-repository>
-    <remote-repository>
-      <option name="id" value="BintrayJCenter" />
-      <option name="name" value="BintrayJCenter" />
-      <option name="url" value="https://jcenter.bintray.com/" />
-    </remote-repository>
-    <remote-repository>
-      <option name="id" value="Google" />
-      <option name="name" value="Google" />
-      <option name="url" value="https://dl.google.com/dl/android/maven2/" />
-    </remote-repository>
-  </component>
-</project>

.idea/misc.xml

@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
-    <output url="file://$PROJECT_DIR$/build/classes" />
-  </component>
-  <component name="ProjectType">
-    <option name="id" value="Android" />
-  </component>
-</project>

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

@@ -1,59 +0,0 @@
-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

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

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

@@ -1,36 +0,0 @@
-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

@@ -18,7 +18,6 @@ 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;
-    double power;
+    int 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

@@ -15,8 +15,6 @@ 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;
@@ -26,8 +24,6 @@ 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
@@ -39,7 +35,7 @@ public class TensorFlowState extends CyberarmState {
     @Override
     public void exec() {
         recognitions = robot.tensorflowDetections();
-
+//
         if (runTime() < checkTime) {
             if (manualPath != -1) {
 
@@ -47,10 +43,12 @@ public class TensorFlowState extends CyberarmState {
                     if (recognitions.size() == 1) {
                         Recognition recognition = recognitions.get(0);
 
-                        if (recognition.getLeft() < leftDuck) {
+                        if (recognition.getLabel().equals("duck")){
-                            path = 0;
+                            if (recognition.getLeft() < 320) {
-                        } else {
+                                path = 0;
-                            path = 1;
+                            } else {
+                                path = 1;
+                            }
                         }
                     } else {
                         path = 2;
@@ -72,7 +70,7 @@ 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

@@ -20,6 +20,12 @@ 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){
@@ -34,9 +40,4 @@ 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

@@ -20,6 +20,12 @@ 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 != null && magnetSwitch.isPressed()) || runTime() > time ){
+  if (magnetSwitch.isPressed() || runTime() < time ){
       servo.setPower(0);
       setHasFinished(true);
   }

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

@@ -274,18 +274,6 @@ 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());

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java

@@ -47,7 +47,7 @@ public class TeleOpState extends CyberarmState {
         robot.driveGoalRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
 
         // dispenser powered
-        if (engine.gamepad1.a){
+        if (engine.gamepad1.b){
             robot.orangeDispenser.setPosition(0);
         }
         // if not pressed dispenser off
@@ -86,14 +86,12 @@ public class TeleOpState extends CyberarmState {
             robot.orangeArmRiser.setPower(0);
         }
 
-        // button x pressed carousel wheel move, for blue side, if b pressed wheel spins for red side;
+        // button x pressed carousel wheel move.
 
-        if (engine.gamepad2.x){
+        if (engine.gamepad1.x){
             robot.carouselWheel.setPower(1);
         }
-        else if (engine.gamepad2.b){
+
-            robot.carouselWheel.setPower(-1);
-        }
         else {
             robot.carouselWheel.setPower(0);
         }