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Repository: FIRST-Tech-Challenge/SkyStone
Branch: master
Commit: e56ec3754063
Files: 104
Total size: 18.8 MB
Directory structure:
gitextract_yel07l2k/
├── .github/
│ ├── CONTRIBUTING.md
│ └── PULL_REQUEST_TEMPLATE.md
├── .gitignore
├── FtcRobotController/
│ ├── LICENSE
│ ├── build.gradle
│ ├── build.release.gradle
│ └── src/
│ └── main/
│ ├── AndroidManifest.xml
│ ├── assets/
│ │ ├── FTC_2016-17.xml
│ │ ├── RelicVuMark.xml
│ │ ├── RoverRuckus.tflite
│ │ ├── RoverRuckus.xml
│ │ ├── Skystone.tflite
│ │ ├── Skystone.xml
│ │ └── StonesAndChips.xml
│ ├── java/
│ │ └── org/
│ │ └── firstinspires/
│ │ └── ftc/
│ │ └── robotcontroller/
│ │ ├── external/
│ │ │ └── samples/
│ │ │ ├── BasicOpMode_Iterative.java
│ │ │ ├── BasicOpMode_Linear.java
│ │ │ ├── ConceptCompassCalibration.java
│ │ │ ├── ConceptDIMAsIndicator.java
│ │ │ ├── ConceptI2cAddressChange.java
│ │ │ ├── ConceptMotorBulkRead.java
│ │ │ ├── ConceptNullOp.java
│ │ │ ├── ConceptRampMotorSpeed.java
│ │ │ ├── ConceptRevSPARKMini.java
│ │ │ ├── ConceptScanServo.java
│ │ │ ├── ConceptSoundsASJava.java
│ │ │ ├── ConceptSoundsOnBotJava.java
│ │ │ ├── ConceptSoundsSKYSTONE.java
│ │ │ ├── ConceptTelemetry.java
│ │ │ ├── ConceptTensorFlowObjectDetection.java
│ │ │ ├── ConceptTensorFlowObjectDetectionSwitchableCameras.java
│ │ │ ├── ConceptTensorFlowObjectDetectionWebcam.java
│ │ │ ├── ConceptVuMarkIdentification.java
│ │ │ ├── ConceptVuMarkIdentificationWebcam.java
│ │ │ ├── ConceptVuforiaNavigation.java
│ │ │ ├── ConceptVuforiaNavigationWebcam.java
│ │ │ ├── ConceptVuforiaSkyStoneNavigation.java
│ │ │ ├── ConceptVuforiaSkyStoneNavigationWebcam.java
│ │ │ ├── ConceptWebcam.java
│ │ │ ├── HardwarePushbot.java
│ │ │ ├── PushbotAutoDriveByEncoder_Linear.java
│ │ │ ├── PushbotAutoDriveByGyro_Linear.java
│ │ │ ├── PushbotAutoDriveByTime_Linear.java
│ │ │ ├── PushbotAutoDriveToLine_Linear.java
│ │ │ ├── PushbotTeleopPOV_Linear.java
│ │ │ ├── PushbotTeleopTank_Iterative.java
│ │ │ ├── SampleRevBlinkinLedDriver.java
│ │ │ ├── SensorAdafruitRGB.java
│ │ │ ├── SensorBNO055IMU.java
│ │ │ ├── SensorBNO055IMUCalibration.java
│ │ │ ├── SensorColor.java
│ │ │ ├── SensorDIO.java
│ │ │ ├── SensorDigitalTouch.java
│ │ │ ├── SensorKLNavxMicro.java
│ │ │ ├── SensorMRColor.java
│ │ │ ├── SensorMRCompass.java
│ │ │ ├── SensorMRGyro.java
│ │ │ ├── SensorMRIrSeeker.java
│ │ │ ├── SensorMROpticalDistance.java
│ │ │ ├── SensorMRRangeSensor.java
│ │ │ ├── SensorREV2mDistance.java
│ │ │ ├── SensorREVColorDistance.java
│ │ │ ├── readme.md
│ │ │ └── sample_conventions.md
│ │ └── internal/
│ │ ├── FtcOpModeRegister.java
│ │ ├── FtcRobotControllerActivity.java
│ │ └── PermissionValidatorWrapper.java
│ └── res/
│ ├── layout/
│ │ └── activity_ftc_controller.xml
│ ├── menu/
│ │ └── ftc_robot_controller.xml
│ ├── values/
│ │ ├── dimens.xml
│ │ ├── strings.xml
│ │ └── styles.xml
│ ├── values-sw600dp/
│ │ └── dimens.xml
│ ├── values-sw720dp-land/
│ │ └── dimens.xml
│ ├── values-w820dp/
│ │ └── dimens.xml
│ └── xml/
│ ├── app_settings.xml
│ └── device_filter.xml
├── README.md
├── TeamCode/
│ ├── build.gradle
│ ├── build.release.gradle
│ ├── lib/
│ │ └── OpModeAnnotationProcessor.jar
│ └── src/
│ └── main/
│ ├── AndroidManifest.xml
│ ├── java/
│ │ └── org/
│ │ └── firstinspires/
│ │ └── ftc/
│ │ └── teamcode/
│ │ └── readme.md
│ └── res/
│ ├── raw/
│ │ └── readme.md
│ ├── values/
│ │ └── strings.xml
│ └── xml/
│ └── teamwebcamcalibrations.xml
├── build.common.gradle
├── build.gradle
├── doc/
│ ├── legal/
│ │ ├── AudioBlocksSounds.txt
│ │ └── Exhibit A - LEGO Open Source License Agreement.txt
│ ├── media/
│ │ └── readme.md
│ └── tutorial/
│ └── README.txt
├── gradle/
│ └── wrapper/
│ ├── gradle-wrapper.jar
│ └── gradle-wrapper.properties
├── gradle.properties
├── gradlew
├── gradlew.bat
├── libs/
│ ├── Analytics-release.aar
│ ├── README.txt
│ ├── Vuforia.jar
│ ├── WirelessP2p-release.aar
│ ├── ftc.debug.keystore
│ ├── tensorflow-lite-0.0.0-nightly.aar
│ └── tfod-release.aar
└── settings.gradle
================================================
FILE CONTENTS
================================================
================================================
FILE: .github/CONTRIBUTING.md
================================================
# Contributing to the FTC SDK
The following is a set of guidelines for contributing the FIRST FTC SDK. The FTC Technology Team welcomes suggestions for improvements to core software, ideas for new features, requests for built-in support of new sensors, and well written bug reports.
## How can I contribute?
### Pull requests
__STOP!__ If you are new to git, do not understand the mechanics of forks, branches, and pulls, if what you just read is confusing, __do not__ push this button. Most likely it won't do what you think it will.
If you are looking at this button then you've pushed some changes to your team's fork of ftctechnh/ftc_app. Congratulations! You are almost certainly finished.
The vast majority of pull requests seen on the ftctechnh/ftc_app repository are not intended to be merged into the official SDK. Team software is just that, your team's. It's specific to the tasks you are trying to accomplish, the testing you are doing, and goals your team has. You don't want that pushed into the official SDK.
If what you've read so far makes little sense, there are some very good git learning resources online.
[Git Book](https://git-scm.com/book/en/v2)
[Interactive Git Tutorial](https://try.github.io)
##### Guidlines for experienced GIT users.
If you are absolutely certain that you want to push the big green button above, read on. Otherwise back _slowly away from keyboard_.
The real intent for advanced users is often to issue a pull request from the [branch](https://www.atlassian.com/git/tutorials/using-branches/git-branch) on a local fork back to master on either the same local fork or a child of the team fork and not on the parent ftctechnh/ftc_app. See [Creating a Pull Request](https://help.github.com/articles/creating-a-pull-request-from-a-fork/).
If that is indeed the intent, then you can merge your [topic branch](https://git-scm.com/book/en/v2/Git-Branching-Branching-Workflows#Topic-Branches) into master locally by hand before pushing it up to github, or if you want a pull request for pulls between branches on the same repository because, say, you want team members to look at your software before merging into master, you can select the base fork from the dropdown on the "Open a pull request" page and select your team repo instead of ftctechnh's.
Alternatively, if you have a team repository forked from ftctechnh/ftc_app, and then team members individually fork from your team repository, then pull requests from the individual team member's forks will have the main team repository automatically selected as the base fork for the pull. And you won't inadvertently request to pull your team software into ftctechnh's repository.
The latter would be the "best" way to manage software among a large team. But as with all things git there are many options.
Pull requests that do not fall into the category above are evaluated by the FTC Technology Team on a case-by-case basis. Please note however that the deployment model of the SDK does not support direct pulls into ftctechnh/ftc_app.
### Report bugs
This section guides you through filing a bug report. The better the report the more likely it is to be root caused and fixed. Please refrain from feature requests or software enhancements when opening new issues. See Suggesting Enhancements below.
#### Before submitting a bug report
- Check the [forums](http://ftcforum.usfirst.org/forum.php) to see if someone else has run into the problem and whether there is an official solution that doesn't require a new SDK.
- Perform a search of current [issues](https://github.com/ftctechnh/ftc_app/issues) to see if the problem has already been reported. If so, add a comment to the existing issue instead of creating a new one.
#### How Do I Submit A (Good) Bug Report?
Bugs are tracked as GitHub issues. Create an issue on ftctechnh/ftc_app and provide the following information.
Explain the problem and include additional details to help maintainers reproduce the problem:
- Use a clear and descriptive title for the issue to identify the problem.
- Describe the exact steps which reproduce the problem in as many details as possible.
- Provide specific examples to demonstrate the steps.
- Describe the behavior you observed after following the steps and point out what exactly is the problem with that behavior. Explain which behavior you expected to see instead and why. If applicable, include screenshots which show you following the described steps and clearly demonstrate the problem.
- If you're reporting that the RobotController crashed, include the logfile with a stack trace of the crash. [Example of good bug report with stack trace](https://github.com/ftctechnh/ftc_app/issues/224)
- If the problem wasn't triggered by a specific action, describe what you were doing before the problem happened and share more information using the guidelines below.
### Suggesting Enhancements
FIRST volunteers are awesome. You all have great ideas and we want to hear them.
Enhancements should be broadly applicable to a large majority of teams, should not force teams to change their workflow, and should provide real value to the mission of FIRST as it relates to engaging youth in engineering activities.
The best way to get momentum behind new features is to post a description of your idea in the forums. Build community support for it. The FTC Technology Team monitors the forums. We'll hear you and if there's a large enough call for the feature it's very likely to get put on the list for a future release.
================================================
FILE: .github/PULL_REQUEST_TEMPLATE.md
================================================
Before issuing a pull request, please see the contributing page.
================================================
FILE: .gitignore
================================================
# built application files
*.apk
*.ap_
# Java class files
*.class
# generated files
bin/
gen/
# Local configuration file (sdk path, etc)
local.properties
# Windows thumbnail db
Thumbs.db
# OSX files
.DS_Store
# Android Studio
*.iml
.idea
.gradle
build/
*ASUS_PC_01*
================================================
FILE: FtcRobotController/LICENSE
================================================
License information
================================================================================
FtcDriverStation, FtcRobotController, FtcCommon, Hardware, RobotCore
ModernRobotics, Analytics, and WirelessP2p have the following license:
Copyright (c) 2014-2016 Qualcomm Technologies Inc
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted (subject to the limitations in the disclaimer below) provided that
the following conditions are met:
Redistributions of source code must retain the above copyright notice, this list
of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this
list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.
Neither the name of Qualcomm Technologies Inc nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
Qualcomm Technologies Inc., will periodically collect anonymous information
about the device this software is installed on such as the make, model, and
software versions, but no information that identifies you.
NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
================================================
FILE: FtcRobotController/build.gradle
================================================
import java.text.SimpleDateFormat
//
// build.gradle in FtcRobotController
//
apply plugin: 'com.android.library'
android {
defaultConfig {
minSdkVersion 23
targetSdkVersion 28
buildConfigField "String", "BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
}
compileSdkVersion 28
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_7
targetCompatibility JavaVersion.VERSION_1_7
}
}
repositories {
maven { url = "https://dl.bintray.com/first-tech-challenge/ftcsdk/" }
flatDir {
dirs '../libs'
}
}
apply from: 'build.release.gradle'
================================================
FILE: FtcRobotController/build.release.gradle
================================================
dependencies {
implementation 'org.firstinspires.ftc:Inspection:5.5'
implementation 'org.firstinspires.ftc:Blocks:5.5'
implementation 'org.firstinspires.ftc:RobotCore:5.5'
implementation 'org.firstinspires.ftc:RobotServer:5.5'
implementation 'org.firstinspires.ftc:OnBotJava:5.5'
implementation 'org.firstinspires.ftc:Hardware:5.5'
implementation 'org.firstinspires.ftc:FtcCommon:5.5'
implementation (name:'WirelessP2p-release', ext:'aar')
implementation 'androidx.appcompat:appcompat:1.2.0'
}
================================================
FILE: FtcRobotController/src/main/AndroidManifest.xml
================================================
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
package="com.qualcomm.ftcrobotcontroller"
android:versionCode="37"
android:versionName="5.5">
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
<application
android:allowBackup="true"
android:largeHeap="true"
android:extractNativeLibs="true"
android:icon="@drawable/ic_launcher"
android:label="@string/app_name"
android:theme="@style/AppThemeRedRC" >
<!-- Indicates to the ControlHubUpdater what the latest version of the Control Hub is that this app supports -->
<meta-data
android:name="org.firstinspires.latestSupportedControlHubVersion"
android:value="1" />
<!-- The main robot controller activity -->
<activity android:name="org.firstinspires.ftc.robotcontroller.internal.PermissionValidatorWrapper"
android:screenOrientation="fullUser"
android:configChanges="orientation|screenSize"
android:label="@string/app_name"
android:launchMode="singleTask" >
<intent-filter>
<category android:name="android.intent.category.LAUNCHER" />
<action android:name="android.intent.action.MAIN" />
</intent-filter>
</activity>
<activity
android:name="org.firstinspires.ftc.robotcontroller.internal.FtcRobotControllerActivity"
android:screenOrientation="fullUser"
android:configChanges="orientation|screenSize"
android:label="@string/app_name"
android:launchMode="singleTask" >
<intent-filter>
<action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
</intent-filter>
<meta-data
android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
android:resource="@xml/device_filter" />
<!--org.firstinspires.main.entry indicates that this app is compatible with the Dragonboard Control Hub-->
<meta-data
android:name="org.firstinspires.main.entry"
android:value="true" />
</activity>
<!-- The robot controller service in which most of the robot functionality is managed -->
<service
android:name="com.qualcomm.ftccommon.FtcRobotControllerService"
android:enabled="true" />
</application>
</manifest>
================================================
FILE: FtcRobotController/src/main/assets/FTC_2016-17.xml
================================================
<?xml version="1.0" encoding="UTF-8"?>
<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
<Tracking>
<ImageTarget name="Wheels" size="254.000000 184.154922" />
<ImageTarget name="Tools" size="254.000000 184.154922" />
<ImageTarget name="Legos" size="254.000000 184.154922" />
<ImageTarget name="Gears" size="254.000000 184.154922" />
</Tracking>
</QCARConfig>
================================================
FILE: FtcRobotController/src/main/assets/RelicVuMark.xml
================================================
<?xml version='1.0' encoding='UTF-8'?>
<QCARConfig>
<Tracking>
<VuMark name="RelicRecovery" size="304.80000376701355 223.630235354" />
</Tracking>
</QCARConfig>
================================================
FILE: FtcRobotController/src/main/assets/RoverRuckus.xml
================================================
<?xml version="1.0" encoding="UTF-8"?>
<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
<Tracking>
<ImageTarget name="BluePerimeter" size="254.000000 183.280029" />
<ImageTarget name="RedPerimeter" size="254.000000 181.783096" />
<ImageTarget name="FrontPerimeter" size="254.000000 158.794403" />
<ImageTarget name="BackPerimeter" size="254.000000 199.508209" />
</Tracking>
</QCARConfig>
================================================
FILE: FtcRobotController/src/main/assets/Skystone.xml
================================================
<?xml version="1.0" encoding="UTF-8"?>
<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
<Tracking>
<ImageTarget name="TargetElement" size="101.599998 95.250000" />
<ImageTarget name="BridgeBlueRear" size="112.000000 47.740002" />
<ImageTarget name="BridgeRedRear" size="112.000000 47.740002" />
<ImageTarget name="BridgeRedFront" size="112.000000 47.740002" />
<ImageTarget name="BridgeBlueFront" size="112.000000 47.740002" />
<ImageTarget name="RedPerimeterTgt1" size="254.000000 168.116257" />
<ImageTarget name="RedPerimeterTgt2" size="254.000000 169.227493" />
<ImageTarget name="FrontPerimeterTgt1" size="254.000000 169.492188" />
<ImageTarget name="FrontPerimeterTgt2" size="254.000000 103.504997" />
<ImageTarget name="BluePerimeterTgt1" size="254.000000 169.386246" />
<ImageTarget name="BluePerimeterTgt2" size="254.000000 106.362503" />
<ImageTarget name="RearPerimeterTgt1" size="254.000000 169.239258" />
<ImageTarget name="RearPerimeterTgt2" size="254.000000 142.875000" />
</Tracking>
</QCARConfig>
================================================
FILE: FtcRobotController/src/main/assets/StonesAndChips.xml
================================================
<?xml version="1.0"?>
<QCARConfig xsi:noNamespaceSchemaLocation="qcar_config.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<Tracking>
<ImageTarget name="stones" size="247 173"/>
<ImageTarget name="chips" size="247 173"/>
</Tracking>
</QCARConfig>
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
/**
* This file contains an example of an iterative (Non-Linear) "OpMode".
* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
* The names of OpModes appear on the menu of the FTC Driver Station.
* When an selection is made from the menu, the corresponding OpMode
* class is instantiated on the Robot Controller and executed.
*
* This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
* It includes all the skeletal structure that all iterative OpModes contain.
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/
@TeleOp(name="Basic: Iterative OpMode", group="Iterative Opmode")
@Disabled
public class BasicOpMode_Iterative extends OpMode
{
// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
/*
* Code to run ONCE when the driver hits INIT
*/
@Override
public void init() {
telemetry.addData("Status", "Initialized");
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must correspond to the names assigned during the robot configuration
// step (using the FTC Robot Controller app on the phone).
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// Most robots need the motor on one side to be reversed to drive forward
// Reverse the motor that runs backwards when connected directly to the battery
leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.REVERSE);
// Tell the driver that initialization is complete.
telemetry.addData("Status", "Initialized");
}
/*
* Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
*/
@Override
public void init_loop() {
}
/*
* Code to run ONCE when the driver hits PLAY
*/
@Override
public void start() {
runtime.reset();
}
/*
* Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
*/
@Override
public void loop() {
// Setup a variable for each drive wheel to save power level for telemetry
double leftPower;
double rightPower;
// Choose to drive using either Tank Mode, or POV Mode
// Comment out the method that's not used. The default below is POV.
// POV Mode uses left stick to go forward, and right stick to turn.
// - This uses basic math to combine motions and is easier to drive straight.
double drive = -gamepad1.left_stick_y;
double turn = gamepad1.right_stick_x;
leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
rightPower = Range.clip(drive - turn, -1.0, 1.0) ;
// Tank Mode uses one stick to control each wheel.
// - This requires no math, but it is hard to drive forward slowly and keep straight.
// leftPower = -gamepad1.left_stick_y ;
// rightPower = -gamepad1.right_stick_y ;
// Send calculated power to wheels
leftDrive.setPower(leftPower);
rightDrive.setPower(rightPower);
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
}
/*
* Code to run ONCE after the driver hits STOP
*/
@Override
public void stop() {
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
/**
* This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
* the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
* of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
* class is instantiated on the Robot Controller and executed.
*
* This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
* It includes all the skeletal structure that all linear OpModes contain.
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/
@TeleOp(name="Basic: Linear OpMode", group="Linear Opmode")
@Disabled
public class BasicOpMode_Linear extends LinearOpMode {
// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
@Override
public void runOpMode() {
telemetry.addData("Status", "Initialized");
telemetry.update();
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must correspond to the names assigned during the robot configuration
// step (using the FTC Robot Controller app on the phone).
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// Most robots need the motor on one side to be reversed to drive forward
// Reverse the motor that runs backwards when connected directly to the battery
leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.REVERSE);
// Wait for the game to start (driver presses PLAY)
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
// Setup a variable for each drive wheel to save power level for telemetry
double leftPower;
double rightPower;
// Choose to drive using either Tank Mode, or POV Mode
// Comment out the method that's not used. The default below is POV.
// POV Mode uses left stick to go forward, and right stick to turn.
// - This uses basic math to combine motions and is easier to drive straight.
double drive = -gamepad1.left_stick_y;
double turn = gamepad1.right_stick_x;
leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
rightPower = Range.clip(drive - turn, -1.0, 1.0) ;
// Tank Mode uses one stick to control each wheel.
// - This requires no math, but it is hard to drive forward slowly and keep straight.
// leftPower = -gamepad1.left_stick_y ;
// rightPower = -gamepad1.right_stick_y ;
// Send calculated power to wheels
leftDrive.setPower(leftPower);
rightDrive.setPower(rightPower);
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
telemetry.update();
}
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptCompassCalibration.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.CompassSensor;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of calibrating a MR Compass
* It uses the common Pushbot hardware class to define the drive on the robot.
* The code is structured as a LinearOpMode
*
* This code assumes there is a compass configured with the name "compass"
*
* This code will put the compass into calibration mode, wait three seconds and then attempt
* to rotate two full turns clockwise. This will allow the compass to do a magnetic calibration.
*
* Once compete, the program will put the compass back into measurement mode and check to see if the
* calibration was successful.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/
@TeleOp(name="Concept: Compass Calibration", group="Concept")
@Disabled
public class ConceptCompassCalibration extends LinearOpMode {
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
private ElapsedTime runtime = new ElapsedTime();
CompassSensor compass;
final static double MOTOR_POWER = 0.2; // scale from 0 to 1
static final long HOLD_TIME_MS = 3000;
static final double CAL_TIME_SEC = 20;
@Override
public void runOpMode() {
/* Initialize the drive system variables.
* The init() method of the hardware class does all the work here
*/
robot.init(hardwareMap);
// get a reference to our Compass Sensor object.
compass = hardwareMap.get(CompassSensor.class, "compass");
// Send telemetry message to signify robot waiting;
telemetry.addData("Status", "Ready to cal"); //
telemetry.update();
// Wait for the game to start (driver presses PLAY)
waitForStart();
// Set the compass to calibration mode
compass.setMode(CompassSensor.CompassMode.CALIBRATION_MODE);
telemetry.addData("Compass", "Compass in calibration mode");
telemetry.update();
sleep(HOLD_TIME_MS); // Just do a sleep while we switch modes
// Start the robot rotating clockwise
telemetry.addData("Compass", "Calibration mode. Turning the robot...");
telemetry.update();
robot.leftDrive.setPower(MOTOR_POWER);
robot.rightDrive.setPower(-MOTOR_POWER);
// run until time expires OR the driver presses STOP;
runtime.reset();
while (opModeIsActive() && (runtime.time() < CAL_TIME_SEC)) {
idle();
}
// Stop all motors and turn off claibration
robot.leftDrive.setPower(0);
robot.rightDrive.setPower(0);
compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE);
telemetry.addData("Compass", "Returning to measurement mode");
telemetry.update();
sleep(HOLD_TIME_MS); // Just do a sleep while we switch modes
// Report whether the Calibration was successful or not.
if (compass.calibrationFailed())
telemetry.addData("Compass", "Calibrate Failed. Try Again!");
else
telemetry.addData("Compass", "Calibrate Passed.");
telemetry.update();
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDIMAsIndicator.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This OpMode illustrates using the Device Interface Module as a signalling device.
* The code is structured as a LinearOpMode
*
* This code assumes a DIM name "dim".
*
* There are many examples where the robot might like to signal the driver, without requiring them
* to look at the driver station. This might be something like a "ball in hopper" condition or a
* "ready to shoot" condition.
*
* The DIM has two user settable indicator LEDs (one red one blue). These can be controlled
* directly from your program.
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/
@TeleOp(name = "Concept: DIM As Indicator", group = "Concept")
@Disabled
public class ConceptDIMAsIndicator extends LinearOpMode {
static final int BLUE_LED = 0; // Blue LED channel on DIM
static final int RED_LED = 1; // Red LED Channel on DIM
// Create timer to toggle LEDs
private ElapsedTime runtime = new ElapsedTime();
// Define class members
DeviceInterfaceModule dim;
@Override
public void runOpMode() {
// Connect to motor (Assume standard left wheel)
// Change the text in quotes to match any motor name on your robot.
dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");
// Toggle LEDs while Waiting for the start button
telemetry.addData(">", "Press Play to test LEDs." );
telemetry.update();
while (!isStarted()) {
// Determine if we are on an odd or even second
boolean even = (((int)(runtime.time()) & 0x01) == 0);
dim.setLED(RED_LED, even); // Red for even
dim.setLED(BLUE_LED, !even); // Blue for odd
idle();
}
// Running now
telemetry.addData(">", "Press X for Blue, B for Red." );
telemetry.update();
// Now just use red and blue buttons to set red and blue LEDs
while(opModeIsActive()){
dim.setLED(BLUE_LED, gamepad1.x);
dim.setLED(RED_LED, gamepad1.b);
idle();
}
// Turn off LEDs;
dim.setLED(BLUE_LED, false);
dim.setLED(RED_LED, false);
telemetry.addData(">", "Done");
telemetry.update();
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptI2cAddressChange.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDeviceInterfaceModule;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
import com.qualcomm.robotcore.hardware.I2cAddr;
import com.qualcomm.robotcore.util.RobotLog;
import com.qualcomm.robotcore.util.TypeConversion;
import java.util.concurrent.locks.Lock;
/**
* An example of a linear op mode that shows how to change the I2C address.
*/
@TeleOp(name = "Concept: I2c Address Change", group = "Concept")
@Disabled
public class ConceptI2cAddressChange extends LinearOpMode {
public static final int ADDRESS_SET_NEW_I2C_ADDRESS = 0x70;
// trigger bytes used to change I2C address on ModernRobotics sensors.
public static final byte TRIGGER_BYTE_1 = 0x55;
public static final byte TRIGGER_BYTE_2 = (byte) 0xaa;
// Expected bytes from the Modern Robotics IR Seeker V3 memory map
public static final byte IR_SEEKER_V3_FIRMWARE_REV = 0x12;
public static final byte IR_SEEKER_V3_SENSOR_ID = 0x49;
public static final I2cAddr IR_SEEKER_V3_ORIGINAL_ADDRESS = I2cAddr.create8bit(0x38);
// Expected bytes from the Modern Robotics Color Sensor memory map
public static final byte COLOR_SENSOR_FIRMWARE_REV = 0x10;
public static final byte COLOR_SENSOR_SENSOR_ID = 0x43;
public static final byte COLOR_SENSOR_ORIGINAL_ADDRESS = 0x3C;
public static final byte MANUFACTURER_CODE = 0x4d;
// Currently, this is set to expect the bytes from the IR Seeker.
// If you change these values so you're setting "FIRMWARE_REV" to
// COLOR_SENSOR_FIRMWARE_REV, and "SENSOR_ID" to "COLOR_SENSOR_SENSOR_ID",
// you'll be able to change the I2C address of the ModernRoboticsColorSensor.
// If the bytes you're expecting are different than what this op mode finds,
// a comparison will be printed out into the logfile.
public static final byte FIRMWARE_REV = IR_SEEKER_V3_FIRMWARE_REV;
public static final byte SENSOR_ID = IR_SEEKER_V3_SENSOR_ID;
// These byte values are common with most Modern Robotics sensors.
public static final int READ_MODE = 0x80;
public static final int ADDRESS_MEMORY_START = 0x0;
public static final int TOTAL_MEMORY_LENGTH = 0x0c;
public static final int BUFFER_CHANGE_ADDRESS_LENGTH = 0x03;
// The port where your sensor is connected.
int port = 5;
byte[] readCache;
Lock readLock;
byte[] writeCache;
Lock writeLock;
I2cAddr currentAddress = IR_SEEKER_V3_ORIGINAL_ADDRESS;
// I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10
// Different hardware may have different rules.
// Be sure to read the requirements for the hardware you're using!
// If you use an invalid address, you may make your device completely unusable.
I2cAddr newAddress = I2cAddr.create8bit(0x42);
DeviceInterfaceModule dim;
@Override
public void runOpMode() {
// set up the hardware devices we are going to use
dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");
readCache = dim.getI2cReadCache(port);
readLock = dim.getI2cReadCacheLock(port);
writeCache = dim.getI2cWriteCache(port);
writeLock = dim.getI2cWriteCacheLock(port);
// I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10
// Different hardware may have different rules.
// Be sure to read the requirements for the hardware you're using!
ModernRoboticsUsbDeviceInterfaceModule.throwIfModernRoboticsI2cAddressIsInvalid(newAddress);
// wait for the start button to be pressed
waitForStart();
performAction("read", port, currentAddress, ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH);
while(!dim.isI2cPortReady(port)) {
telemetry.addData("I2cAddressChange", "waiting for the port to be ready...");
telemetry.update();
sleep(1000);
}
// update the local cache
dim.readI2cCacheFromController(port);
// make sure the first bytes are what we think they should be.
int count = 0;
int[] initialArray = {READ_MODE, currentAddress.get8Bit(), ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH, FIRMWARE_REV, MANUFACTURER_CODE, SENSOR_ID};
while (!foundExpectedBytes(initialArray, readLock, readCache)) {
telemetry.addData("I2cAddressChange", "Confirming that we're reading the correct bytes...");
telemetry.update();
dim.readI2cCacheFromController(port);
sleep(1000);
count++;
// if we go too long with failure, we probably are expecting the wrong bytes.
if (count >= 10) {
telemetry.addData("I2cAddressChange", String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit()));
hardwareMap.irSeekerSensor.get(String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit()));
telemetry.update();
}
}
// Enable writes to the correct segment of the memory map.
performAction("write", port, currentAddress, ADDRESS_SET_NEW_I2C_ADDRESS, BUFFER_CHANGE_ADDRESS_LENGTH);
// Write out the trigger bytes, and the new desired address.
writeNewAddress();
dim.setI2cPortActionFlag(port);
dim.writeI2cCacheToController(port);
telemetry.addData("I2cAddressChange", "Giving the hardware 60 seconds to make the change...");
telemetry.update();
// Changing the I2C address takes some time.
sleep(60000);
// Query the new address and see if we can get the bytes we expect.
dim.enableI2cReadMode(port, newAddress, ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH);
dim.setI2cPortActionFlag(port);
dim.writeI2cCacheToController(port);
int[] confirmArray = {READ_MODE, newAddress.get8Bit(), ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH, FIRMWARE_REV, MANUFACTURER_CODE, SENSOR_ID};
while (!foundExpectedBytes(confirmArray, readLock, readCache)) {
telemetry.addData("I2cAddressChange", "Have not confirmed the changes yet...");
telemetry.update();
dim.readI2cCacheFromController(port);
sleep(1000);
}
telemetry.addData("I2cAddressChange", "Successfully changed the I2C address. New address: 8bit=0x%02x", newAddress.get8Bit());
telemetry.update();
RobotLog.i("Successfully changed the I2C address." + String.format("New address: 8bit=0x%02x", newAddress.get8Bit()));
/**** IMPORTANT NOTE ******/
// You need to add a line like this at the top of your op mode
// to update the I2cAddress in the driver.
//irSeeker.setI2cAddress(newAddress);
/***************************/
}
private boolean foundExpectedBytes(int[] byteArray, Lock lock, byte[] cache) {
try {
lock.lock();
boolean allMatch = true;
StringBuilder s = new StringBuilder(300 * 4);
String mismatch = "";
for (int i = 0; i < byteArray.length; i++) {
s.append(String.format("expected: %02x, got: %02x \n", TypeConversion.unsignedByteToInt( (byte) byteArray[i]), cache[i]));
if (TypeConversion.unsignedByteToInt(cache[i]) != TypeConversion.unsignedByteToInt( (byte) byteArray[i])) {
mismatch = String.format("i: %d, byteArray[i]: %02x, cache[i]: %02x", i, byteArray[i], cache[i]);
allMatch = false;
}
}
RobotLog.e(s.toString() + "\n allMatch: " + allMatch + ", mismatch: " + mismatch);
return allMatch;
} finally {
lock.unlock();
}
}
private void performAction(String actionName, int port, I2cAddr i2cAddress, int memAddress, int memLength) {
if (actionName.equalsIgnoreCase("read")) dim.enableI2cReadMode(port, i2cAddress, memAddress, memLength);
if (actionName.equalsIgnoreCase("write")) dim.enableI2cWriteMode(port, i2cAddress, memAddress, memLength);
dim.setI2cPortActionFlag(port);
dim.writeI2cCacheToController(port);
dim.readI2cCacheFromController(port);
}
private void writeNewAddress() {
try {
writeLock.lock();
writeCache[4] = (byte) newAddress.get8Bit();
writeCache[5] = TRIGGER_BYTE_1;
writeCache[6] = TRIGGER_BYTE_2;
} finally {
writeLock.unlock();
}
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java
================================================
/* Copyright (c) 2019 Phil Malone. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.lynx.LynxModule;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.util.ElapsedTime;
import java.util.Iterator;
import java.util.List;
/*
This sample illustrates how to use the Expansion Hub's Bulk-Read feature to speed up control cycle times.
In this example there are 4 motors that need their encoder positions, and velocities read.
The sample is written to work with one or two expansion hubs, with no assumption as to where the motors are located.
Three scenarios are tested:
Cache Mode = OFF This is the normal default, where no cache is used, and every read produces a discrete transaction with
an expansion hub, which is the slowest approach.
Cache Mode = AUTO This mode will attempt to minimize the number of discrete read commands, by performing bulk-reads
and then returning values that have been cached. The cache is updated automatically whenever a specific read operation is repeated.
This mode will always return fresh data, but it may perform more bulk-reads than absolutely required.
Extra reads will be performed if multiple identical encoder/velocity reads are performed in one control cycle.
This mode is a good compromise between the OFF and MANUAL modes.
Cache Mode = MANUAL This mode enables the user's code to determine the best time to refresh the cached bulk-read data.
Well organized code can place all the sensor reads in one location, and then just reset the cache once per control cycle.
The approach will produce the shortest cycle times, but it does require the user to manually clear the cache.
-------------------------------------
General tip to speed up your control cycles:
No matter what method you use to read encoders and other inputs, you should try to
avoid reading the same input multiple times around a control loop.
Under normal conditions, this will slow down the control loop.
The preferred method is to read all the required inputs ONCE at the beginning of the loop,
and save the values in variable that can be used by other parts of the control code.
eg: if you are sending encoder positions to your telemetry display, putting a getCurrentPosition()
call in the telemetry statement will force the code to go and get another copy which will take time.
It's much better read the position into a variable once, and use that variable for control AND display.
Reading saved variables takes no time at all.
Once you put all your sensor reads at the beginning of the control cycle, it's very easy to use
the bulk-read AUTO mode to streamline your cycle timing.
*/
@TeleOp (name = "Motor Bulk Reads", group = "Tests")
@Disabled
public class ConceptMotorBulkRead extends LinearOpMode {
final int TEST_CYCLES = 500; // Number of control cycles to run to determine cycle times.
private DcMotorEx m1, m2, m3, m4; // Motor Objects
private long e1, e2, e3, e4; // Encoder Values
private double v1, v2, v3, v4; // Velocities
// Cycle Times
double t1 = 0;
double t2 = 0;
double t3 = 0;
@Override
public void runOpMode() {
int cycles;
// Important Step 1: Make sure you use DcMotorEx when you instantiate your motors.
m1 = hardwareMap.get(DcMotorEx.class, "m1"); // Configure the robot to use these 4 motor names,
m2 = hardwareMap.get(DcMotorEx.class, "m2"); // or change these strings to match your existing Robot Configuration.
m3 = hardwareMap.get(DcMotorEx.class, "m3");
m4 = hardwareMap.get(DcMotorEx.class, "m4");
// Important Step 2: Get access to a list of Expansion Hub Modules to enable changing caching methods.
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
ElapsedTime timer = new ElapsedTime();
telemetry.addData(">", "Press play to start tests");
telemetry.addData(">", "Test results will update for each access method.");
telemetry.update();
waitForStart();
// --------------------------------------------------------------------------------------
// Run control loop using legacy encoder reads
// In this mode, a single read is done for each encoder position, and a bulk read is done for each velocity read.
// This is the worst case scenario.
// This is the same as using LynxModule.BulkCachingMode.OFF
// --------------------------------------------------------------------------------------
displayCycleTimes("Test 1 of 3 (Wait for completion)");
timer.reset();
cycles = 0;
while (opModeIsActive() && (cycles++ < TEST_CYCLES)) {
e1 = m1.getCurrentPosition();
e2 = m2.getCurrentPosition();
e3 = m3.getCurrentPosition();
e4 = m4.getCurrentPosition();
v1 = m1.getVelocity();
v2 = m2.getVelocity();
v3 = m3.getVelocity();
v4 = m4.getVelocity();
// Put Control loop action code here.
}
// calculate the average cycle time.
t1 = timer.milliseconds() / cycles;
displayCycleTimes("Test 2 of 3 (Wait for completion)");
// --------------------------------------------------------------------------------------
// Run test cycles using AUTO cache mode
// In this mode, only one bulk read is done per cycle, UNLESS you read a specific encoder/velocity item AGAIN in that cycle.
// --------------------------------------------------------------------------------------
// Important Step 3: Option A. Set all Expansion hubs to use the AUTO Bulk Caching mode
for (LynxModule module : allHubs) {
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
}
timer.reset();
cycles = 0;
while (opModeIsActive() && (cycles++ < TEST_CYCLES)) {
e1 = m1.getCurrentPosition(); // Uses 1 bulk-read for all 4 encoder/velocity reads,
e2 = m2.getCurrentPosition(); // but don't do any `get` operations more than once per cycle.
e3 = m3.getCurrentPosition();
e4 = m4.getCurrentPosition();
v1 = m1.getVelocity();
v2 = m2.getVelocity();
v3 = m3.getVelocity();
v4 = m4.getVelocity();
// Put Control loop action code here.
}
// calculate the average cycle time.
t2 = timer.milliseconds() / cycles;
displayCycleTimes("Test 3 of 3 (Wait for completion)");
// --------------------------------------------------------------------------------------
// Run test cycles using MANUAL cache mode
// In this mode, only one block read is done each control cycle.
// This is the MOST efficient method, but it does require that the cache is cleared manually each control cycle.
// --------------------------------------------------------------------------------------
// Important Step 3: Option B. Set all Expansion hubs to use the MANUAL Bulk Caching mode
for (LynxModule module : allHubs) {
module.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
}
timer.reset();
cycles = 0;
while (opModeIsActive() && (cycles++ < TEST_CYCLES)) {
// Important Step 4: If you are using MANUAL mode, you must clear the BulkCache once per control cycle
for (LynxModule module : allHubs) {
module.clearBulkCache();
}
e1 = m1.getCurrentPosition(); // Uses 1 bulk-read to obtain ALL the motor data
e2 = m2.getCurrentPosition(); // There is no penalty for doing more `get` operations in this cycle,
e3 = m3.getCurrentPosition(); // but they will return the same data.
e4 = m4.getCurrentPosition();
v1 = m1.getVelocity();
v2 = m2.getVelocity();
v3 = m3.getVelocity();
v4 = m4.getVelocity();
// Put Control loop action code here.
}
// calculate the average cycle time.
t3 = timer.milliseconds() / cycles;
displayCycleTimes("Complete");
// wait until op-mode is stopped by user, before clearing display.
while (opModeIsActive()) ;
}
// Display three comparison times.
void displayCycleTimes(String status) {
telemetry.addData("Testing", status);
telemetry.addData("Cache = OFF", "%5.1f mS/cycle", t1);
telemetry.addData("Cache = AUTO", "%5.1f mS/cycle", t2);
telemetry.addData("Cache = MANUAL", "%5.1f mS/cycle", t3);
telemetry.update();
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.ElapsedTime;
import java.text.SimpleDateFormat;
import java.util.Date;
/**
* Demonstrates empty OpMode
*/
@TeleOp(name = "Concept: NullOp", group = "Concept")
@Disabled
public class ConceptNullOp extends OpMode {
private ElapsedTime runtime = new ElapsedTime();
@Override
public void init() {
telemetry.addData("Status", "Initialized");
}
/*
* Code to run when the op mode is first enabled goes here
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()
*/
@Override
public void init_loop() {
}
/*
* This method will be called ONCE when start is pressed
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
*/
@Override
public void start() {
runtime.reset();
}
/*
* This method will be called repeatedly in a loop
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
*/
@Override
public void loop() {
telemetry.addData("Status", "Run Time: " + runtime.toString());
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRampMotorSpeed.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
/**
* This OpMode ramps a single motor speed up and down repeatedly until Stop is pressed.
* The code is structured as a LinearOpMode
*
* This code assumes a DC motor configured with the name "left_drive" as is found on a pushbot.
*
* INCREMENT sets how much to increase/decrease the power each cycle
* CYCLE_MS sets the update period.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/
@TeleOp(name = "Concept: Ramp Motor Speed", group = "Concept")
@Disabled
public class ConceptRampMotorSpeed extends LinearOpMode {
static final double INCREMENT = 0.01; // amount to ramp motor each CYCLE_MS cycle
static final int CYCLE_MS = 50; // period of each cycle
static final double MAX_FWD = 1.0; // Maximum FWD power applied to motor
static final double MAX_REV = -1.0; // Maximum REV power applied to motor
// Define class members
DcMotor motor;
double power = 0;
boolean rampUp = true;
@Override
public void runOpMode() {
// Connect to motor (Assume standard left wheel)
// Change the text in quotes to match any motor name on your robot.
motor = hardwareMap.get(DcMotor.class, "left_drive");
// Wait for the start button
telemetry.addData(">", "Press Start to run Motors." );
telemetry.update();
waitForStart();
// Ramp motor speeds till stop pressed.
while(opModeIsActive()) {
// Ramp the motors, according to the rampUp variable.
if (rampUp) {
// Keep stepping up until we hit the max value.
power += INCREMENT ;
if (power >= MAX_FWD ) {
power = MAX_FWD;
rampUp = !rampUp; // Switch ramp direction
}
}
else {
// Keep stepping down until we hit the min value.
power -= INCREMENT ;
if (power <= MAX_REV ) {
power = MAX_REV;
rampUp = !rampUp; // Switch ramp direction
}
}
// Display the current value
telemetry.addData("Motor Power", "%5.2f", power);
telemetry.addData(">", "Press Stop to end test." );
telemetry.update();
// Set the motor to the new power and pause;
motor.setPower(power);
sleep(CYCLE_MS);
idle();
}
// Turn off motor and signal done;
motor.setPower(0);
telemetry.addData(">", "Done");
telemetry.update();
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java
================================================
/* Copyright (c) 2018 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
/**
*
* This OpMode executes a basic Tank Drive Teleop for a two wheeled robot using two REV SPARKminis.
* To use this example, connect two REV SPARKminis into servo ports on the Expansion Hub. On the
* robot configuration, use the drop down list under 'Servos' to select 'REV SPARKmini Controller'
* and name them 'left_drive' and 'right_drive'.
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/
@TeleOp(name="REV SPARKmini Simple Drive Example", group="Concept")
@Disabled
public class ConceptRevSPARKMini extends LinearOpMode {
// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
private DcMotorSimple leftDrive = null;
private DcMotorSimple rightDrive = null;
@Override
public void runOpMode() {
telemetry.addData("Status", "Initialized");
telemetry.update();
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must correspond to the names assigned during the robot configuration
// step (using the FTC Robot Controller app on the phone).
leftDrive = hardwareMap.get(DcMotorSimple.class, "left_drive");
rightDrive = hardwareMap.get(DcMotorSimple.class, "right_drive");
// Most robots need the motor on one side to be reversed to drive forward
// Reverse the motor that runs backwards when connected directly to the battery
leftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
rightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
// Wait for the game to start (driver presses PLAY)
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
// Setup a variable for each drive wheel to save power level for telemetry
double leftPower;
double rightPower;
// Choose to drive using either Tank Mode, or POV Mode
// Comment out the method that's not used. The default below is POV.
// POV Mode uses left stick to go forward, and right stick to turn.
// - This uses basic math to combine motions and is easier to drive straight.
double drive = -gamepad1.left_stick_y;
double turn = gamepad1.right_stick_x;
leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
rightPower = Range.clip(drive - turn, -1.0, 1.0) ;
// Tank Mode uses one stick to control each wheel.
// - This requires no math, but it is hard to drive forward slowly and keep straight.
// leftPower = -gamepad1.left_stick_y ;
// rightPower = -gamepad1.right_stick_y ;
// Send calculated power to wheels
leftDrive.setPower(leftPower);
rightDrive.setPower(rightPower);
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
telemetry.update();
}
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptScanServo.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Servo;
/**
* This OpMode scans a single servo back and forwards until Stop is pressed.
* The code is structured as a LinearOpMode
* INCREMENT sets how much to increase/decrease the servo position each cycle
* CYCLE_MS sets the update period.
*
* This code assumes a Servo configured with the name "left_hand" as is found on a pushbot.
*
* NOTE: When any servo position is set, ALL attached servos are activated, so ensure that any other
* connected servos are able to move freely before running this test.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/
@TeleOp(name = "Concept: Scan Servo", group = "Concept")
@Disabled
public class ConceptScanServo extends LinearOpMode {
static final double INCREMENT = 0.01; // amount to slew servo each CYCLE_MS cycle
static final int CYCLE_MS = 50; // period of each cycle
static final double MAX_POS = 1.0; // Maximum rotational position
static final double MIN_POS = 0.0; // Minimum rotational position
// Define class members
Servo servo;
double position = (MAX_POS - MIN_POS) / 2; // Start at halfway position
boolean rampUp = true;
@Override
public void runOpMode() {
// Connect to servo (Assume PushBot Left Hand)
// Change the text in quotes to match any servo name on your robot.
servo = hardwareMap.get(Servo.class, "left_hand");
// Wait for the start button
telemetry.addData(">", "Press Start to scan Servo." );
telemetry.update();
waitForStart();
// Scan servo till stop pressed.
while(opModeIsActive()){
// slew the servo, according to the rampUp (direction) variable.
if (rampUp) {
// Keep stepping up until we hit the max value.
position += INCREMENT ;
if (position >= MAX_POS ) {
position = MAX_POS;
rampUp = !rampUp; // Switch ramp direction
}
}
else {
// Keep stepping down until we hit the min value.
position -= INCREMENT ;
if (position <= MIN_POS ) {
position = MIN_POS;
rampUp = !rampUp; // Switch ramp direction
}
}
// Display the current value
telemetry.addData("Servo Position", "%5.2f", position);
telemetry.addData(">", "Press Stop to end test." );
telemetry.update();
// Set the servo to the new position and pause;
servo.setPosition(position);
sleep(CYCLE_MS);
idle();
}
// Signal done;
telemetry.addData(">", "Done");
telemetry.update();
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java
================================================
/* Copyright (c) 2018 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.ftccommon.SoundPlayer;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.io.File;
/**
* This file demonstrates how to play simple sounds on both the RC and DS phones.
* It illustrates how to build sounds into your application as a resource.
* This technique is best suited for use with Android Studio since it assumes you will be creating a new application
*
* If you are using OnBotJava, please see the ConceptSoundsOnBotJava sample
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*
* Operation:
*
* Gamepad X & B buttons are used to trigger sounds in this example, but any event can be used.
* Note: Time should be allowed for sounds to complete before playing other sounds.
*
* For sound files to be used as a compiled-in resource, they need to be located in a folder called "raw" under your "res" (resources) folder.
* You can create your own "raw" folder from scratch, or you can copy the one from the FtcRobotController module.
*
* Android Studio coders will ultimately need a folder in your path as follows:
* <project root>/TeamCode/src/main/res/raw
*
* Copy any .wav files you want to play into this folder.
* Make sure that your files ONLY use lower-case characters, and have no spaces or special characters other than underscore.
*
* The name you give your .wav files will become the resource ID for these sounds.
* eg: gold.wav becomes R.raw.gold
*
* If you wish to use the sounds provided for this sample, they are located in:
* <project root>/FtcRobotController/src/main/res/raw
* You can copy and paste the entire 'raw' folder using Android Studio.
*
*/
@TeleOp(name="Concept: Sound Resources", group="Concept")
@Disabled
public class ConceptSoundsASJava extends LinearOpMode {
// Declare OpMode members.
private boolean goldFound; // Sound file present flags
private boolean silverFound;
private boolean isX = false; // Gamepad button state variables
private boolean isB = false;
private boolean wasX = false; // Gamepad button history variables
private boolean WasB = false;
@Override
public void runOpMode() {
// Determine Resource IDs for sounds built into the RC application.
int silverSoundID = hardwareMap.appContext.getResources().getIdentifier("silver", "raw", hardwareMap.appContext.getPackageName());
int goldSoundID = hardwareMap.appContext.getResources().getIdentifier("gold", "raw", hardwareMap.appContext.getPackageName());
// Determine if sound resources are found.
// Note: Preloading is NOT required, but it's a good way to verify all your sounds are available before you run.
if (goldSoundID != 0)
goldFound = SoundPlayer.getInstance().preload(hardwareMap.appContext, goldSoundID);
if (silverSoundID != 0)
silverFound = SoundPlayer.getInstance().preload(hardwareMap.appContext, silverSoundID);
// Display sound status
telemetry.addData("gold resource", goldFound ? "Found" : "NOT found\n Add gold.wav to /src/main/res/raw" );
telemetry.addData("silver resource", silverFound ? "Found" : "Not found\n Add silver.wav to /src/main/res/raw" );
// Wait for the game to start (driver presses PLAY)
telemetry.addData(">", "Press Start to continue");
telemetry.update();
waitForStart();
telemetry.addData(">", "Press X, B to play sounds.");
telemetry.update();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
// say Silver each time gamepad X is pressed (This sound is a resource)
if (silverFound && (isX = gamepad1.x) && !wasX) {
SoundPlayer.getInstance().startPlaying(hardwareMap.appContext, silverSoundID);
telemetry.addData("Playing", "Resource Silver");
telemetry.update();
}
// say Gold each time gamepad B is pressed (This sound is a resource)
if (goldFound && (isB = gamepad1.b) && !WasB) {
SoundPlayer.getInstance().startPlaying(hardwareMap.appContext, goldSoundID);
telemetry.addData("Playing", "Resource Gold");
telemetry.update();
}
// Save last button states
wasX = isX;
WasB = isB;
}
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsOnBotJava.java
================================================
/* Copyright (c) 2018 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.ftccommon.SoundPlayer;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.io.File;
/**
* This file demonstrates how to play simple sounds on both the RC and DS phones.
* It illustrates how to play sound files that have been copied to the RC Phone
* This technique is best suited for use with OnBotJava since it does not require the app to be modified.
*
* Operation:
*
* Gamepad X & B buttons are used to trigger sounds in this example, but any event can be used.
* Note: Time should be allowed for sounds to complete before playing other sounds.
*
* To play a new sound, you will need to copy the .wav files to the phone, and then provide the full path to them as part of your OpMode.
* This is done in this sample for the two sound files. silver.wav and gold.wav
*
* You can put the files in a variety of soundPaths, but we recommend you put them in the /FIRST/blocks/sounds folder.
* Your OpModes will have guaranteed access to this folder, and you can transfer files into this folder using the BLOCKS web page.
* -- There is a link called "sounds" on the right hand side of the color bar on the BLOCKS page that can be used to send sound files to this folder by default.
* Or you can use Windows File Manager, or ADB to transfer the sound files
*
* To get full use of THIS sample, you will need to copy two sound file called silver.wav and gold.wav to /FIRST/blocks/sounds on the RC phone.
* They can be located here:
* https://github.com/ftctechnh/ftc_app/tree/master/FtcRobotController/src/main/res/raw/gold.wav
* https://github.com/ftctechnh/ftc_app/tree/master/FtcRobotController/src/main/res/raw/silver.wav
*/
@TeleOp(name="Concept: Sound Files", group="Concept")
@Disabled
public class ConceptSoundsOnBotJava extends LinearOpMode {
// Point to sound files on the phone's drive
private String soundPath = "/FIRST/blocks/sounds";
private File goldFile = new File("/sdcard" + soundPath + "/gold.wav");
private File silverFile = new File("/sdcard" + soundPath + "/silver.wav");
// Declare OpMode members.
private boolean isX = false; // Gamepad button state variables
private boolean isB = false;
private boolean wasX = false; // Gamepad button history variables
private boolean WasB = false;
@Override
public void runOpMode() {
// Make sure that the sound files exist on the phone
boolean goldFound = goldFile.exists();
boolean silverFound = silverFile.exists();
// Display sound status
telemetry.addData("gold sound", goldFound ? "Found" : "NOT Found \nCopy gold.wav to " + soundPath );
telemetry.addData("silver sound", silverFound ? "Found" : "NOT Found \nCopy silver.wav to " + soundPath );
// Wait for the game to start (driver presses PLAY)
telemetry.addData(">", "Press Start to continue");
telemetry.update();
waitForStart();
telemetry.addData(">", "Press X or B to play sounds.");
telemetry.update();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
// say Silver each time gamepad X is pressed (This sound is a resource)
if (silverFound && (isX = gamepad1.x) && !wasX) {
SoundPlayer.getInstance().startPlaying(hardwareMap.appContext, silverFile);
telemetry.addData("Playing", "Silver File");
telemetry.update();
}
// say Gold each time gamepad B is pressed (This sound is a resource)
if (goldFound && (isB = gamepad1.b) && !WasB) {
SoundPlayer.getInstance().startPlaying(hardwareMap.appContext, goldFile);
telemetry.addData("Playing", "Gold File");
telemetry.update();
}
// Save last button states
wasX = isX;
WasB = isB;
}
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsSKYSTONE.java
================================================
/* Copyright (c) 2018 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import android.content.Context;
import com.qualcomm.ftccommon.SoundPlayer;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
/**
* This file demonstrates how to play one of the several SKYSTONE/Star Wars sounds loaded into the SDK.
* It does this by creating a simple "chooser" controlled by the gamepad Up Down buttons.
* This code also prevents sounds from stacking up by setting a "playing" flag, which is cleared when the sound finishes playing.
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*
* Operation:
* Use the DPAD to change the selected sound, and the Right Bumper to play it.
*/
@TeleOp(name="SKYSTONE Sounds", group="Concept")
@Disabled
public class ConceptSoundsSKYSTONE extends LinearOpMode {
// List of available sound resources
String sounds[] = {"ss_alarm", "ss_bb8_down", "ss_bb8_up", "ss_darth_vader", "ss_fly_by",
"ss_mf_fail", "ss_laser", "ss_laser_burst", "ss_light_saber", "ss_light_saber_long", "ss_light_saber_short",
"ss_light_speed", "ss_mine", "ss_power_up", "ss_r2d2_up", "ss_roger_roger", "ss_siren", "ss_wookie" };
boolean soundPlaying = false;
@Override
public void runOpMode() {
// Variables for choosing from the available sounds
int soundIndex = 0;
int soundID = -1;
boolean was_dpad_up = false;
boolean was_dpad_down = false;
Context myApp = hardwareMap.appContext;
// create a sound parameter that holds the desired player parameters.
SoundPlayer.PlaySoundParams params = new SoundPlayer.PlaySoundParams();
params.loopControl = 0;
params.waitForNonLoopingSoundsToFinish = true;
// In this sample, we will skip waiting for the user to press play, and start displaying sound choices right away
while (!isStopRequested()) {
// Look for DPAD presses to change the selection
if (gamepad1.dpad_down && !was_dpad_down) {
// Go to next sound (with list wrap) and display it
soundIndex = (soundIndex + 1) % sounds.length;
}
if (gamepad1.dpad_up && !was_dpad_up) {
// Go to previous sound (with list wrap) and display it
soundIndex = (soundIndex + sounds.length - 1) % sounds.length;
}
// Look for trigger to see if we should play sound
// Only start a new sound if we are currently not playing one.
if (gamepad1.right_bumper && !soundPlaying) {
// Determine Resource IDs for the sounds you want to play, and make sure it's valid.
if ((soundID = myApp.getResources().getIdentifier(sounds[soundIndex], "raw", myApp.getPackageName())) != 0){
// Signal that the sound is now playing.
soundPlaying = true;
// Start playing, and also Create a callback that will clear the playing flag when the sound is complete.
SoundPlayer.getInstance().startPlaying(myApp, soundID, params, null,
new Runnable() {
public void run() {
soundPlaying = false;
}} );
}
}
// Remember the last state of the dpad to detect changes.
was_dpad_up = gamepad1.dpad_up;
was_dpad_down = gamepad1.dpad_down;
// Display the current sound choice, and the playing status.
telemetry.addData("", "Use DPAD up/down to choose sound.");
telemetry.addData("", "Press Right Bumper to play sound.");
telemetry.addData("", "");
telemetry.addData("Sound >", sounds[soundIndex]);
telemetry.addData("Status >", soundPlaying ? "Playing" : "Stopped");
telemetry.update();
}
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTelemetry.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.VoltageSensor;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.Func;
import org.firstinspires.ftc.robotcore.external.Telemetry;
/**
* {@link ConceptTelemetry} illustrates various ways in which telemetry can be
* transmitted from the robot controller to the driver station. The sample illustrates
* numeric and text data, formatted output, and optimized evaluation of expensive-to-acquire
* information. The telemetry {@link Telemetry#log() log} is illustrated by scrolling a poem
* to the driver station.
*
* @see Telemetry
*/
@TeleOp(name = "Concept: Telemetry", group = "Concept")
@Disabled
public class ConceptTelemetry extends LinearOpMode {
/** keeps track of the line of the poem which is to be emitted next */
int poemLine = 0;
/** keeps track of how long it's been since we last emitted a line of poetry */
ElapsedTime poemElapsed = new ElapsedTime();
static final String[] poem = new String[] {
"Mary had a little lamb,",
"His fleece was white as snow,",
"And everywhere that Mary went,",
"The lamb was sure to go.",
"",
"He followed her to school one day,",
"Which was against the rule,",
"It made the children laugh and play",
"To see a lamb at school.",
"",
"And so the teacher turned it out,",
"But still it lingered near,",
"And waited patiently about,",
"Till Mary did appear.",
"",
"\"Why does the lamb love Mary so?\"",
"The eager children cry.",
"\"Why, Mary loves the lamb, you know,\"",
"The teacher did reply.",
"",
""
};
@Override public void runOpMode() {
/* we keep track of how long it's been since the OpMode was started, just
* to have some interesting data to show */
ElapsedTime opmodeRunTime = new ElapsedTime();
// We show the log in oldest-to-newest order, as that's better for poetry
telemetry.log().setDisplayOrder(Telemetry.Log.DisplayOrder.OLDEST_FIRST);
// We can control the number of lines shown in the log
telemetry.log().setCapacity(6);
// The interval between lines of poetry, in seconds
double sPoemInterval = 0.6;
/**
* Wait until we've been given the ok to go. For something to do, we emit the
* elapsed time as we sit here and wait. If we didn't want to do anything while
* we waited, we would just call {@link #waitForStart()}.
*/
while (!isStarted()) {
telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
telemetry.update();
idle();
}
// Ok, we've been given the ok to go
/**
* As an illustration, the first line on our telemetry display will display the battery voltage.
* The idea here is that it's expensive to compute the voltage (at least for purposes of illustration)
* so you don't want to do it unless the data is <em>actually</em> going to make it to the
* driver station (recall that telemetry transmission is throttled to reduce bandwidth use.
* Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached.
*
* @see Telemetry#getMsTransmissionInterval()
*/
telemetry.addData("voltage", "%.1f volts", new Func<Double>() {
@Override public Double value() {
return getBatteryVoltage();
}
});
// Reset to keep some timing stats for the post-'start' part of the opmode
opmodeRunTime.reset();
int loopCount = 1;
// Go go gadget robot!
while (opModeIsActive()) {
// Emit poetry if it's been a while
if (poemElapsed.seconds() > sPoemInterval) {
emitPoemLine();
}
// As an illustration, show some loop timing information
telemetry.addData("loop count", loopCount);
telemetry.addData("ms/loop", "%.3f ms", opmodeRunTime.milliseconds() / loopCount);
// Show joystick information as some other illustrative data
telemetry.addLine("left joystick | ")
.addData("x", gamepad1.left_stick_x)
.addData("y", gamepad1.left_stick_y);
telemetry.addLine("right joystick | ")
.addData("x", gamepad1.right_stick_x)
.addData("y", gamepad1.right_stick_y);
/**
* Transmit the telemetry to the driver station, subject to throttling.
* @see Telemetry#getMsTransmissionInterval()
*/
telemetry.update();
/** Update loop info and play nice with the rest of the {@link Thread}s in the system */
loopCount++;
}
}
// emits a line of poetry to the telemetry log
void emitPoemLine() {
telemetry.log().add(poem[poemLine]);
poemLine = (poemLine+1) % poem.length;
poemElapsed.reset();
}
// Computes the current battery voltage
double getBatteryVoltage() {
double result = Double.POSITIVE_INFINITY;
for (VoltageSensor sensor : hardwareMap.voltageSensor) {
double voltage = sensor.getVoltage();
if (voltage > 0) {
result = Math.min(result, voltage);
}
}
return result;
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java
================================================
/* Copyright (c) 2019 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
/**
* This 2019-2020 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine the position of the Skystone game elements.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name = "Concept: TensorFlow Object Detection", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetection extends LinearOpMode {
private static final String TFOD_MODEL_ASSET = "Skystone.tflite";
private static final String LABEL_FIRST_ELEMENT = "Stone";
private static final String LABEL_SECOND_ELEMENT = "Skystone";
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
private VuforiaLocalizer vuforia;
/**
* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
* Detection engine.
*/
private TFObjectDetector tfod;
@Override
public void runOpMode() {
// The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
// first.
initVuforia();
initTfod();
/**
* Activate TensorFlow Object Detection before we wait for the start command.
* Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
**/
if (tfod != null) {
tfod.activate();
}
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start op mode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
if (tfod != null) {
// getUpdatedRecognitions() will return null if no new information is available since
// the last time that call was made.
List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
if (updatedRecognitions != null) {
telemetry.addData("# Object Detected", updatedRecognitions.size());
// step through the list of recognitions and display boundary info.
int i = 0;
for (Recognition recognition : updatedRecognitions) {
telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
telemetry.addData(String.format(" left,top (%d)", i), "%.03f , %.03f",
recognition.getLeft(), recognition.getTop());
telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f",
recognition.getRight(), recognition.getBottom());
}
telemetry.update();
}
}
}
}
if (tfod != null) {
tfod.shutdown();
}
}
/**
* Initialize the Vuforia localization engine.
*/
private void initVuforia() {
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
*/
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
parameters.cameraDirection = CameraDirection.BACK;
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Loading trackables is not necessary for the TensorFlow Object Detection engine.
}
/**
* Initialize the TensorFlow Object Detection engine.
*/
private void initTfod() {
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.8f;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java
================================================
/* Copyright (c) 2020 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.SwitchableCamera;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
/**
* This 2019-2020 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine the position of the Skystone game elements.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name = "Concept: TensorFlow Object Detection Switchable Cameras", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode {
private static final String TFOD_MODEL_ASSET = "Skystone.tflite";
private static final String LABEL_FIRST_ELEMENT = "Stone";
private static final String LABEL_SECOND_ELEMENT = "Skystone";
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
private VuforiaLocalizer vuforia;
/**
* Variables used for switching cameras.
*/
private WebcamName webcam1, webcam2;
private SwitchableCamera switchableCamera;
private boolean oldLeftBumper;
private boolean oldRightBumper;
/**
* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
* Detection engine.
*/
private TFObjectDetector tfod;
@Override
public void runOpMode() {
// The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
// first.
initVuforia();
initTfod();
/**
* Activate TensorFlow Object Detection before we wait for the start command.
* Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
**/
if (tfod != null) {
tfod.activate();
}
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start op mode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
if (tfod != null) {
doCameraSwitching();
List<Recognition> recognitions = tfod.getRecognitions();
telemetry.addData("# Object Detected", recognitions.size());
// step through the list of recognitions and display boundary info.
int i = 0;
for (Recognition recognition : recognitions) {
telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
telemetry.addData(String.format(" left,top (%d)", i), "%.03f , %.03f",
recognition.getLeft(), recognition.getTop());
telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f",
recognition.getRight(), recognition.getBottom());
}
telemetry.update();
}
}
}
if (tfod != null) {
tfod.shutdown();
}
}
/**
* Initialize the Vuforia localization engine.
*/
private void initVuforia() {
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
*/
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// Indicate that we wish to be able to switch cameras.
webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
parameters.cameraName = ClassFactory.getInstance().getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Set the active camera to Webcam 1.
switchableCamera = (SwitchableCamera) vuforia.getCamera();
switchableCamera.setActiveCamera(webcam1);
// Loading trackables is not necessary for the TensorFlow Object Detection engine.
}
/**
* Initialize the TensorFlow Object Detection engine.
*/
private void initTfod() {
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.8f;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
}
private void doCameraSwitching() {
// If the left bumper is pressed, use Webcam 1.
// If the right bumper is pressed, use Webcam 2.
boolean newLeftBumper = gamepad1.left_bumper;
boolean newRightBumper = gamepad1.right_bumper;
if (newLeftBumper && !oldLeftBumper) {
switchableCamera.setActiveCamera(webcam1);
} else if (newRightBumper && !oldRightBumper) {
switchableCamera.setActiveCamera(webcam2);
}
oldLeftBumper = newLeftBumper;
oldRightBumper = newRightBumper;
if (switchableCamera.getActiveCamera().equals(webcam1)) {
telemetry.addData("activeCamera", "Webcam 1");
telemetry.addData("Press RightBumper", "to switch to Webcam 2");
} else {
telemetry.addData("activeCamera", "Webcam 2");
telemetry.addData("Press LeftBumper", "to switch to Webcam 1");
}
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionWebcam.java
================================================
/* Copyright (c) 2019 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
/**
* This 2019-2020 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine the position of the Skystone game elements.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name = "Concept: TensorFlow Object Detection Webcam", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetectionWebcam extends LinearOpMode {
private static final String TFOD_MODEL_ASSET = "Skystone.tflite";
private static final String LABEL_FIRST_ELEMENT = "Stone";
private static final String LABEL_SECOND_ELEMENT = "Skystone";
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
" -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
private VuforiaLocalizer vuforia;
/**
* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
* Detection engine.
*/
private TFObjectDetector tfod;
@Override
public void runOpMode() {
// The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
// first.
initVuforia();
initTfod();
/**
* Activate TensorFlow Object Detection before we wait for the start command.
* Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
**/
if (tfod != null) {
tfod.activate();
}
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start op mode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
if (tfod != null) {
// getUpdatedRecognitions() will return null if no new information is available since
// the last time that call was made.
List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
if (updatedRecognitions != null) {
telemetry.addData("# Object Detected", updatedRecognitions.size());
// step through the list of recognitions and display boundary info.
int i = 0;
for (Recognition recognition : updatedRecognitions) {
telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
telemetry.addData(String.format(" left,top (%d)", i), "%.03f , %.03f",
recognition.getLeft(), recognition.getTop());
telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f",
recognition.getRight(), recognition.getBottom());
}
telemetry.update();
}
}
}
}
if (tfod != null) {
tfod.shutdown();
}
}
/**
* Initialize the Vuforia localization engine.
*/
private void initVuforia() {
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
*/
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Loading trackables is not necessary for the TensorFlow Object Detection engine.
}
/**
* Initialize the TensorFlow Object Detection engine.
*/
private void initTfod() {
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.8f;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentification.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark;
import org.firstinspires.ftc.robotcore.external.navigation.VuMarkInstanceId;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
/**
* This OpMode illustrates the basics of using the Vuforia engine to determine
* the identity of Vuforia VuMarks encountered on the field. The code is structured as
* a LinearOpMode. It shares much structure with {@link ConceptVuforiaNavigation}; we do not here
* duplicate the core Vuforia documentation found there, but rather instead focus on the
* differences between the use of Vuforia for navigation vs VuMark identification.
*
* @see ConceptVuforiaNavigation
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained in {@link ConceptVuforiaNavigation}.
*/
@TeleOp(name="Concept: VuMark Id", group ="Concept")
@Disabled
public class ConceptVuMarkIdentification extends LinearOpMode {
public static final String TAG = "Vuforia VuMark Sample";
OpenGLMatrix lastLocation = null;
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
VuforiaLocalizer vuforia;
@Override public void runOpMode() {
/*
* To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// OR... Do Not Activate the Camera Monitor View, to save power
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/*
* We also indicate which camera on the RC that we wish to use.
* Here we chose the back (HiRes) camera (for greater range), but
* for a competition robot, the front camera might be more convenient.
*/
parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;
/**
* Instantiate the Vuforia engine
*/
vuforia = ClassFactory.getInstance().createVuforia(parameters);
/**
* Load the data set containing the VuMarks for Relic Recovery. There's only one trackable
* in this data set: all three of the VuMarks in the game were created from this one template,
* but differ in their instance id information.
* @see VuMarkInstanceId
*/
VuforiaTrackables relicTrackables = this.vuforia.loadTrackablesFromAsset("RelicVuMark");
VuforiaTrackable relicTemplate = relicTrackables.get(0);
relicTemplate.setName("relicVuMarkTemplate"); // can help in debugging; otherwise not necessary
telemetry.addData(">", "Press Play to start");
telemetry.update();
waitForStart();
relicTrackables.activate();
while (opModeIsActive()) {
/**
* See if any of the instances of {@link relicTemplate} are currently visible.
* {@link RelicRecoveryVuMark} is an enum which can have the following values:
* UNKNOWN, LEFT, CENTER, and RIGHT. When a VuMark is visible, something other than
* UNKNOWN will be returned by {@link RelicRecoveryVuMark#from(VuforiaTrackable)}.
*/
RelicRecoveryVuMark vuMark = RelicRecoveryVuMark.from(relicTemplate);
if (vuMark != RelicRecoveryVuMark.UNKNOWN) {
/* Found an instance of the template. In the actual game, you will probably
* loop until this condition occurs, then move on to act accordingly depending
* on which VuMark was visible. */
telemetry.addData("VuMark", "%s visible", vuMark);
/* For fun, we also exhibit the navigational pose. In the Relic Recovery game,
* it is perhaps unlikely that you will actually need to act on this pose information, but
* we illustrate it nevertheless, for completeness. */
OpenGLMatrix pose = ((VuforiaTrackableDefaultListener)relicTemplate.getListener()).getPose();
telemetry.addData("Pose", format(pose));
/* We further illustrate how to decompose the pose into useful rotational and
* translational components */
if (pose != null) {
VectorF trans = pose.getTranslation();
Orientation rot = Orientation.getOrientation(pose, AxesReference.EXTRINSIC, AxesOrder.XYZ, AngleUnit.DEGREES);
// Extract the X, Y, and Z components of the offset of the target relative to the robot
double tX = trans.get(0);
double tY = trans.get(1);
double tZ = trans.get(2);
// Extract the rotational components of the target relative to the robot
double rX = rot.firstAngle;
double rY = rot.secondAngle;
double rZ = rot.thirdAngle;
}
}
else {
telemetry.addData("VuMark", "not visible");
}
telemetry.update();
}
}
String format(OpenGLMatrix transformationMatrix) {
return (transformationMatrix != null) ? transformationMatrix.formatAsTransform() : "null";
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentificationWebcam.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark;
import org.firstinspires.ftc.robotcore.external.navigation.VuMarkInstanceId;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
/**
* This OpMode illustrates the basics of using the Vuforia engine to determine
* the identity of Vuforia VuMarks encountered on the field. The code is structured as
* a LinearOpMode. It shares much structure with {@link ConceptVuforiaNavigationWebcam}; we do not here
* duplicate the core Vuforia documentation found there, but rather instead focus on the
* differences between the use of Vuforia for navigation vs VuMark identification.
*
* @see ConceptVuforiaNavigationWebcam
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained in {@link ConceptVuforiaNavigationWebcam}.
*/
@TeleOp(name="Concept: VuMark Id Webcam", group ="Concept")
@Disabled
public class ConceptVuMarkIdentificationWebcam extends LinearOpMode {
public static final String TAG = "Vuforia VuMark Sample";
OpenGLMatrix lastLocation = null;
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
VuforiaLocalizer vuforia;
/**
* This is the webcam we are to use. As with other hardware devices such as motors and
* servos, this device is identified using the robot configuration tool in the FTC application.
*/
WebcamName webcamName;
@Override public void runOpMode() {
/*
* Retrieve the camera we are to use.
*/
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
/*
* To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
* If no camera monitor is desired, use the parameterless constructor instead (commented out below).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// OR... Do Not Activate the Camera Monitor View, to save power
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/**
* We also indicate which camera on the RC we wish to use. For pedagogical purposes,
* we use the same logic as in {@link ConceptVuforiaNavigationWebcam}.
*/
parameters.cameraName = webcamName;
this.vuforia = ClassFactory.getInstance().createVuforia(parameters);
/**
* Load the data set containing the VuMarks for Relic Recovery. There's only one trackable
* in this data set: all three of the VuMarks in the game were created from this one template,
* but differ in their instance id information.
* @see VuMarkInstanceId
*/
VuforiaTrackables relicTrackables = this.vuforia.loadTrackablesFromAsset("RelicVuMark");
VuforiaTrackable relicTemplate = relicTrackables.get(0);
relicTemplate.setName("relicVuMarkTemplate"); // can help in debugging; otherwise not necessary
telemetry.addData(">", "Press Play to start");
telemetry.update();
waitForStart();
relicTrackables.activate();
while (opModeIsActive()) {
/**
* See if any of the instances of {@link relicTemplate} are currently visible.
* {@link RelicRecoveryVuMark} is an enum which can have the following values:
* UNKNOWN, LEFT, CENTER, and RIGHT. When a VuMark is visible, something other than
* UNKNOWN will be returned by {@link RelicRecoveryVuMark#from(VuforiaTrackable)}.
*/
RelicRecoveryVuMark vuMark = RelicRecoveryVuMark.from(relicTemplate);
if (vuMark != RelicRecoveryVuMark.UNKNOWN) {
/* Found an instance of the template. In the actual game, you will probably
* loop until this condition occurs, then move on to act accordingly depending
* on which VuMark was visible. */
telemetry.addData("VuMark", "%s visible", vuMark);
/* For fun, we also exhibit the navigational pose. In the Relic Recovery game,
* it is perhaps unlikely that you will actually need to act on this pose information, but
* we illustrate it nevertheless, for completeness. */
OpenGLMatrix pose = ((VuforiaTrackableDefaultListener)relicTemplate.getListener()).getFtcCameraFromTarget();
telemetry.addData("Pose", format(pose));
/* We further illustrate how to decompose the pose into useful rotational and
* translational components */
if (pose != null) {
VectorF trans = pose.getTranslation();
Orientation rot = Orientation.getOrientation(pose, AxesReference.EXTRINSIC, AxesOrder.XYZ, AngleUnit.DEGREES);
// Extract the X, Y, and Z components of the offset of the target relative to the robot
double tX = trans.get(0);
double tY = trans.get(1);
double tZ = trans.get(2);
// Extract the rotational components of the target relative to the robot
double rX = rot.firstAngle;
double rY = rot.secondAngle;
double rZ = rot.thirdAngle;
}
}
else {
telemetry.addData("VuMark", "not visible");
}
telemetry.update();
}
}
String format(OpenGLMatrix transformationMatrix) {
return (transformationMatrix != null) ? transformationMatrix.formatAsTransform() : "null";
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaNavigation.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.RobotLog;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.matrices.MatrixF;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
import java.util.ArrayList;
import java.util.List;
/**
* This 2016-2017 OpMode illustrates the basics of using the Vuforia localizer to determine
* positioning and orientation of robot on the FTC field.
* The code is structured as a LinearOpMode
*
* Vuforia uses the phone's camera to inspect it's surroundings, and attempt to locate target images.
*
* When images are located, Vuforia is able to determine the position and orientation of the
* image relative to the camera. This sample code than combines that information with a
* knowledge of where the target images are on the field, to determine the location of the camera.
*
* This example assumes a "diamond" field configuration where the red and blue alliance stations
* are adjacent on the corner of the field furthest from the audience.
* From the Audience perspective, the Red driver station is on the right.
* The two vision target are located on the two walls closest to the audience, facing in.
* The Stones are on the RED side of the field, and the Chips are on the Blue side.
*
* A final calculation then uses the location of the camera on the robot to determine the
* robot's location and orientation on the field.
*
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name="Concept: Vuforia Navigation", group ="Concept")
@Disabled
public class ConceptVuforiaNavigation extends LinearOpMode {
public static final String TAG = "Vuforia Navigation Sample";
OpenGLMatrix lastLocation = null;
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
VuforiaLocalizer vuforia;
@Override public void runOpMode() {
/*
* To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
* If no camera monitor is desired, use the parameterless constructor instead (commented out below).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// OR... Do Not Activate the Camera Monitor View, to save power
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/*
* We also indicate which camera on the RC that we wish to use.
* Here we chose the back (HiRes) camera (for greater range), but
* for a competition robot, the front camera might be more convenient.
*/
parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;
/**
* Instantiate the Vuforia engine
*/
vuforia = ClassFactory.getInstance().createVuforia(parameters);
/**
* Load the data sets that for the trackable objects we wish to track. These particular data
* sets are stored in the 'assets' part of our application (you'll see them in the Android
* Studio 'Project' view over there on the left of the screen). You can make your own datasets
* with the Vuforia Target Manager: https://developer.vuforia.com/target-manager. PDFs for the
* example "StonesAndChips", datasets can be found in in this project in the
* documentation directory.
*/
VuforiaTrackables stonesAndChips = this.vuforia.loadTrackablesFromAsset("StonesAndChips");
VuforiaTrackable redTarget = stonesAndChips.get(0);
redTarget.setName("RedTarget"); // Stones
VuforiaTrackable blueTarget = stonesAndChips.get(1);
blueTarget.setName("BlueTarget"); // Chips
/** For convenience, gather together all the trackable objects in one easily-iterable collection */
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
allTrackables.addAll(stonesAndChips);
/**
* We use units of mm here because that's the recommended units of measurement for the
* size values specified in the XML for the ImageTarget trackables in data sets. E.g.:
* <ImageTarget name="stones" size="247 173"/>
* You don't *have to* use mm here, but the units here and the units used in the XML
* target configuration files *must* correspond for the math to work out correctly.
*/
float mmPerInch = 25.4f;
float mmBotWidth = 18 * mmPerInch; // ... or whatever is right for your robot
float mmFTCFieldWidth = (12*12 - 2) * mmPerInch; // the FTC field is ~11'10" center-to-center of the glass panels
/**
* In order for localization to work, we need to tell the system where each target we
* wish to use for navigation resides on the field, and we need to specify where on the robot
* the phone resides. These specifications are in the form of <em>transformation matrices.</em>
* Transformation matrices are a central, important concept in the math here involved in localization.
* See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
* for detailed information. Commonly, you'll encounter transformation matrices as instances
* of the {@link OpenGLMatrix} class.
*
* For the most part, you don't need to understand the details of the math of how transformation
* matrices work inside (as fascinating as that is, truly). Just remember these key points:
* <ol>
*
* <li>You can put two transformations together to produce a third that combines the effect of
* both of them. If, for example, you have a rotation transform R and a translation transform T,
* then the combined transformation matrix RT which does the rotation first and then the translation
* is given by {@code RT = T.multiplied(R)}. That is, the transforms are multiplied in the
* <em>reverse</em> of the chronological order in which they applied.</li>
*
* <li>A common way to create useful transforms is to use methods in the {@link OpenGLMatrix}
* class and the Orientation class. See, for example, {@link OpenGLMatrix#translation(float,
* float, float)}, {@link OpenGLMatrix#rotation(AngleUnit, float, float, float, float)}, and
* {@link Orientation#getRotationMatrix(AxesReference, AxesOrder, AngleUnit, float, float, float)}.
* Related methods in {@link OpenGLMatrix}, such as {@link OpenGLMatrix#rotated(AngleUnit,
* float, float, float, float)}, are syntactic shorthands for creating a new transform and
* then immediately multiplying the receiver by it, which can be convenient at times.</li>
*
* <li>If you want to break open the black box of a transformation matrix to understand
* what it's doing inside, use {@link MatrixF#getTranslation()} to fetch how much the
* transform will move you in x, y, and z, and use {@link Orientation#getOrientation(MatrixF,
* AxesReference, AxesOrder, AngleUnit)} to determine the rotational motion that the transform
* will impart. See {@link #format(OpenGLMatrix)} below for an example.</li>
*
* </ol>
*
* This example places the "stones" image on the perimeter wall to the Left
* of the Red Driver station wall. Similar to the Red Beacon Location on the Res-Q
*
* This example places the "chips" image on the perimeter wall to the Right
* of the Blue Driver station. Similar to the Blue Beacon Location on the Res-Q
*
* See the doc folder of this project for a description of the field Axis conventions.
*
* Initially the target is conceptually lying at the origin of the field's coordinate system
* (the center of the field), facing up.
*
* In this configuration, the target's coordinate system aligns with that of the field.
*
* In a real situation we'd also account for the vertical (Z) offset of the target,
* but for simplicity, we ignore that here; for a real robot, you'll want to fix that.
*
* To place the Stones Target on the Red Audience wall:
* - First we rotate it 90 around the field's X axis to flip it upright
* - Then we rotate it 90 around the field's Z access to face it away from the audience.
* - Finally, we translate it back along the X axis towards the red audience wall.
*/
OpenGLMatrix redTargetLocationOnField = OpenGLMatrix
/* Then we translate the target off to the RED WALL. Our translation here
is a negative translation in X.*/
.translation(-mmFTCFieldWidth/2, 0, 0)
.multiplied(Orientation.getRotationMatrix(
/* First, in the fixed (field) coordinate system, we rotate 90deg in X, then 90 in Z */
AxesReference.EXTRINSIC, AxesOrder.XZX,
AngleUnit.DEGREES, 90, 90, 0));
redTarget.setLocation(redTargetLocationOnField);
RobotLog.ii(TAG, "Red Target=%s", format(redTargetLocationOnField));
/*
* To place the Stones Target on the Blue Audience wall:
* - First we rotate it 90 around the field's X axis to flip it upright
* - Finally, we translate it along the Y axis towards the blue audience wall.
*/
OpenGLMatrix blueTargetLocationOnField = OpenGLMatrix
/* Then we translate the target off to the Blue Audience wall.
Our translation here is a positive translation in Y.*/
.translation(0, mmFTCFieldWidth/2, 0)
.multiplied(Orientation.getRotationMatrix(
/* First, in the fixed (field) coordinate system, we rotate 90deg in X */
AxesReference.EXTRINSIC, AxesOrder.XZX,
AngleUnit.DEGREES, 90, 0, 0));
blueTarget.setLocation(blueTargetLocationOnField);
RobotLog.ii(TAG, "Blue Target=%s", format(blueTargetLocationOnField));
/**
* Create a transformation matrix describing where the phone is on the robot. Here, we
* put the phone on the right hand side of the robot with the screen facing in (see our
* choice of BACK camera above) and in landscape mode. Starting from alignment between the
* robot's and phone's axes, this is a rotation of -90deg along the Y axis.
*
* When determining whether a rotation is positive or negative, consider yourself as looking
* down the (positive) axis of rotation from the positive towards the origin. Positive rotations
* are then CCW, and negative rotations CW. An example: consider looking down the positive Z
* axis towards the origin. A positive rotation about Z (ie: a rotation parallel to the the X-Y
* plane) is then CCW, as one would normally expect from the usual classic 2D geometry.
*/
OpenGLMatrix phoneLocationOnRobot = OpenGLMatrix
.translation(mmBotWidth/2,0,0)
.multiplied(Orientation.getRotationMatrix(
AxesReference.EXTRINSIC, AxesOrder.YZY,
AngleUnit.DEGREES, -90, 0, 0));
RobotLog.ii(TAG, "phone=%s", format(phoneLocationOnRobot));
/**
* Let the trackable listeners we care about know where the phone is. We know that each
* listener is a {@link VuforiaTrackableDefaultListener} and can so safely cast because
* we have not ourselves installed a listener of a different type.
*/
((VuforiaTrackableDefaultListener)redTarget.getListener()).setPhoneInformation(phoneLocationOnRobot, parameters.cameraDirection);
((VuforiaTrackableDefaultListener)blueTarget.getListener()).setPhoneInformation(phoneLocationOnRobot, parameters.cameraDirection);
/**
* A brief tutorial: here's how all the math is going to work:
*
* C = phoneLocationOnRobot maps phone coords -> robot coords
* P = tracker.getPose() maps image target coords -> phone coords
* L = redTargetLocationOnField maps image target coords -> field coords
*
* So
*
* C.inverted() maps robot coords -> phone coords
* P.inverted() maps phone coords -> imageTarget coords
*
* Putting that all together,
*
* L x P.inverted() x C.inverted() maps robot coords to field coords.
*
* @see VuforiaTrackableDefaultListener#getRobotLocation()
*/
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start tracking");
telemetry.update();
waitForStart();
/** Start tracking the data sets we care about. */
stonesAndChips.activate();
while (opModeIsActive()) {
for (VuforiaTrackable trackable : allTrackables) {
/**
* getUpdatedRobotLocation() will return null if no new information is available since
* the last time that call was made, or if the trackable is not currently visible.
* getRobotLocation() will return null if the trackable is not currently visible.
*/
telemetry.addData(trackable.getName(), ((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible() ? "Visible" : "Not Visible"); //
OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
if (robotLocationTransform != null) {
lastLocation = robotLocationTransform;
}
}
/**
* Provide feedback as to where the robot was last located (if we know).
*/
if (lastLocation != null) {
// RobotLog.vv(TAG, "robot=%s", format(lastLocation));
telemetry.addData("Pos", format(lastLocation));
} else {
telemetry.addData("Pos", "Unknown");
}
telemetry.update();
}
}
/**
* A simple utility that extracts positioning information from a transformation matrix
* and formats it in a form palatable to a human being.
*/
String format(OpenGLMatrix transformationMatrix) {
return transformationMatrix.formatAsTransform();
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaNavigationWebcam.java
================================================
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import android.graphics.Bitmap;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.RobotLog;
import com.qualcomm.robotcore.util.ThreadPool;
import com.vuforia.Frame;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.function.Consumer;
import org.firstinspires.ftc.robotcore.external.function.Continuation;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.matrices.MatrixF;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
import java.util.Locale;
/**
* This 2016-2017 OpMode illustrates the basics of using the Vuforia localizer to determine
* positioning and orientation of robot on the FTC field.
* The code is structured as a LinearOpMode
*
* Vuforia uses the phone's camera to inspect it's surroundings, and attempt to locate target images.
*
* When images are located, Vuforia is able to determine the position and orientation of the
* image relative to the camera. This sample code than combines that information with a
* knowledge of where the target images are on the field, to determine the location of the camera.
*
* This example assumes a "diamond" field configuration where the red and blue alliance stations
* are adjacent on the corner of the field furthest from the audience.
* From the Audience perspective, the Red driver station is on the right.
* The two vision target are located on the two walls closest to the audience, facing in.
* The Stones are on the RED side of the field, and the Chips are on the Blue side.
*
* A final calculation then uses the location of the camera on the robot to determine the
* robot's location and orientation on the field.
*
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name="Concept: Vuforia Nav Webcam", group ="Concept")
@Disabled
public class ConceptVuforiaNavigationWebcam extends LinearOpMode {
public static final String TAG = "Vuforia Navigation Sample";
OpenGLMatrix lastLocation = null;
/**
* @see #captureFrameToFile()
*/
int captureCounter = 0;
File captureDirectory = AppUtil.ROBOT_DATA_DIR;
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
VuforiaLocalizer vuforia;
/**
* This is the webcam we are to use. As with other hardware devices such as motors and
* servos, this device is identified using the robot configuration tool in the FTC application.
*/
WebcamName webcamName;
@Override public void runOpMode() {
/*
* Retrieve the camera we are to use.
*/
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
/*
* To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
* If no camera monitor is desired, use the parameterless constructor instead (commented out below).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// OR... Do Not Activate the Camera Monitor View, to save power
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE --- ";
/**
* We also indicate which camera on the RC we wish to use.
*/
parameters.cameraName = webcamName;
/**
* Instantiate the Vuforia engine
*/
vuforia = ClassFactory.getInstance().createVuforia(parameters);
/**
* Because this opmode processes frames in order to write them to a file, we tell Vuforia
* that we want to ensure that certain frame formats are available in the {@link Frame}s we
* see.
*/
vuforia.enableConvertFrameToBitmap();
/** @see #captureFrameToFile() */
AppUtil.getInstance().ensureDirectoryExists(captureDirectory);
/**
* Load the data sets that for the trackable objects we wish to track. These particular data
* sets are stored in the 'assets' part of our application (you'll see them in the Android
* Studio 'Project' view over there on the left of the screen). You can make your own datasets
* with the Vuforia Target Manager: https://developer.vuforia.com/target-manager. PDFs for the
* example "StonesAndChips", datasets can be found in in this project in the
* documentation directory.
*/
VuforiaTrackables stonesAndChips = vuforia.loadTrackablesFromAsset("StonesAndChips");
VuforiaTrackable redTarget = stonesAndChips.get(0);
redTarget.setName("RedTarget"); // Stones
VuforiaTrackable blueTarget = stonesAndChips.get(1);
blueTarget.setName("BlueTarget"); // Chips
/** For convenience, gather together all the trackable objects in one easily-iterable collection */
List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
allTrackables.addAll(stonesAndChips);
/**
* We use units of mm here because that's the recommended units of measurement for the
* size values specified in the XML for the ImageTarget trackables in data sets. E.g.:
* <ImageTarget name="stones" size="247 173"/>
* You don't *have to* use mm here, but the units here and the units used in the XML
* target configuration files *must* correspond for the math to work out correctly.
*/
float mmPerInch = 25.4f;
float mmBotWidth = 18 * mmPerInch; // ... or whatever is right for your robot
float mmFTCFieldWidth = (12*12 - 2) * mmPerInch; // the FTC field is ~11'10" center-to-center of the glass panels
/**
* In order for localization to work, we need to tell the system where each target we
* wish to use for navigation resides on the field, and we need to specify where on the robot
* the camera resides. These specifications are in the form of <em>transformation matrices.</em>
* Transformation matrices are a central, important concept in the math here involved in localization.
* See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
* for detailed information. Commonly, you'll encounter transformation matrices as instances
* of the {@link OpenGLMatrix} class.
*
* For the most part, you don't need to understand the details of the math of how transformation
* matrices work inside (as fascinating as that is, truly). Just remember these key points:
* <ol>
*
* <li>You can put two transformations together to produce a third that combines the effect of
* both of them. If, for example, you have a rotation transform R and a translation transform T,
* then the combined transformation matrix RT which does the rotation first and then the translation
* is given by {@code RT = T.multiplied(R)}. That is, the transforms are multiplied in the
* <em>reverse</em> of the chronological order in which they applied.</li>
*
* <li>A common way to create useful transforms is to use methods in the {@link OpenGLMatrix}
* class and the Orientation class. See, for example, {@link OpenGLMatrix#translation(float,
* float, float)}, {@link OpenGLMatrix#rotation(AngleUnit, float, float, float, float)}, and
* {@link Orientation#getRotationMatrix(AxesReference, AxesOrder, AngleUnit, float, float, float)}.
* Related methods in {@link OpenGLMatrix}, such as {@link OpenGLMatrix#rotated(AngleUnit,
* float, float, float, float)}, are syntactic shorthands for creating a new transform and
* then immediately multiplying the receiver by it, which can be convenient at times.</li>
*
* <li>If you want to break open the black box of a transformation matrix to understand
* what it's doing inside, use {@link MatrixF#getTranslation()} to fetch how much the
* transform will move you in x, y, and z, and use {@link Orientation#getOrientation(MatrixF,
* AxesReference, AxesOrder, AngleUnit)} to determine the rotational motion that the transform
* will impart. See {@link #format(OpenGLMatrix)} below for an example.</li>
*
* </ol>
*
* This example places the "stones" image on the perimeter wall to the Left
* of the Red Driver station wall. Similar to the Red Beacon Location on the Res-Q
*
* This example places the "chips" image on the perimeter wall to the Right
* of the Blue Driver station. Similar to the Blue Beacon Location on the Res-Q
*
* See the doc folder of this project for a description of the Field Coordinate System
* conventions.
*
* Initially the target is conceptually lying at the origin of the Field Coordinate System
* (the center of the field), facing up.
*
* In this configuration, the target's coordinate system aligns with that of the field.
*
* In a real situation we'd also account for the vertical (Z) offset of the target,
* but for simplicity, we ignore that here; for a real robot, you'll want to fix that.
*
* To place the Stones Target on the Red Audience wall:
* - First we rotate it 90 around the field's X axis to flip it upright
* - Then we rotate it 90 around the field's Z access to face it away from the audience.
* - Finally, we translate it back along the X axis towards the red audience wall.
*/
OpenGLMatrix redTargetLocationOnField = OpenGLMatrix
/* Then we translate the target off to the RED WALL. Our translation here
is a negative translation in X.*/
.translation(-mmFTCFieldWidth/2, 0, 0)
.multiplied(Orientation.getRotationMatrix(
/* First, in the fixed (field) coordinate system, we rotate 90deg in X, then 90 in Z */
AxesReference.EXTRINSIC, AxesOrder.XZX,
AngleUnit.DEGREES, 90, 90, 0));
redTarget.setLocationFtcFieldFromTarget(redTargetLocationOnField);
RobotLog.ii(TAG, "Red Target=%s", format(redTargetLocationOnField));
/*
* To place the Stones Target on the Blue Audience wall:
* - First we rotate it 90 around the field's X axis to flip it upright
* - Finally, we translate it along the Y axis towards the blue audience wall.
*/
OpenGLMatrix blueTargetLocationOnField = OpenGLMatrix
/* Then we translate the target off to the Blue Audience wall.
Our translation here is a positive translation in Y.*/
.translation(0, mmFTCFieldWidth/2, 0)
.multiplied(Orientation.getRotationMatrix(
/* First, in the fixed (field) coordinate system, we rotate 90deg in X */
AxesReference.EXTRINSIC, AxesOrder.XZX,
AngleUnit.DEGREES, 90, 0, 0));
blueTarget.setLocationFtcFieldFromTarget(blueTargetLocationOnField);
RobotLog.ii(TAG, "Blue Target=%s", format(blueTargetLocationOnField));
/**
* We also need to tell Vuforia where the <em>cameras</em> are relative to the robot.
*
* Just as there is a Field Coordinate System, so too there is a Robot Coordinate System.
* The two share many similarities. The origin of the Robot Coordinate System is wherever
* you choose to make it on the robot, but typically you'd choose somewhere in the middle
* of the robot. From that origin, the Y axis is horizontal and positive out towards the
* "front" of the robot (however you choose "front" to be defined), the X axis is horizontal
* and positive out towards the "right" of the robot (i.e.: 90deg horizontally clockwise from
* the positive Y axis), and the Z axis is vertical towards the sky.
*
* Similarly, for each camera there is a Camera Coordinate System. The origin of a Camera
* Coordinate System lies in the middle of the sensor inside of the camera. The Z axis is
* positive coming out of the lens of the camera in a direction perpendicular to the plane
* of the sensor. When looking at the face of the lens of the camera (down the positive Z
* axis), the X axis is positive off to the right in the plane of the sensor, and the Y axis
* is positive out the top of the lens in the plane of the sensor at 90 horizontally
* counter clockwise from the X axis.
*
* Next, there is Phone Coordinate System (for robots that have phones, of course), though
* with the advent of Vuforia support for Webcams, this coordinate system is less significant
* than it was previously. The Phone Coordinate System is defined thusly: with the phone in
* flat front of you in portrait mode (i.e. as it is when running the robot controller app)
* and you are staring straight at the face of the phone,
* * X is positive heading off to your right,
* * Y is positive heading up through the top edge of the phone, and
* * Z is pointing out of the screen, toward you.
* The origin of the Phone Coordinate System is at the origin of the Camera Coordinate System
* of the front-facing camera on the phone.
*
* Finally, it is worth noting that trackable Vuforia Image Targets have their <em>own</em>
* coordinate system (see {@link VuforiaTrackable}. This is sometimes referred to as the
* Target Coordinate System. In keeping with the above, when looking at the target in its
* natural orientation, in the Target Coodinate System
* * X is positive heading off to your right,
* * Y is positive heading up through the top edge of the target, and
* * Z is pointing out of the target, toward you.
*
* One can observe that the Camera Coordinate System of the front-facing camera on a phone
* coincides with the Phone Coordinate System. Further, when a phone is placed on its back
* at the origin of the Robot Coordinate System and aligned appropriately, those coordinate
* systems also coincide with the Robot Coordinate System. Got it?
*
* In this example here, we're going to assume that we put the camera on the right side
* of the robot (facing outwards, of course). To determine the transformation matrix that
* describes that location, first consider the camera as lying on its back at the origin
* of the Robot Coordinate System such that the Camera Coordinate System and Robot Coordinate
* System coincide. Then the transformation we need is
* * first a rotation of the camera by +90deg along the robot X axis,
* * then a rotation of the camera by +90deg along the robot Z axis, and
* * finally a translation of the camera to the side of the robot.
*
* When determining whether a rotation is positive or negative, consider yourself as looking
* down the (positive) axis of rotation from the positive towards the origin. Positive rotations
* are then CCW, and negative rotations CW. An example: consider looking down the positive Z
* axis towards the origin. A positive rotation about Z (ie: a rotation parallel to the the X-Y
* plane) is then CCW, as one would normally expect from the usual classic 2D geometry.
*/
OpenGLMatrix robotFromCamera = OpenGLMatrix
.translation(mmBotWidth/2,0,0)
.multiplied(Orientation.getRotationMatrix(
AxesReference.EXTRINSIC, AxesOrder.XZY,
AngleUnit.DEGREES, 90, 90, 0));
RobotLog.ii(TAG, "camera=%s", format(robotFromCamera));
/**
* Let the trackable listeners we care about know where the camera is. We know that each
* listener is a {@link VuforiaTrackableDefaultListener} and can so safely cast because
* we have not ourselves installed a listener of a different type.
*/
((VuforiaTrackableDefaultListener)redTarget.getListener()).setCameraLocationOnRobot(parameters.cameraName, robotFromCamera);
((VuforiaTrackableDefaultListener)blueTarget.getListener()).setCameraLocationOnRobot(parameters.cameraName, robotFromCamera);
/**
* A brief tutorial: here's how all the math is going to work:
*
* C = robotFromCamera maps camera coords -> robot coords
* P = tracker.getPose() maps image target coords -> camera coords
* L = redTargetLocationOnField maps image target coords -> field coords
*
* So
*
* C.inverted() maps robot coords -> camera coords
* P.inverted() maps camera coords -> imageTarget coords
*
* Putting that all together,
*
* L x P.inverted() x C.inverted() maps robot coords to field coords.
*
* @see VuforiaTrackableDefaultListener#getRobotLocation()
*/
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start tracking");
telemetry.update();
waitForStart();
/** Start tracking the data sets we care about. */
stonesAndChips.activate();
boolean buttonPressed = false;
while (opModeIsActive()) {
if (gamepad1.a && !buttonPressed) {
captureFrameToFile();
}
buttonPressed = gamepad1.a;
for (VuforiaTrackable trackable : allTrackables) {
/**
* getUpdatedRobotLocation() will return null if no new information is available since
* the last time that call was made, or if the trackable is not currently visible.
* getRobotLocation() will return null if the trackable is not currently visible.
*/
telemetry.addData(trackable.getName(), ((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible() ? "Visible" : "Not Visible"); //
OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
if (robotLocationTransform != null) {
lastLocation = robotLocationTransform;
}
}
/**
* Provide feedback as to where the robot was last located (if we know).
*/
if (lastLocation != null) {
// RobotLog.vv(TAG, "robot=%s", format(lastLocation));
telemetry.addData("Pos", format(lastLocation));
} else {
telemetry.addData("Pos", "Unknown");
}
telemetry.update();
}
}
/**
* A simple utility that extracts positioning information from a transformation matrix
* and formats it in a form palatable to a human being.
*/
String format(OpenGLMatrix transformationMatrix) {
return transformationMatrix.formatAsTransform();
}
/**
* Sample one frame from the Vuforia stream and write it to a .PNG image file on the robot
* controller in the /sdcard/FIRST/data directory. The images can be downloaded using Android
* Studio's Device File Explorer, ADB, or the Media Transfer Protocol (MTP) integration into
* Windows Explorer, among other means. The images can be useful during robot design and calibration
* in order to get a sense of what the camera is actually seeing and so assist in camera
* aiming and alignment.
*/
void captureFrameToFile() {
vuforia.getFrameOnce(Continuation.create(ThreadPool.getDefault(), new Consumer<Frame>()
{
@Override public void accept(Frame frame)
{
Bitmap bitmap = vuforia.convertFrameToBitmap(frame);
if (bitmap != null) {
File file = new File(captureDirectory, String.format(Locale.getDefault(), "VuforiaFrame-%d.png", captureCounter++));
try {
FileOutputStream outputStream = new FileOutputStream(file);
try {
bitmap.compress(Bitmap.CompressFormat.PNG, 100, outputStream);
} finally {
outputStream.close();
telemetry.log().add("captured %s", file.getName());
}
} catch (IOException e) {
RobotLog.ee(TAG, e, "exception in captureFrameToFile()");
}
}
}
}));
}
}
================================================
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaSkyStoneNavigation.java
================================================
/* Copyright (c) 2019 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
import java.util.ArrayList;
import java.util.List;
import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.YZX;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC;
import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection.BACK;
/**
* This 2019-2020 OpMode illustrates the basics of using the Vuforia localizer to determine
* positioning and orientation of robot on the SKYSTONE FTC field.
* The code is structured as a LinearOpMode
*
* When images are located, Vuforia is able to determine the position and orientation of the
* image relative to the camera. This sample code then combines that information with a
* knowledge of where the target images are on the field, to determine the location of the camera.
*
* From the Audience perspective, the Red Alliance station is on the right and the
* Blue Alliance Station is on the left.
* Eight perimeter targets are distributed evenly around the four perimeter walls
* Four Bridge targets are located on the bridge uprights.
* Refer to the Field Setup manual for more specific location details
*
* A final calculation then uses the location of the camera on the robot to determine the
* robot's location and orientation on the field.
*
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see skystone/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.
*/
@TeleOp(name="SKYSTONE Vuforia Nav", group ="Concept")
@Disabled
public class ConceptVuforiaSkyStoneNavigation extends LinearOpMode {
// IMPORTANT: For Phone Camera, set 1) the camera source and 2) the orientation, based on how your phone is mounted:
// 1) Camera Source. Valid choices are: BACK (behind screen) or FRONT (selfie side)
// 2) Phone Orientation. Choices are: PHONE_IS_PORTRAIT = true (portrait) or PHONE_IS_PORTRAIT = false (landscape)
//
// NOTE: If you are running on a CONTROL HUB, with only one USB WebCam, you must select CAMERA_CHOICE = BACK; and PHONE_IS_PORTRAIT = false;
//
private static final VuforiaLocalizer.CameraDirection CAMERA_CHOICE = BACK;
private static final boolean PHONE_IS_PORTRAIT = false ;
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters
gitextract_yel07l2k/ ├── .github/ │ ├── CONTRIBUTING.md │ └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── FtcRobotController/ │ ├── LICENSE │ ├── build.gradle │ ├── build.release.gradle │ └── src/ │ └── main/ │ ├── AndroidManifest.xml │ ├── assets/ │ │ ├── FTC_2016-17.xml │ │ ├── RelicVuMark.xml │ │ ├── RoverRuckus.tflite │ │ ├── RoverRuckus.xml │ │ ├── Skystone.tflite │ │ ├── Skystone.xml │ │ └── StonesAndChips.xml │ ├── java/ │ │ └── org/ │ │ └── firstinspires/ │ │ └── ftc/ │ │ └── robotcontroller/ │ │ ├── external/ │ │ │ └── samples/ │ │ │ ├── BasicOpMode_Iterative.java │ │ │ ├── BasicOpMode_Linear.java │ │ │ ├── ConceptCompassCalibration.java │ │ │ ├── ConceptDIMAsIndicator.java │ │ │ ├── ConceptI2cAddressChange.java │ │ │ ├── ConceptMotorBulkRead.java │ │ │ ├── ConceptNullOp.java │ │ │ ├── ConceptRampMotorSpeed.java │ │ │ ├── ConceptRevSPARKMini.java │ │ │ ├── ConceptScanServo.java │ │ │ ├── ConceptSoundsASJava.java │ │ │ ├── ConceptSoundsOnBotJava.java │ │ │ ├── ConceptSoundsSKYSTONE.java │ │ │ ├── ConceptTelemetry.java │ │ │ ├── ConceptTensorFlowObjectDetection.java │ │ │ ├── ConceptTensorFlowObjectDetectionSwitchableCameras.java │ │ │ ├── ConceptTensorFlowObjectDetectionWebcam.java │ │ │ ├── ConceptVuMarkIdentification.java │ │ │ ├── ConceptVuMarkIdentificationWebcam.java │ │ │ ├── ConceptVuforiaNavigation.java │ │ │ ├── ConceptVuforiaNavigationWebcam.java │ │ │ ├── ConceptVuforiaSkyStoneNavigation.java │ │ │ ├── ConceptVuforiaSkyStoneNavigationWebcam.java │ │ │ ├── ConceptWebcam.java │ │ │ ├── HardwarePushbot.java │ │ │ ├── PushbotAutoDriveByEncoder_Linear.java │ │ │ ├── PushbotAutoDriveByGyro_Linear.java │ │ │ ├── PushbotAutoDriveByTime_Linear.java │ │ │ ├── PushbotAutoDriveToLine_Linear.java │ │ │ ├── PushbotTeleopPOV_Linear.java │ │ │ ├── PushbotTeleopTank_Iterative.java │ │ │ ├── SampleRevBlinkinLedDriver.java │ │ │ ├── SensorAdafruitRGB.java │ │ │ ├── SensorBNO055IMU.java │ │ │ ├── SensorBNO055IMUCalibration.java │ │ │ ├── SensorColor.java │ │ │ ├── SensorDIO.java │ │ │ ├── SensorDigitalTouch.java │ │ │ ├── SensorKLNavxMicro.java │ │ │ ├── SensorMRColor.java │ │ │ ├── SensorMRCompass.java │ │ │ ├── SensorMRGyro.java │ │ │ ├── SensorMRIrSeeker.java │ │ │ ├── SensorMROpticalDistance.java │ │ │ ├── SensorMRRangeSensor.java │ │ │ ├── SensorREV2mDistance.java │ │ │ ├── SensorREVColorDistance.java │ │ │ ├── readme.md │ │ │ └── sample_conventions.md │ │ └── internal/ │ │ ├── FtcOpModeRegister.java │ │ ├── FtcRobotControllerActivity.java │ │ └── PermissionValidatorWrapper.java │ └── res/ │ ├── layout/ │ │ └── activity_ftc_controller.xml │ ├── menu/ │ │ └── ftc_robot_controller.xml │ ├── values/ │ │ ├── dimens.xml │ │ ├── strings.xml │ │ └── styles.xml │ ├── values-sw600dp/ │ │ └── dimens.xml │ ├── values-sw720dp-land/ │ │ └── dimens.xml │ ├── values-w820dp/ │ │ └── dimens.xml │ └── xml/ │ ├── app_settings.xml │ └── device_filter.xml ├── README.md ├── TeamCode/ │ ├── build.gradle │ ├── build.release.gradle │ ├── lib/ │ │ └── OpModeAnnotationProcessor.jar │ └── src/ │ └── main/ │ ├── AndroidManifest.xml │ ├── java/ │ │ └── org/ │ │ └── firstinspires/ │ │ └── ftc/ │ │ └── teamcode/ │ │ └── readme.md │ └── res/ │ ├── raw/ │ │ └── readme.md │ ├── values/ │ │ └── strings.xml │ └── xml/ │ └── teamwebcamcalibrations.xml ├── build.common.gradle ├── build.gradle ├── doc/ │ ├── legal/ │ │ ├── AudioBlocksSounds.txt │ │ └── Exhibit A - LEGO Open Source License Agreement.txt │ ├── media/ │ │ └── readme.md │ └── tutorial/ │ └── README.txt ├── gradle/ │ └── wrapper/ │ ├── gradle-wrapper.jar │ └── gradle-wrapper.properties ├── gradle.properties ├── gradlew ├── gradlew.bat ├── libs/ │ ├── Analytics-release.aar │ ├── README.txt │ ├── Vuforia.jar │ ├── WirelessP2p-release.aar │ ├── ftc.debug.keystore │ ├── tensorflow-lite-0.0.0-nightly.aar │ └── tfod-release.aar └── settings.gradle
SYMBOL INDEX (210 symbols across 50 files)
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java
class BasicOpMode_Iterative (line 53) | @TeleOp(name="Basic: Iterative OpMode", group="Iterative Opmode")
method init (line 65) | @Override
method init_loop (line 87) | @Override
method start (line 94) | @Override
method loop (line 102) | @Override
method stop (line 135) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java
class BasicOpMode_Linear (line 53) | @TeleOp(name="Basic: Linear OpMode", group="Linear Opmode")
method runOpMode (line 62) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptCompassCalibration.java
class ConceptCompassCalibration (line 55) | @TeleOp(name="Concept: Compass Calibration", group="Concept")
method runOpMode (line 68) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDIMAsIndicator.java
class ConceptDIMAsIndicator (line 54) | @TeleOp(name = "Concept: DIM As Indicator", group = "Concept")
method runOpMode (line 67) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptI2cAddressChange.java
class ConceptI2cAddressChange (line 46) | @TeleOp(name = "Concept: I2c Address Change", group = "Concept")
method runOpMode (line 98) | @Override
method foundExpectedBytes (line 184) | private boolean foundExpectedBytes(int[] byteArray, Lock lock, byte[] ...
method performAction (line 204) | private void performAction(String actionName, int port, I2cAddr i2cAdd...
method writeNewAddress (line 213) | private void writeNewAddress() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java
class ConceptMotorBulkRead (line 77) | @TeleOp (name = "Motor Bulk Reads", group = "Tests")
method runOpMode (line 92) | @Override
method displayCycleTimes (line 214) | void displayCycleTimes(String status) {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java
class ConceptNullOp (line 43) | @TeleOp(name = "Concept: NullOp", group = "Concept")
method init (line 49) | @Override
method init_loop (line 58) | @Override
method start (line 66) | @Override
method loop (line 75) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRampMotorSpeed.java
class ConceptRampMotorSpeed (line 49) | @TeleOp(name = "Concept: Ramp Motor Speed", group = "Concept")
method runOpMode (line 64) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java
class ConceptRevSPARKMini (line 51) | @TeleOp(name="REV SPARKmini Simple Drive Example", group="Concept")
method runOpMode (line 60) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptScanServo.java
class ConceptScanServo (line 51) | @TeleOp(name = "Concept: Scan Servo", group = "Concept")
method runOpMode (line 66) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java
class ConceptSoundsASJava (line 72) | @TeleOp(name="Concept: Sound Resources", group="Concept")
method runOpMode (line 86) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsOnBotJava.java
class ConceptSoundsOnBotJava (line 62) | @TeleOp(name="Concept: Sound Files", group="Concept")
method runOpMode (line 78) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsSKYSTONE.java
class ConceptSoundsSKYSTONE (line 51) | @TeleOp(name="SKYSTONE Sounds", group="Concept")
method runOpMode (line 61) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTelemetry.java
class ConceptTelemetry (line 50) | @TeleOp(name = "Concept: Telemetry", group = "Concept")
method runOpMode (line 84) | @Override public void runOpMode() {
method emitPoemLine (line 161) | void emitPoemLine() {
method getBatteryVoltage (line 168) | double getBatteryVoltage() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java
class ConceptTensorFlowObjectDetection (line 52) | @TeleOp(name = "Concept: TensorFlow Object Detection", group = "Concept")
method runOpMode (line 86) | @Override
method initVuforia (line 138) | private void initVuforia() {
method initTfod (line 156) | private void initTfod() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java
class ConceptTensorFlowObjectDetectionSwitchableCameras (line 53) | @TeleOp(name = "Concept: TensorFlow Object Detection Switchable Cameras"...
method runOpMode (line 95) | @Override
method initVuforia (line 143) | private void initVuforia() {
method initTfod (line 169) | private void initTfod() {
method doCameraSwitching (line 178) | private void doCameraSwitching() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionWebcam.java
class ConceptTensorFlowObjectDetectionWebcam (line 52) | @TeleOp(name = "Concept: TensorFlow Object Detection Webcam", group = "C...
method runOpMode (line 86) | @Override
method initVuforia (line 137) | private void initVuforia() {
method initTfod (line 155) | private void initTfod() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentification.java
class ConceptVuMarkIdentification (line 68) | @TeleOp(name="Concept: VuMark Id", group ="Concept")
method runOpMode (line 82) | @Override public void runOpMode() {
method format (line 183) | String format(OpenGLMatrix transformationMatrix) {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentificationWebcam.java
class ConceptVuMarkIdentificationWebcam (line 69) | @TeleOp(name="Concept: VuMark Id Webcam", group ="Concept")
method runOpMode (line 89) | @Override public void runOpMode() {
method format (line 191) | String format(OpenGLMatrix transformationMatrix) {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaNavigation.java
class ConceptVuforiaNavigation (line 83) | @TeleOp(name="Concept: Vuforia Navigation", group ="Concept")
method runOpMode (line 97) | @Override public void runOpMode() {
method format (line 333) | String format(OpenGLMatrix transformationMatrix) {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaNavigationWebcam.java
class ConceptVuforiaNavigationWebcam (line 95) | @TeleOp(name="Concept: Vuforia Nav Webcam", group ="Concept")
method runOpMode (line 121) | @Override public void runOpMode() {
method format (line 426) | String format(OpenGLMatrix transformationMatrix) {
method captureFrameToFile (line 438) | void captureFrameToFile() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaSkyStoneNavigation.java
class ConceptVuforiaSkyStoneNavigation (line 86) | @TeleOp(name="SKYSTONE Vuforia Nav", group ="Concept")
method runOpMode (line 141) | @Override public void runOpMode() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaSkyStoneNavigationWebcam.java
class ConceptVuforiaSkyStoneNavigationWebcam (line 85) | @TeleOp(name="SKYSTONE Vuforia Nav Webcam", group ="Concept")
method runOpMode (line 142) | @Override public void runOpMode() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptWebcam.java
class ConceptWebcam (line 76) | @TeleOp(name="Concept: Webcam", group ="Concept")
method runOpMode (line 113) | @Override public void runOpMode() {
method onNewFrame (line 162) | private void onNewFrame(Bitmap frame) {
method initializeFrameQueue (line 171) | private void initializeFrameQueue(int capacity) {
method openCamera (line 183) | private void openCamera() {
method startCamera (line 193) | private void startCamera() {
method stopCamera (line 262) | private void stopCamera() {
method closeCamera (line 270) | private void closeCamera() {
method error (line 282) | private void error(String msg) {
method error (line 286) | private void error(String format, Object...args) {
method contains (line 291) | private boolean contains(int[] array, int value) {
method saveBitmap (line 298) | private void saveBitmap(Bitmap bitmap) {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/HardwarePushbot.java
class HardwarePushbot (line 53) | public class HardwarePushbot
method HardwarePushbot (line 71) | public HardwarePushbot(){
method init (line 76) | public void init(HardwareMap ahwMap) {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByEncoder_Linear.java
class PushbotAutoDriveByEncoder_Linear (line 65) | @Autonomous(name="Pushbot: Auto Drive By Encoder", group="Pushbot")
method runOpMode (line 81) | @Override
method encoderDrive (line 131) | public void encoderDrive(double speed,
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByGyro_Linear.java
class PushbotAutoDriveByGyro_Linear (line 73) | @Autonomous(name="Pushbot: Auto Drive By Gyro", group="Pushbot")
method runOpMode (line 97) | @Override
method gyroDrive (line 167) | public void gyroDrive ( double speed,
method gyroTurn (line 256) | public void gyroTurn ( double speed, double angle) {
method gyroHold (line 275) | public void gyroHold( double speed, double angle, double holdTime) {
method onHeading (line 302) | boolean onHeading(double speed, double angle, double PCoeff) {
method getError (line 342) | public double getError(double targetAngle) {
method getSteer (line 359) | public double getSteer(double error, double PCoeff) {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByTime_Linear.java
class PushbotAutoDriveByTime_Linear (line 58) | @Autonomous(name="Pushbot: Auto Drive By Time", group="Pushbot")
method runOpMode (line 70) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveToLine_Linear.java
class PushbotAutoDriveToLine_Linear (line 57) | @Autonomous(name="Pushbot: Auto Drive To Line", group="Pushbot")
method runOpMode (line 69) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopPOV_Linear.java
class PushbotTeleopPOV_Linear (line 51) | @TeleOp(name="Pushbot: Teleop POV", group="Pushbot")
method runOpMode (line 60) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopTank_Iterative.java
class PushbotTeleopTank_Iterative (line 52) | @TeleOp(name="Pushbot: Teleop Tank", group="Pushbot")
method init (line 64) | @Override
method init_loop (line 78) | @Override
method start (line 85) | @Override
method loop (line 92) | @Override
method stop (line 132) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SampleRevBlinkinLedDriver.java
class SampleRevBlinkinLedDriver (line 52) | @TeleOp(name="BlinkinExample")
type DisplayKind (line 75) | protected enum DisplayKind {
method init (line 80) | @Override
method loop (line 96) | @Override
method handleGamepad (line 121) | protected void handleGamepad()
method setDisplayKind (line 144) | protected void setDisplayKind(DisplayKind displayKind)
method doAutoDisplay (line 150) | protected void doAutoDisplay()
method displayPattern (line 159) | protected void displayPattern()
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorAdafruitRGB.java
class SensorAdafruitRGB (line 70) | @TeleOp(name = "Sensor: AdafruitRGB", group = "Sensor")
method runOpMode (line 81) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java
class SensorBNO055IMU (line 57) | @TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor")
method runOpMode (line 76) | @Override public void runOpMode() {
method composeTelemetry (line 114) | void composeTelemetry() {
method formatAngle (line 177) | String formatAngle(AngleUnit angleUnit, double angle) {
method formatDegrees (line 181) | String formatDegrees(double degrees){
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java
class SensorBNO055IMUCalibration (line 101) | @TeleOp(name = "Sensor: BNO055 IMU Calibration", group = "Sensor")
method runOpMode (line 119) | @Override public void runOpMode() {
method composeTelemetry (line 178) | void composeTelemetry() {
method formatAngle (line 225) | String formatAngle(AngleUnit angleUnit, double angle) {
method formatDegrees (line 229) | String formatDegrees(double degrees){
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorColor.java
class SensorColor (line 54) | @TeleOp(name = "Sensor: Color", group = "Sensor")
method runOpMode (line 75) | @Override public void runOpMode() throws InterruptedException {
method runSample (line 97) | protected void runSample() throws InterruptedException {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDIO.java
class SensorDIO (line 56) | @TeleOp(name = "Sensor: DIM DIO", group = "Sensor")
method runOpMode (line 63) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDigitalTouch.java
class SensorDigitalTouch (line 46) | @TeleOp(name = "Sensor: Digital touch", group = "Sensor")
method runOpMode (line 61) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorKLNavxMicro.java
class SensorKLNavxMicro (line 53) | @TeleOp(name = "Sensor: KL navX Micro", group = "Sensor")
method runOpMode (line 70) | @Override public void runOpMode() throws InterruptedException {
method formatRate (line 118) | String formatRate(float rate) {
method formatAngle (line 122) | String formatAngle(AngleUnit angleUnit, double angle) {
method formatDegrees (line 126) | String formatDegrees(double degrees){
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRColor.java
class SensorMRColor (line 54) | @TeleOp(name = "Sensor: MR Color", group = "Sensor")
method runOpMode (line 61) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRCompass.java
class SensorMRCompass (line 52) | @TeleOp(name = "Sensor: MR compass", group = "Sensor")
method runOpMode (line 59) | @Override public void runOpMode() {
method doTelemetry (line 119) | protected void doTelemetry() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRGyro.java
class SensorMRGyro (line 54) | @TeleOp(name = "Sensor: MR Gyro", group = "Sensor")
method runOpMode (line 71) | @Override
method formatRaw (line 150) | String formatRaw(int rawValue) {
method formatRate (line 154) | String formatRate(float rate) {
method formatFloat (line 158) | String formatFloat(float rate) {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRIrSeeker.java
class SensorMRIrSeeker (line 51) | @TeleOp(name = "Sensor: MR IR Seeker", group = "Sensor")
method runOpMode (line 55) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMROpticalDistance.java
class SensorMROpticalDistance (line 45) | @TeleOp(name = "Sensor: MR ODS", group = "Sensor")
method runOpMode (line 51) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRRangeSensor.java
class SensorMRRangeSensor (line 50) | @TeleOp(name = "Sensor: MR range sensor", group = "Sensor")
method runOpMode (line 56) | @Override public void runOpMode() {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorREV2mDistance.java
class SensorREV2mDistance (line 54) | @TeleOp(name = "Sensor: REV2mDistance", group = "Sensor")
method runOpMode (line 60) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorREVColorDistance.java
class SensorREVColorDistance (line 55) | @TeleOp(name = "Sensor: REVColorDistance", group = "Sensor")
method runOpMode (line 91) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java
class FtcOpModeRegister (line 43) | public class FtcOpModeRegister implements OpModeRegister {
method register (line 64) | public void register(OpModeManager manager) {
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java
class FtcRobotControllerActivity (line 129) | @SuppressWarnings("WeakerAccess")
method getTag (line 133) | public String getTag() { return TAG; }
class RobotRestarter (line 177) | protected class RobotRestarter implements Restarter {
method requestRestart (line 179) | public void requestRestart() {
method onServiceConnected (line 187) | @Override
method onServiceDisconnected (line 193) | @Override
method onNewIntent (line 200) | @Override
method passReceivedUsbAttachmentsToEventLoop (line 219) | protected void passReceivedUsbAttachmentsToEventLoop() {
method enforcePermissionValidator (line 242) | protected boolean enforcePermissionValidator() {
method setPermissionsValidated (line 255) | public static void setPermissionsValidated() {
method onCreate (line 259) | @Override
method createUpdateUI (line 384) | protected UpdateUI createUpdateUI() {
method createUICallback (line 392) | protected UpdateUI.Callback createUICallback(UpdateUI updateUI) {
method onStart (line 398) | @Override
method onResume (line 423) | @Override
method onPause (line 429) | @Override
method onStop (line 435) | @Override
method onDestroy (line 443) | @Override
method bindToService (line 463) | protected void bindToService() {
method unbindFromService (line 470) | protected void unbindFromService() {
method logPackageVersions (line 477) | protected void logPackageVersions() {
method logDeviceSerialNumber (line 486) | protected void logDeviceSerialNumber() {
method readNetworkType (line 490) | protected void readNetworkType() {
method onWindowFocusChanged (line 513) | @Override
method onCreateOptionsMenu (line 523) | @Override
method isRobotRunning (line 529) | private boolean isRobotRunning() {
method onOptionsItemSelected (line 549) | @Override
method onConfigurationChanged (line 615) | @Override
method updateMonitorLayout (line 626) | private void updateMonitorLayout(Configuration configuration) {
method onActivityResult (line 646) | @Override
method onServiceBind (line 660) | public void onServiceBind(final FtcRobotControllerService service) {
method updateUIAndRequestRobotSetup (line 680) | private void updateUIAndRequestRobotSetup() {
method requestRobotSetup (line 695) | private void requestRobotSetup(@Nullable Runnable runOnComplete) {
method createOpModeRegister (line 719) | protected OpModeRegister createOpModeRegister() {
method shutdownRobot (line 723) | private void shutdownRobot() {
method requestRobotRestart (line 727) | private void requestRobotRestart() {
method showRestartRobotCompleteToast (line 740) | private void showRestartRobotCompleteToast(@StringRes int resid) {
method checkPreferredChannel (line 744) | private void checkPreferredChannel() {
method hittingMenuButtonBrightensScreen (line 762) | protected void hittingMenuButtonBrightensScreen() {
class SharedPreferencesListener (line 776) | protected class SharedPreferencesListener implements SharedPreferences...
method onSharedPreferenceChanged (line 777) | @Override public void onSharedPreferenceChanged(SharedPreferences sh...
method initWifiMute (line 790) | protected void initWifiMute(boolean enable) {
method onUserInteraction (line 814) | @Override
FILE: FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/PermissionValidatorWrapper.java
class PermissionValidatorWrapper (line 43) | public class PermissionValidatorWrapper extends PermissionValidatorActiv...
method mapPermissionToExplanation (line 61) | public String mapPermissionToExplanation(final String permission) {
method onCreate (line 78) | @Override
method onStartApplication (line 86) | protected Class onStartApplication()
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{
"path": ".github/CONTRIBUTING.md",
"chars": 5612,
"preview": "# Contributing to the FTC SDK\n\nThe following is a set of guidelines for contributing the FIRST FTC SDK. The FTC Technol"
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"path": ".github/PULL_REQUEST_TEMPLATE.md",
"chars": 65,
"preview": "Before issuing a pull request, please see the contributing page.\n"
},
{
"path": ".gitignore",
"chars": 273,
"preview": "# built application files\n*.apk\n*.ap_\n\n# Java class files\n*.class\n\n# generated files\nbin/\ngen/\n\n# Local configuration fi"
},
{
"path": "FtcRobotController/LICENSE",
"chars": 2094,
"preview": "License information\n\n================================================================================\nFtcDriverStation, "
},
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"path": "FtcRobotController/build.gradle",
"chars": 684,
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"chars": 530,
"preview": "dependencies {\n implementation 'org.firstinspires.ftc:Inspection:5.5'\n implementation 'org.firstinspires.ftc:Block"
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"path": "FtcRobotController/src/main/AndroidManifest.xml",
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"path": "FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/readme.md",
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"preview": "\n## Caution\nNo Team-specific code should be placed or modified in this ``.../samples`` folder.\n\nFull or partial Samples "
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"path": "doc/legal/Exhibit A - LEGO Open Source License Agreement.txt",
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"preview": "#Fri Jul 24 14:30:03 PDT 2020\ndistributionBase=GRADLE_USER_HOME\ndistributionPath=wrapper/dists\nzipStoreBase=GRADLE_USER_"
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"path": "settings.gradle",
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}
]
// ... and 10 more files (download for full content)
About this extraction
This page contains the full source code of the FIRST-Tech-Challenge/SkyStone GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 104 files (18.8 MB), approximately 128.3k tokens, and a symbol index with 210 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.