From 48019d026b0630b52ee70137994508361e6ea084 Mon Sep 17 00:00:00 2001 From: Cal Kestis Date: Mon, 1 Jul 2024 09:44:53 -0700 Subject: [PATCH] FtcRobotController v9.2 --- .../src/main/AndroidManifest.xml | 4 +- .../samples/ConceptAprilTagMultiPortal.java | 104 +++ .../external/samples/ConceptDoubleVision.java | 202 ----- .../ConceptTensorFlowObjectDetection.java | 199 ----- .../ConceptTensorFlowObjectDetectionEasy.java | 142 --- ...rFlowObjectDetectionSwitchableCameras.java | 186 ---- .../external/samples/SensorOctoQuad.java | 141 +++ .../external/samples/SensorOctoQuadAdv.java | 278 ++++++ .../external/samples/SensorSparkFunOTOS.java | 156 ++++ .../samples/UtilityOctoQuadConfigMenu.java | 812 ++++++++++++++++++ .../external/samples/sample_conventions.md | 5 + .../internal/FtcOpModeRegister.java | 4 +- README.md | 24 + build.dependencies.gradle | 18 +- gradle.properties | 4 +- 15 files changed, 1534 insertions(+), 745 deletions(-) create mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagMultiPortal.java delete mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDoubleVision.java delete mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java delete mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionEasy.java delete mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java create mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuad.java create mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuadAdv.java create mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorSparkFunOTOS.java create mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/UtilityOctoQuadConfigMenu.java diff --git a/FtcRobotController/src/main/AndroidManifest.xml b/FtcRobotController/src/main/AndroidManifest.xml index 24ef7b24c749..b5a63b1f85bd 100644 --- a/FtcRobotController/src/main/AndroidManifest.xml +++ b/FtcRobotController/src/main/AndroidManifest.xml @@ -1,8 +1,8 @@ + android:versionCode="54" + android:versionName="9.2"> diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagMultiPortal.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagMultiPortal.java new file mode 100644 index 000000000000..da5cc3ed79a2 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagMultiPortal.java @@ -0,0 +1,104 @@ +/* Copyright (c) 2024 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.hardware.camera.BuiltinCameraDirection; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.vision.VisionPortal; +import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; + +/** + * This OpMode demonstrates the basics of using multiple vision portals simultaneously + */ +@TeleOp(name = "Concept: AprilTagMultiPortal", group = "Concept") +@Disabled +public class ConceptAprilTagMultiPortal extends LinearOpMode +{ + VisionPortal portal1; + VisionPortal portal2; + + AprilTagProcessor aprilTagProcessor1; + AprilTagProcessor aprilTagProcessor2; + + @Override + public void runOpMode() throws InterruptedException + { + // Because we want to show two camera feeds simultaneously, we need to inform + // the SDK that we want it to split the camera monitor area into two smaller + // areas for us. It will then give us View IDs which we can pass to the individual + // vision portals to allow them to properly hook into the UI in tandem. + int[] viewIds = VisionPortal.makeMultiPortalView(2, VisionPortal.MultiPortalLayout.VERTICAL); + + // We extract the two view IDs from the array to make our lives a little easier later. + // NB: the array is 2 long because we asked for 2 portals up above. + int portal1ViewId = viewIds[0]; + int portal2ViewId = viewIds[1]; + + // If we want to run AprilTag detection on two portals simultaneously, + // we need to create two distinct instances of the AprilTag processor, + // one for each portal. If you want to see more detail about different + // options that you have when creating these processors, go check out + // the ConceptAprilTag OpMode. + aprilTagProcessor1 = AprilTagProcessor.easyCreateWithDefaults(); + aprilTagProcessor2 = AprilTagProcessor.easyCreateWithDefaults(); + + // Now we build both portals. The CRITICAL thing to notice here is the call to + // setLiveViewContainerId(), where we pass in the IDs we received earlier from + // makeMultiPortalView(). + portal1 = new VisionPortal.Builder() + .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) + .setLiveViewContainerId(portal1ViewId) + .addProcessor(aprilTagProcessor1) + .build(); + portal2 = new VisionPortal.Builder() + .setCamera(hardwareMap.get(WebcamName.class, "Webcam 2")) + .setLiveViewContainerId(portal2ViewId) + .addProcessor(aprilTagProcessor2) + .build(); + + waitForStart(); + + // Main Loop + while (opModeIsActive()) + { + // Just show some basic telemetry to demonstrate both processors are working in parallel + // on their respective cameras. If you want to see more detail about the information you + // can get back from the processor, you should look at ConceptAprilTag. + telemetry.addData("Number of tags in Camera 1", aprilTagProcessor1.getDetections().size()); + telemetry.addData("Number of tags in Camera 2", aprilTagProcessor2.getDetections().size()); + telemetry.update(); + sleep(20); + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDoubleVision.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDoubleVision.java deleted file mode 100644 index 1d50049c09c3..000000000000 --- a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDoubleVision.java +++ /dev/null @@ -1,202 +0,0 @@ -/* Copyright (c) 2023 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.hardware.camera.BuiltinCameraDirection; -import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; -import org.firstinspires.ftc.robotcore.external.tfod.Recognition; -import org.firstinspires.ftc.vision.VisionPortal; -import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; -import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; -import org.firstinspires.ftc.vision.tfod.TfodProcessor; - -import java.util.List; - -/* - * This OpMode illustrates the basics of using both AprilTag recognition and TensorFlow - * Object Detection. - * - * 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: Double Vision", group = "Concept") -@Disabled -public class ConceptDoubleVision extends LinearOpMode { - private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera - - /** - * The variable to store our instance of the AprilTag processor. - */ - private AprilTagProcessor aprilTag; - - /** - * The variable to store our instance of the TensorFlow Object Detection processor. - */ - private TfodProcessor tfod; - - /** - * The variable to store our instance of the vision portal. - */ - private VisionPortal myVisionPortal; - - @Override - public void runOpMode() { - initDoubleVision(); - - // This OpMode loops continuously, allowing the user to switch between - // AprilTag and TensorFlow Object Detection (TFOD) image processors. - while (!isStopRequested()) { - - if (opModeInInit()) { - telemetry.addData("DS preview on/off","3 dots, Camera Stream"); - telemetry.addLine(); - telemetry.addLine("----------------------------------------"); - } - - if (myVisionPortal.getProcessorEnabled(aprilTag)) { - // User instructions: Dpad left or Dpad right. - telemetry.addLine("Dpad Left to disable AprilTag"); - telemetry.addLine(); - telemetryAprilTag(); - } else { - telemetry.addLine("Dpad Right to enable AprilTag"); - } - telemetry.addLine(); - telemetry.addLine("----------------------------------------"); - if (myVisionPortal.getProcessorEnabled(tfod)) { - telemetry.addLine("Dpad Down to disable TFOD"); - telemetry.addLine(); - telemetryTfod(); - } else { - telemetry.addLine("Dpad Up to enable TFOD"); - } - - // Push telemetry to the Driver Station. - telemetry.update(); - - if (gamepad1.dpad_left) { - myVisionPortal.setProcessorEnabled(aprilTag, false); - } else if (gamepad1.dpad_right) { - myVisionPortal.setProcessorEnabled(aprilTag, true); - } - if (gamepad1.dpad_down) { - myVisionPortal.setProcessorEnabled(tfod, false); - } else if (gamepad1.dpad_up) { - myVisionPortal.setProcessorEnabled(tfod, true); - } - - sleep(20); - - } // end while loop - - } // end method runOpMode() - - - /** - * Initialize AprilTag and TFOD. - */ - private void initDoubleVision() { - // ----------------------------------------------------------------------------------------- - // AprilTag Configuration - // ----------------------------------------------------------------------------------------- - - aprilTag = new AprilTagProcessor.Builder() - .build(); - - // ----------------------------------------------------------------------------------------- - // TFOD Configuration - // ----------------------------------------------------------------------------------------- - - tfod = new TfodProcessor.Builder() - .build(); - - // ----------------------------------------------------------------------------------------- - // Camera Configuration - // ----------------------------------------------------------------------------------------- - - if (USE_WEBCAM) { - myVisionPortal = new VisionPortal.Builder() - .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) - .addProcessors(tfod, aprilTag) - .build(); - } else { - myVisionPortal = new VisionPortal.Builder() - .setCamera(BuiltinCameraDirection.BACK) - .addProcessors(tfod, aprilTag) - .build(); - } - } // end initDoubleVision() - - /** - * Add telemetry about AprilTag detections. - */ - private void telemetryAprilTag() { - List currentDetections = aprilTag.getDetections(); - telemetry.addData("# AprilTags Detected", currentDetections.size()); - - // Step through the list of detections and display info for each one. - for (AprilTagDetection detection : currentDetections) { - if (detection.metadata != null) { - telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name)); - telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z)); - telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw)); - telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation)); - } else { - telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id)); - telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y)); - } - } // end for() loop - - } // end method telemetryAprilTag() - - /** - * Add telemetry about TensorFlow Object Detection (TFOD) recognitions. - */ - private void telemetryTfod() { - List currentRecognitions = tfod.getRecognitions(); - telemetry.addData("# Objects Detected", currentRecognitions.size()); - - // Step through the list of recognitions and display info for each one. - for (Recognition recognition : currentRecognitions) { - double x = (recognition.getLeft() + recognition.getRight()) / 2 ; - double y = (recognition.getTop() + recognition.getBottom()) / 2 ; - - telemetry.addData(""," "); - telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100); - telemetry.addData("- Position", "%.0f / %.0f", x, y); - telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight()); - } // end for() loop - - } // end method telemetryTfod() - -} // end class diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java deleted file mode 100644 index f8e36885072c..000000000000 --- a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java +++ /dev/null @@ -1,199 +0,0 @@ -/* 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 android.util.Size; -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.hardware.camera.BuiltinCameraDirection; -import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; -import org.firstinspires.ftc.robotcore.external.tfod.Recognition; -import org.firstinspires.ftc.vision.VisionPortal; -import org.firstinspires.ftc.vision.tfod.TfodProcessor; - -import java.util.List; - -/* - * This OpMode illustrates the basics of TensorFlow Object Detection, - * including Java Builder structures for specifying Vision parameters. - * - * 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: TensorFlow Object Detection", group = "Concept") -@Disabled -public class ConceptTensorFlowObjectDetection extends LinearOpMode { - - private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera - - // TFOD_MODEL_ASSET points to a model file stored in the project Asset location, - // this is only used for Android Studio when using models in Assets. - private static final String TFOD_MODEL_ASSET = "MyModelStoredAsAsset.tflite"; - // TFOD_MODEL_FILE points to a model file stored onboard the Robot Controller's storage, - // this is used when uploading models directly to the RC using the model upload interface. - private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/myCustomModel.tflite"; - // Define the labels recognized in the model for TFOD (must be in training order!) - private static final String[] LABELS = { - "Pixel", - }; - - /** - * The variable to store our instance of the TensorFlow Object Detection processor. - */ - private TfodProcessor tfod; - - /** - * The variable to store our instance of the vision portal. - */ - private VisionPortal visionPortal; - - @Override - public void runOpMode() { - - initTfod(); - - // Wait for the DS start button to be touched. - telemetry.addData("DS preview on/off", "3 dots, Camera Stream"); - telemetry.addData(">", "Touch Play to start OpMode"); - telemetry.update(); - waitForStart(); - - if (opModeIsActive()) { - while (opModeIsActive()) { - - telemetryTfod(); - - // Push telemetry to the Driver Station. - telemetry.update(); - - // Save CPU resources; can resume streaming when needed. - if (gamepad1.dpad_down) { - visionPortal.stopStreaming(); - } else if (gamepad1.dpad_up) { - visionPortal.resumeStreaming(); - } - - // Share the CPU. - sleep(20); - } - } - - // Save more CPU resources when camera is no longer needed. - visionPortal.close(); - - } // end runOpMode() - - /** - * Initialize the TensorFlow Object Detection processor. - */ - private void initTfod() { - - // Create the TensorFlow processor by using a builder. - tfod = new TfodProcessor.Builder() - - // With the following lines commented out, the default TfodProcessor Builder - // will load the default model for the season. To define a custom model to load, - // choose one of the following: - // Use setModelAssetName() if the custom TF Model is built in as an asset (AS only). - // Use setModelFileName() if you have downloaded a custom team model to the Robot Controller. - //.setModelAssetName(TFOD_MODEL_ASSET) - //.setModelFileName(TFOD_MODEL_FILE) - - // The following default settings are available to un-comment and edit as needed to - // set parameters for custom models. - //.setModelLabels(LABELS) - //.setIsModelTensorFlow2(true) - //.setIsModelQuantized(true) - //.setModelInputSize(300) - //.setModelAspectRatio(16.0 / 9.0) - - .build(); - - // Create the vision portal by using a builder. - VisionPortal.Builder builder = new VisionPortal.Builder(); - - // Set the camera (webcam vs. built-in RC phone camera). - if (USE_WEBCAM) { - builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")); - } else { - builder.setCamera(BuiltinCameraDirection.BACK); - } - - // Choose a camera resolution. Not all cameras support all resolutions. - //builder.setCameraResolution(new Size(640, 480)); - - // Enable the RC preview (LiveView). Set "false" to omit camera monitoring. - //builder.enableLiveView(true); - - // Set the stream format; MJPEG uses less bandwidth than default YUY2. - //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2); - - // Choose whether or not LiveView stops if no processors are enabled. - // If set "true", monitor shows solid orange screen if no processors enabled. - // If set "false", monitor shows camera view without annotations. - //builder.setAutoStopLiveView(false); - - // Set and enable the processor. - builder.addProcessor(tfod); - - // Build the Vision Portal, using the above settings. - visionPortal = builder.build(); - - // Set confidence threshold for TFOD recognitions, at any time. - //tfod.setMinResultConfidence(0.75f); - - // Disable or re-enable the TFOD processor at any time. - //visionPortal.setProcessorEnabled(tfod, true); - - } // end method initTfod() - - /** - * Add telemetry about TensorFlow Object Detection (TFOD) recognitions. - */ - private void telemetryTfod() { - - List currentRecognitions = tfod.getRecognitions(); - telemetry.addData("# Objects Detected", currentRecognitions.size()); - - // Step through the list of recognitions and display info for each one. - for (Recognition recognition : currentRecognitions) { - double x = (recognition.getLeft() + recognition.getRight()) / 2 ; - double y = (recognition.getTop() + recognition.getBottom()) / 2 ; - - telemetry.addData(""," "); - telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100); - telemetry.addData("- Position", "%.0f / %.0f", x, y); - telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight()); - } // end for() loop - - } // end method telemetryTfod() - -} // end class diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionEasy.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionEasy.java deleted file mode 100644 index 5c1b712059e0..000000000000 --- a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionEasy.java +++ /dev/null @@ -1,142 +0,0 @@ -/* 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.hardware.camera.BuiltinCameraDirection; -import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; -import org.firstinspires.ftc.robotcore.external.tfod.Recognition; -import org.firstinspires.ftc.vision.VisionPortal; -import org.firstinspires.ftc.vision.tfod.TfodProcessor; - -import java.util.List; - -/* - * This OpMode illustrates the basics of TensorFlow Object Detection, using - * the easiest way. - * - * 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: TensorFlow Object Detection Easy", group = "Concept") -@Disabled -public class ConceptTensorFlowObjectDetectionEasy extends LinearOpMode { - - private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera - - /** - * The variable to store our instance of the TensorFlow Object Detection processor. - */ - private TfodProcessor tfod; - - /** - * The variable to store our instance of the vision portal. - */ - private VisionPortal visionPortal; - - @Override - public void runOpMode() { - - initTfod(); - - // Wait for the DS start button to be touched. - telemetry.addData("DS preview on/off", "3 dots, Camera Stream"); - telemetry.addData(">", "Touch Play to start OpMode"); - telemetry.update(); - waitForStart(); - - if (opModeIsActive()) { - while (opModeIsActive()) { - - telemetryTfod(); - - // Push telemetry to the Driver Station. - telemetry.update(); - - // Save CPU resources; can resume streaming when needed. - if (gamepad1.dpad_down) { - visionPortal.stopStreaming(); - } else if (gamepad1.dpad_up) { - visionPortal.resumeStreaming(); - } - - // Share the CPU. - sleep(20); - } - } - - // Save more CPU resources when camera is no longer needed. - visionPortal.close(); - - } // end runOpMode() - - /** - * Initialize the TensorFlow Object Detection processor. - */ - private void initTfod() { - - // Create the TensorFlow processor the easy way. - tfod = TfodProcessor.easyCreateWithDefaults(); - - // Create the vision portal the easy way. - if (USE_WEBCAM) { - visionPortal = VisionPortal.easyCreateWithDefaults( - hardwareMap.get(WebcamName.class, "Webcam 1"), tfod); - } else { - visionPortal = VisionPortal.easyCreateWithDefaults( - BuiltinCameraDirection.BACK, tfod); - } - - } // end method initTfod() - - /** - * Add telemetry about TensorFlow Object Detection (TFOD) recognitions. - */ - private void telemetryTfod() { - - List currentRecognitions = tfod.getRecognitions(); - telemetry.addData("# Objects Detected", currentRecognitions.size()); - - // Step through the list of recognitions and display info for each one. - for (Recognition recognition : currentRecognitions) { - double x = (recognition.getLeft() + recognition.getRight()) / 2 ; - double y = (recognition.getTop() + recognition.getBottom()) / 2 ; - - telemetry.addData(""," "); - telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100); - telemetry.addData("- Position", "%.0f / %.0f", x, y); - telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight()); - } // end for() loop - - } // end method telemetryTfod() - -} // end class diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java deleted file mode 100644 index 1c0ed774fbba..000000000000 --- a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java +++ /dev/null @@ -1,186 +0,0 @@ -/* 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 org.firstinspires.ftc.robotcore.external.ClassFactory; -import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName; -import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; -import org.firstinspires.ftc.robotcore.external.tfod.Recognition; -import org.firstinspires.ftc.vision.VisionPortal; -import org.firstinspires.ftc.vision.VisionPortal.CameraState; -import org.firstinspires.ftc.vision.tfod.TfodProcessor; - -import java.util.List; - -/* - * This OpMode illustrates the basics of TensorFlow Object Detection, using - * two webcams. - * - * 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: TensorFlow Object Detection Switchable Cameras", group = "Concept") -@Disabled -public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode { - - /** - * Variables used for switching cameras. - */ - private WebcamName webcam1, webcam2; - private boolean oldLeftBumper; - private boolean oldRightBumper; - - /** - * The variable to store our instance of the TensorFlow Object Detection processor. - */ - private TfodProcessor tfod; - - /** - * The variable to store our instance of the vision portal. - */ - private VisionPortal visionPortal; - - @Override - public void runOpMode() { - - initTfod(); - - // Wait for the DS start button to be touched. - telemetry.addData("DS preview on/off", "3 dots, Camera Stream"); - telemetry.addData(">", "Touch Play to start OpMode"); - telemetry.update(); - waitForStart(); - - if (opModeIsActive()) { - while (opModeIsActive()) { - - telemetryCameraSwitching(); - telemetryTfod(); - - // Push telemetry to the Driver Station. - telemetry.update(); - - // Save CPU resources; can resume streaming when needed. - if (gamepad1.dpad_down) { - visionPortal.stopStreaming(); - } else if (gamepad1.dpad_up) { - visionPortal.resumeStreaming(); - } - - doCameraSwitching(); - - // Share the CPU. - sleep(20); - } - } - - // Save more CPU resources when camera is no longer needed. - visionPortal.close(); - - } // end runOpMode() - - /** - * Initialize the TensorFlow Object Detection processor. - */ - private void initTfod() { - - // Create the TensorFlow processor by using a builder. - tfod = new TfodProcessor.Builder().build(); - - webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1"); - webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2"); - CameraName switchableCamera = ClassFactory.getInstance() - .getCameraManager().nameForSwitchableCamera(webcam1, webcam2); - - // Create the vision portal by using a builder. - visionPortal = new VisionPortal.Builder() - .setCamera(switchableCamera) - .addProcessor(tfod) - .build(); - - } // end method initTfod() - - /** - * Add telemetry about camera switching. - */ - private void telemetryCameraSwitching() { - if (visionPortal.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"); - } - } // end method telemetryCameraSwitching() - - /** - * Add telemetry about TensorFlow Object Detection (TFOD) recognitions. - */ - private void telemetryTfod() { - - List currentRecognitions = tfod.getRecognitions(); - telemetry.addData("# Objects Detected", currentRecognitions.size()); - - // Step through the list of recognitions and display info for each one. - for (Recognition recognition : currentRecognitions) { - double x = (recognition.getLeft() + recognition.getRight()) / 2 ; - double y = (recognition.getTop() + recognition.getBottom()) / 2 ; - - telemetry.addData(""," "); - telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100); - telemetry.addData("- Position", "%.0f / %.0f", x, y); - telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight()); - } // end for() loop - - } // end method telemetryTfod() - - /** - * Set the active camera according to input from the gamepad. - */ - private void doCameraSwitching() { - if (visionPortal.getCameraState() == CameraState.STREAMING) { - // 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) { - visionPortal.setActiveCamera(webcam1); - } else if (newRightBumper && !oldRightBumper) { - visionPortal.setActiveCamera(webcam2); - } - oldLeftBumper = newLeftBumper; - oldRightBumper = newRightBumper; - } - } // end method doCameraSwitching() - -} // end class diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuad.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuad.java new file mode 100644 index 000000000000..71adee00e394 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuad.java @@ -0,0 +1,141 @@ +/* + * Copyright (c) 2024 DigitalChickenLabs + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.digitalchickenlabs.OctoQuad; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import org.firstinspires.ftc.robotcore.external.Telemetry; + +/* + * This OpMode illustrates how to use the DigitalChickenLabs OctoQuad Quadrature Encoder & Pulse Width Interface Module + * + * The OctoQuad has 8 input channels that can used to read either Relative Quadrature Encoders or Pulse-Width Absolute Encoder inputs. + * Relative Quadrature encoders are found on most FTC motors, and some stand-alone position sensors like the REV Thru-Bore encoder. + * Pulse-Width encoders are less common. The REV Thru-Bore encoder can provide its absolute position via a variable pulse width, + * as can several sonar rangefinders such as the MaxBotix MB1000 series. + * + * This basic sample shows how an OctoQuad can be used to read the position three Odometry pods fitted + * with REV Thru-Bore encoders. For a more advanced example showing additional OctoQuad capabilities, see the SensorOctoQuadAdv sample. + * + * This OpMode assumes that the OctoQuad is attached to an I2C interface named "octoquad" in the robot configuration. + * + * The code assumes the first three OctoQuad inputs are connected as follows + * - Chan 0: for measuring forward motion on the left side of the robot. + * - Chan 1: for measuring forward motion on the right side of the robot. + * - Chan 2: for measuring Lateral (strafing) motion. + * + * The encoder values may be reset to zero by pressing the X (left most) button on Gamepad 1. + * + * This sample does not show how to interpret these readings, just how to obtain and display them. + * + * 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 + * + * See the sensor's product page: https://www.tindie.com/products/digitalchickenlabs/octoquad-8ch-quadrature-pulse-width-decoder/ + */ +@TeleOp(name = "OctoQuad Basic", group="OctoQuad") +@Disabled +public class SensorOctoQuad extends LinearOpMode { + + // Identify which encoder OctoQuad inputs are connected to each odometry pod. + private final int ODO_LEFT = 0; // Facing forward direction on left side of robot (Axial motion) + private final int ODO_RIGHT = 1; // Facing forward direction on right side or robot (Axial motion ) + private final int ODO_PERP = 2; // Facing perpendicular direction at the center of the robot (Lateral motion) + + // Declare the OctoQuad object and members to store encoder positions and velocities + private OctoQuad octoquad; + + private int posLeft; + private int posRight; + private int posPerp; + + /** + * This function is executed when this OpMode is selected from the Driver Station. + */ + @Override + public void runOpMode() { + + // Connect to OctoQuad by referring to its name in the Robot Configuration. + octoquad = hardwareMap.get(OctoQuad.class, "octoquad"); + + // Read the Firmware Revision number from the OctoQuad and display it as telemetry. + telemetry.addData("OctoQuad Firmware Version ", octoquad.getFirmwareVersion()); + + // Reverse the count-direction of any encoder that is not what you require. + // Eg: if you push the robot forward and the left encoder counts down, then reverse it so it counts up. + octoquad.setSingleEncoderDirection(ODO_LEFT, OctoQuad.EncoderDirection.REVERSE); + octoquad.setSingleEncoderDirection(ODO_RIGHT, OctoQuad.EncoderDirection.FORWARD); + octoquad.setSingleEncoderDirection(ODO_PERP, OctoQuad.EncoderDirection.FORWARD); + + // Any changes that are made should be saved in FLASH just in case there is a sensor power glitch. + octoquad.saveParametersToFlash(); + + telemetry.addLine("\nPress Play to read encoder values"); + telemetry.update(); + + waitForStart(); + + // Configure the telemetry for optimal display of data. + telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE); + telemetry.setMsTransmissionInterval(50); + + // Set all the encoder inputs to zero + octoquad.resetAllPositions(); + + // Loop while displaying the odometry pod positions. + while (opModeIsActive()) { + telemetry.addData(">", "Press X to Reset Encoders\n"); + + // Check for X button to reset encoders + if (gamepad1.x) { + // Reset the position of all encoders to zero. + octoquad.resetAllPositions(); + } + + // Read all the encoder data. Load into local members + readOdometryPods(); + + // Display the values + telemetry.addData("Left ", "%8d counts", posLeft); + telemetry.addData("Right", "%8d counts", posRight); + telemetry.addData("Perp ", "%8d counts", posPerp); + telemetry.update(); + } + } + + private void readOdometryPods() { + // For best performance, we should only perform ONE transaction with the OctoQuad each cycle. + // Since this example only needs to read positions from a few channels, we could use either + // readPositionRange(idxFirst, idxLast) to get a select number of sequential channels + // or + // readAllPositions() to get all 8 encoder readings + // + // Since both calls take almost the same amount of time, and the actual channels may not end up being sequential, + // we will read all of the encoder positions, and then pick out the ones we need. + int[] positions = octoquad.readAllPositions(); + posLeft = positions[ODO_LEFT]; + posRight = positions[ODO_RIGHT]; + posPerp = positions[ODO_PERP]; + } +} \ No newline at end of file diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuadAdv.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuadAdv.java new file mode 100644 index 000000000000..c87c05a0aa9d --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuadAdv.java @@ -0,0 +1,278 @@ +/* + * Copyright (c) 2024 DigitalChickenLabs + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.digitalchickenlabs.OctoQuad; +import com.qualcomm.hardware.digitalchickenlabs.OctoQuadBase; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.util.ElapsedTime; +import com.qualcomm.robotcore.util.MovingStatistics; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; + + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; + +import java.util.ArrayList; +import java.util.List; + +/* + * This OpMode illustrates how to use advanced features of the DigitalChickenLabs OctoQuad Quadrature Encoder & Pulse Width Interface Module + * + * The OctoQuad has 8 input channels that can used to read either Quadrature Encoder signals (like with most FTC motors) + * or Pulse-Width style Absolute Encoder inputs (eg: REV Through Bore encoder pulse width output). + * + * This OpMode illustrates several of the more advanced features of an OctoQuad, including Pulse Width measurement and velocity measurement. + * For a more basic OpMode just showing how to read encoder inputs, see the SensorOctoQuad sample. + * + * This OpMode assumes that the OctoQuad is attached to an I2C interface named "octoquad" in the robot configuration. + * + * One system that requires a lot of encoder inputs is a Swerve Drive system. + * Such a drive requires two encoders per drive module: one for position & velocity of the Drive motor/wheel, and one for position/angle of the Steering motor. + * The Drive motor usually requires a quadrature encoder, and the Steering motor requires an Absolute encoder. + * This quantity and combination of encoder inputs is a challenge, but a single OctoQuad could be used to read them all. + * + * This sample will configure an OctoQuad for a swerve drive, as follows + * - Configure 4 Relative Quadrature Encoder inputs and 4 Absolute Pulse-Width Encoder inputs + * - Configure a velocity sample interval of 25 mSec + * - Configure a pulse width input range of 1-1024 uSec for a REV Through Bore Encoder's Absolute Pulse output. + * + * An OctoSwerveDrive class will be created to initialize the OctoQuad, and manage the 4 swerve modules. + * An OctoSwerveModule class will be created to configure and read a single swerve module. + * + * Wiring: + * The OctoQuad will be configured to accept Quadrature encoders on the first four channels and Absolute (pulse width) encoders on the last four channels. + * + * The standard 4-pin to 4-pin cable can be used to connect each Driver Motor encoder to the OctoQuad. (channels 0-3) + * + * A modified version of the REV 6-4 pin cable (shipped with the encoder) connects the steering encoder to the OctoQuad. (channels 4-7) + * To connect the Absolute position signal from a REV Thru-Bore encoder to the OctoQuad, the Provided 6-pin to 4-pin cable will need to be modified. + * At the 6-pin connector end, move the yellow wire from its initial pin-3 position to the ABS pin-5 position. This can be done easily + * by using a small flathead screwdriver to lift the small white tab holding the metal wire crimp in place and gently pulling the wire out. + * See the OctoSwerveDrive() constructor below for the correct wheel/channel assignment. + * + * 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 + * + * Note: If you prefer, you can move the two support classes from this file, and place them in their own files. + * But leaving them in place is simpler for this example. + * + * See the sensor's product page: https://www.tindie.com/products/digitalchickenlabs/octoquad-8ch-quadrature-pulse-width-decoder/ + */ +@TeleOp(name="OctoQuad Advanced", group="OctoQuad") +@Disabled +public class SensorOctoQuadAdv extends LinearOpMode { + + @Override + public void runOpMode() throws InterruptedException { + // Connect to the OctoQuad by looking up its name in the hardwareMap. + OctoQuad octoquad = hardwareMap.get(OctoQuad.class, "octoquad"); + + // Create the interface for the Swerve Drive Encoders + OctoSwerveDrive octoSwerveDrive = new OctoSwerveDrive(octoquad); + + // Display the OctoQuad firmware revision + telemetry.addLine("OctoQuad Firmware v" + octoquad.getFirmwareVersion()); + telemetry.addLine("\nPress Play to read encoder values"); + telemetry.update(); + + waitForStart(); + + // Configure the telemetry for optimal display of data. + telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE); + telemetry.setMsTransmissionInterval(50); + + // Run stats to determine cycle times. + MovingStatistics avgTime = new MovingStatistics(100); + ElapsedTime elapsedTime = new ElapsedTime(); + + while (opModeIsActive()) { + telemetry.addData(">", "Press X to Reset Encoders\n"); + + if(gamepad1.x) { + octoquad.resetAllPositions(); + } + + // read all the swerve drive encoders and update positions and velocities. + octoSwerveDrive.updateModules(); + octoSwerveDrive.show(telemetry); + + // Update cycle time stats + avgTime.add(elapsedTime.nanoseconds()); + elapsedTime.reset(); + + telemetry.addData("Loop time", "%.1f mS", avgTime.getMean()/1000000); + telemetry.update(); + } + } +} + +// ============================ Internal (Inner) Classes ============================= + +/*** + * OctoSwerveDrive class manages 4 Swerve Modules + * - Performs general OctoQuad initialization + * - Creates 4 module classes, one for each swerve module + * - Updates swerve drive status by reading all data from OctoQuad and Updating each module + * - Displays all swerve drive data as telemetry + */ +class OctoSwerveDrive { + + private final OctoQuad octoquad; + private final List allModules = new ArrayList<>(); + + // members to hold encoder data for each module. + public final OctoSwerveModule LeftFront; + public final OctoSwerveModule RightFront; + public final OctoSwerveModule LeftBack; + public final OctoSwerveModule RightBack; + + // Prepare an object to hold an entire OctoQuad encoder readable register bank (pos and vel) + private final OctoQuad.EncoderDataBlock encoderDataBlock = new OctoQuad.EncoderDataBlock(); + + public OctoSwerveDrive(OctoQuad octoquad) { + this.octoquad = octoquad; + + // Clear out all prior settings and encoder data before setting up desired configuration + octoquad.resetEverything(); + + // Assume first 4 channels are relative encoders and the next 4 are absolute encoders + octoquad.setChannelBankConfig(OctoQuad.ChannelBankConfig.BANK1_QUADRATURE_BANK2_PULSE_WIDTH); + + // Create the four OctoSwerveModules, and add them to a 'list' for easier reference. + + // Note: The wheel/channel order is set here. Ensure your encoder cables match. + // + // Note: The angleOffset must be set for each module so a forward facing wheel shows a steer angle of 0 degrees. + // The process for determining the correct angleOffsets is as follows: + // 1) Set all the angleValues (below) to zero then build and deploy the code. + // 2) Physically rotate all the swerve drives so the wheels are facing forward in the desired 0 degree position + // 3) Run the OpMode, view the telemetry and record the "Degrees" value for each module. + // 4) Update the code by entering the recorded Degrees value for each module as the angleOffset (last) parameter in the lines below. + // + // Rebuild and deploy the new code. Verify that the telemetry now indicates 0 degrees when the wheels are facing forward. + // Also verify that the correct module values change appropriately when you manually spin (drive) and rotate (steer) a wheel. + + allModules.add(LeftFront = new OctoSwerveModule(octoquad, "LF ",0,0));// Drive = 0, Steer = 4 + allModules.add(RightFront = new OctoSwerveModule(octoquad, "RF ",1,0));// Drive = 1, Steer = 5 + allModules.add(LeftBack = new OctoSwerveModule(octoquad, "LB ",2,0));// Drive = 2, Steer = 6 + allModules.add(RightBack = new OctoSwerveModule(octoquad, "RB ",3,0));// Drive = 3, Steer = 7 + + // now make sure the settings persist through any power glitches. + octoquad.saveParametersToFlash(); + } + + /** + * Updates all 4 swerve modules + */ + public void updateModules() { + // Read full OctoQuad data block and then pass DataBlock to each swerve module to update themselves. + octoquad.readAllEncoderData(encoderDataBlock); + for (OctoSwerveModule module : allModules) { + module.updateModule(encoderDataBlock); + } + } + + /** + * Generate telemetry data for all modules. + * @param telemetry OpMode Telemetry object + */ + public void show(Telemetry telemetry) { + // create general header block and then have each module add its own telemetry + telemetry.addData("pos", " Count CPS Degree DPS"); + for (OctoSwerveModule module : allModules) { + module.show(telemetry); + } + } +} + +/*** + * The OctoSwerveModule class manages a single swerve module + */ +class OctoSwerveModule { + + public double driveCounts; + public double driveCountsPerSec; + public double steerDegrees; + public double steerDegreesPerSec; + + private final String name; + private final int channel; + private final double angleOffset; + private final double steerDirMult; + + private static final int VELOCITY_SAMPLE_INTERVAL_MS = 25; // To provide 40 updates per second. + private static final double DEGREES_PER_US = (360.0 / 1024.0); // based on REV Through Bore Encoder + private static final double VELOCITY_SAMPLES_PER_S = (1000.0 / VELOCITY_SAMPLE_INTERVAL_MS); + + // The correct drive and turn directions must be set for the Swerve Module based on the specific hardware geometry. + // Forward motion must generate an increasing drive count. + // Counter Clockwise steer rotation must generate an increasing Steer Angle (degrees) + private static final boolean INVERT_DRIVE_ENCODER = false; // Set true if forward motion decreases drive "Count" + private static final boolean INVERT_STEER_ENCODER = false; // Set true if counter clockwise steer action decreases steer "Degree" + + /*** + * @param octoquad provide access to configure OctoQuad + * @param name name used for telemetry display + * @param quadChannel Quadrature encoder channel. Pulse Width channel is this + 4 + * @param angleOffset Angle to subtract from absolute encoder to calibrate zero position. (see comments above) + */ + public OctoSwerveModule (OctoQuad octoquad, String name, int quadChannel, double angleOffset) { + this.name = name; + this.channel = quadChannel; + this.angleOffset = angleOffset; + this.steerDirMult = INVERT_STEER_ENCODER ? -1 : 1 ; // create a multiplier to flip the steer angle. + + // Set the drive encoder direction. Note the absolute encoder does not have built-in direction inversion. + octoquad.setSingleEncoderDirection(channel, INVERT_DRIVE_ENCODER ? OctoQuad.EncoderDirection.REVERSE : OctoQuad.EncoderDirection.FORWARD); + + // Set the velocity sample interval on both encoders + octoquad.setSingleVelocitySampleInterval(channel, VELOCITY_SAMPLE_INTERVAL_MS); + octoquad.setSingleVelocitySampleInterval(channel + 4, VELOCITY_SAMPLE_INTERVAL_MS); + + // Setup Absolute encoder pulse range to match REV Through Bore encoder. + octoquad.setSingleChannelPulseWidthParams (channel + 4, new OctoQuad.ChannelPulseWidthParams(1,1024)); + } + + /*** + * Calculate the Swerve module's position and velocity values + * @param encoderDataBlock most recent full data block read from OctoQuad. + */ + public void updateModule(OctoQuad.EncoderDataBlock encoderDataBlock) { + driveCounts = encoderDataBlock.positions[channel]; // get Counts. + driveCountsPerSec = encoderDataBlock.velocities[channel] * VELOCITY_SAMPLES_PER_S; // convert counts/interval to counts/sec + + // convert uS to degrees. Add in any possible direction flip. + steerDegrees = AngleUnit.normalizeDegrees((encoderDataBlock.positions[channel+ 4] * DEGREES_PER_US * steerDirMult) - angleOffset); + // convert uS/interval to deg per sec. Add in any possible direction flip. + steerDegreesPerSec = encoderDataBlock.velocities[channel + 4] * DEGREES_PER_US * steerDirMult * VELOCITY_SAMPLES_PER_S; + } + + /** + * Display the Swerve module's state as telemetry + * @param telemetry OpMode Telemetry object + */ + public void show(Telemetry telemetry) { + telemetry.addData(name, "%8.0f %7.0f %7.0f %6.0f", driveCounts, driveCountsPerSec, steerDegrees, steerDegreesPerSec); + } +} \ No newline at end of file diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorSparkFunOTOS.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorSparkFunOTOS.java new file mode 100644 index 000000000000..3a25230f51b4 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorSparkFunOTOS.java @@ -0,0 +1,156 @@ +/* + SPDX-License-Identifier: MIT + + Copyright (c) 2024 SparkFun Electronics +*/ +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.hardware.sparkfun.SparkFunOTOS; + +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; + +/* + * This OpMode illustrates how to use the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS) + * + * The OpMode assumes that the sensor is configured with a name of "sensor_otos". + * + * 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 + * + * See the sensor's product page: https://www.sparkfun.com/products/24904 + */ +@TeleOp(name = "Sensor: SparkFun OTOS", group = "Sensor") +@Disabled +public class SensorSparkFunOTOS extends LinearOpMode { + // Create an instance of the sensor + SparkFunOTOS myOtos; + + @Override + public void runOpMode() throws InterruptedException { + // Get a reference to the sensor + myOtos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos"); + + // All the configuration for the OTOS is done in this helper method, check it out! + configureOtos(); + + // Wait for the start button to be pressed + waitForStart(); + + // Loop until the OpMode ends + while (opModeIsActive()) { + // Get the latest position, which includes the x and y coordinates, plus the + // heading angle + SparkFunOTOS.Pose2D pos = myOtos.getPosition(); + + // Reset the tracking if the user requests it + if (gamepad1.y) { + myOtos.resetTracking(); + } + + // Re-calibrate the IMU if the user requests it + if (gamepad1.x) { + myOtos.calibrateImu(); + } + + // Inform user of available controls + telemetry.addLine("Press Y (triangle) on Gamepad to reset tracking"); + telemetry.addLine("Press X (square) on Gamepad to calibrate the IMU"); + telemetry.addLine(); + + // Log the position to the telemetry + telemetry.addData("X coordinate", pos.x); + telemetry.addData("Y coordinate", pos.y); + telemetry.addData("Heading angle", pos.h); + + // Update the telemetry on the driver station + telemetry.update(); + } + } + + private void configureOtos() { + telemetry.addLine("Configuring OTOS..."); + telemetry.update(); + + // Set the desired units for linear and angular measurements. Can be either + // meters or inches for linear, and radians or degrees for angular. If not + // set, the default is inches and degrees. Note that this setting is not + // persisted in the sensor, so you need to set at the start of all your + // OpModes if using the non-default value. + // myOtos.setLinearUnit(DistanceUnit.METER); + myOtos.setLinearUnit(DistanceUnit.INCH); + // myOtos.setAngularUnit(AnguleUnit.RADIANS); + myOtos.setAngularUnit(AngleUnit.DEGREES); + + // Assuming you've mounted your sensor to a robot and it's not centered, + // you can specify the offset for the sensor relative to the center of the + // robot. The units default to inches and degrees, but if you want to use + // different units, specify them before setting the offset! Note that as of + // firmware version 1.0, these values will be lost after a power cycle, so + // you will need to set them each time you power up the sensor. For example, if + // the sensor is mounted 5 inches to the left (negative X) and 10 inches + // forward (positive Y) of the center of the robot, and mounted 90 degrees + // clockwise (negative rotation) from the robot's orientation, the offset + // would be {-5, 10, -90}. These can be any value, even the angle can be + // tweaked slightly to compensate for imperfect mounting (eg. 1.3 degrees). + SparkFunOTOS.Pose2D offset = new SparkFunOTOS.Pose2D(0, 0, 0); + myOtos.setOffset(offset); + + // Here we can set the linear and angular scalars, which can compensate for + // scaling issues with the sensor measurements. Note that as of firmware + // version 1.0, these values will be lost after a power cycle, so you will + // need to set them each time you power up the sensor. They can be any value + // from 0.872 to 1.127 in increments of 0.001 (0.1%). It is recommended to + // first set both scalars to 1.0, then calibrate the angular scalar, then + // the linear scalar. To calibrate the angular scalar, spin the robot by + // multiple rotations (eg. 10) to get a precise error, then set the scalar + // to the inverse of the error. Remember that the angle wraps from -180 to + // 180 degrees, so for example, if after 10 rotations counterclockwise + // (positive rotation), the sensor reports -15 degrees, the required scalar + // would be 3600/3585 = 1.004. To calibrate the linear scalar, move the + // robot a known distance and measure the error; do this multiple times at + // multiple speeds to get an average, then set the linear scalar to the + // inverse of the error. For example, if you move the robot 100 inches and + // the sensor reports 103 inches, set the linear scalar to 100/103 = 0.971 + myOtos.setLinearScalar(1.0); + myOtos.setAngularScalar(1.0); + + // The IMU on the OTOS includes a gyroscope and accelerometer, which could + // have an offset. Note that as of firmware version 1.0, the calibration + // will be lost after a power cycle; the OTOS performs a quick calibration + // when it powers up, but it is recommended to perform a more thorough + // calibration at the start of all your OpModes. Note that the sensor must + // be completely stationary and flat during calibration! When calling + // calibrateImu(), you can specify the number of samples to take and whether + // to wait until the calibration is complete. If no parameters are provided, + // it will take 255 samples and wait until done; each sample takes about + // 2.4ms, so about 612ms total + myOtos.calibrateImu(); + + // Reset the tracking algorithm - this resets the position to the origin, + // but can also be used to recover from some rare tracking errors + myOtos.resetTracking(); + + // After resetting the tracking, the OTOS will report that the robot is at + // the origin. If your robot does not start at the origin, or you have + // another source of location information (eg. vision odometry), you can set + // the OTOS location to match and it will continue to track from there. + SparkFunOTOS.Pose2D currentPosition = new SparkFunOTOS.Pose2D(0, 0, 0); + myOtos.setPosition(currentPosition); + + // Get the hardware and firmware version + SparkFunOTOS.Version hwVersion = new SparkFunOTOS.Version(); + SparkFunOTOS.Version fwVersion = new SparkFunOTOS.Version(); + myOtos.getVersionInfo(hwVersion, fwVersion); + + telemetry.addLine("OTOS configured! Press start to get position data!"); + telemetry.addLine(); + telemetry.addLine(String.format("OTOS Hardware Version: v%d.%d", hwVersion.major, hwVersion.minor)); + telemetry.addLine(String.format("OTOS Firmware Version: v%d.%d", fwVersion.major, fwVersion.minor)); + telemetry.update(); + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/UtilityOctoQuadConfigMenu.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/UtilityOctoQuadConfigMenu.java new file mode 100644 index 000000000000..2fd47fb780a6 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/UtilityOctoQuadConfigMenu.java @@ -0,0 +1,812 @@ +/* + * Copyright (c) 2024 DigitalChickenLabs + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.hardware.digitalchickenlabs.OctoQuad; +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.Gamepad; + +import org.firstinspires.ftc.robotcore.external.Telemetry; + +import java.util.ArrayList; +import java.util.Stack; + +/* + * This OpMode illustrates how to use the DigitalChickenLabs OctoQuad Quadrature Encoder & Pulse Width Interface Module. + * + * The OctoQuad has 8 input channels that can used to read either Relative Quadrature Encoders or Pulse-Width Absolute Encoder inputs. + * Relative Quadrature encoders are found on most FTC motors, and some stand-alone position sensors like the REV Thru-Bore encoder. + * Pulse-Width encoders are less common. The REV Thru-Bore encoder can provide its absolute position via a variable pulse width, + * as can several sonar rangefinders such as the MaxBotix MB1000 series. + * + * This OpMode assumes that the OctoQuad is attached to an I2C interface named "octoquad" in the robot configuration. + * + * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list + * + * Select, Init and run the "OctoQuad Configuration Tool" OpMode + * Read the blue User-Interface tips at the top of the telemetry screen. + * Use the UI buttons to navigate the menu and make any desired changes to the OctoQuad configuration. + * Use the Program Settings To FLASH option to make any changes permanent. + * + * See the sensor's product page: https://www.tindie.com/products/digitalchickenlabs/octoquad-8ch-quadrature-pulse-width-decoder/ + */ +@TeleOp(name = "OctoQuad Configuration Tool", group="OctoQuad") +@Disabled +public class UtilityOctoQuadConfigMenu extends LinearOpMode +{ + TelemetryMenu.MenuElement rootMenu = new TelemetryMenu.MenuElement("OctoQuad Config Menu", true); + TelemetryMenu.MenuElement menuHwInfo = new TelemetryMenu.MenuElement("Hardware Information", false); + TelemetryMenu.EnumOption optionI2cResetMode; + TelemetryMenu.EnumOption optionChannelBankConfig; + + TelemetryMenu.MenuElement menuEncoderDirections = new TelemetryMenu.MenuElement("Set Encoder Directions", false); + TelemetryMenu.BooleanOption[] optionsEncoderDirections = new TelemetryMenu.BooleanOption[OctoQuad.NUM_ENCODERS]; + + TelemetryMenu.MenuElement menuVelocityIntervals = new TelemetryMenu.MenuElement("Velocity Measurement Intervals", false); + TelemetryMenu.IntegerOption[] optionsVelocityIntervals = new TelemetryMenu.IntegerOption[OctoQuad.NUM_ENCODERS]; + + TelemetryMenu.MenuElement menuAbsParams = new TelemetryMenu.MenuElement("Abs. Encoder Pulse Width Params", false); + TelemetryMenu.IntegerOption[] optionsAbsParamsMax = new TelemetryMenu.IntegerOption[OctoQuad.NUM_ENCODERS]; + TelemetryMenu.IntegerOption[] optionsAbsParamsMin = new TelemetryMenu.IntegerOption[OctoQuad.NUM_ENCODERS]; + + TelemetryMenu.OptionElement optionProgramToFlash; + TelemetryMenu.OptionElement optionSendToRAM; + + TelemetryMenu.StaticClickableOption optionExit; + + OctoQuad octoquad; + + boolean error = false; + + @Override + public void runOpMode() + { + octoquad = hardwareMap.getAll(OctoQuad.class).get(0); + + if(octoquad.getChipId() != OctoQuad.OCTOQUAD_CHIP_ID) + { + telemetry.addLine("Error: cannot communicate with OctoQuad. Check your wiring and configuration and try again"); + telemetry.update(); + + error = true; + } + else + { + if(octoquad.getFirmwareVersion().maj != OctoQuad.SUPPORTED_FW_VERSION_MAJ) + { + telemetry.addLine("Error: The OctoQuad is running a different major firmware version than this driver was built for. Cannot run configuration tool"); + telemetry.update(); + + error = true; + } + } + + if(error) + { + waitForStart(); + return; + } + + telemetry.addLine("Retrieving current configuration from OctoQuad"); + telemetry.update(); + + optionExit = new TelemetryMenu.StaticClickableOption("Exit configuration menu") + { + @Override + void onClick() // called on OpMode thread + { + requestOpModeStop(); + } + }; + + optionI2cResetMode = new TelemetryMenu.EnumOption("I2C Reset Mode", OctoQuad.I2cRecoveryMode.values(), octoquad.getI2cRecoveryMode()); + optionChannelBankConfig = new TelemetryMenu.EnumOption("Channel Bank Modes", OctoQuad.ChannelBankConfig.values(), octoquad.getChannelBankConfig()); + + menuHwInfo.addChild(new TelemetryMenu.StaticItem("Board Firmware: v" + octoquad.getFirmwareVersion())); + //menuHwInfo.addChild(new TelemetryMenu.StaticItem("Board unique ID: FIXME")); + + for(int i = 0; i < OctoQuad.NUM_ENCODERS; i++) + { + optionsEncoderDirections[i] = new TelemetryMenu.BooleanOption( + String.format("Encoder %d direction", i), + octoquad.getSingleEncoderDirection(i) == OctoQuad.EncoderDirection.REVERSE, + "-", + "+"); + } + menuEncoderDirections.addChildren(optionsEncoderDirections); + + for(int i = 0; i < OctoQuad.NUM_ENCODERS; i++) + { + optionsVelocityIntervals[i] = new TelemetryMenu.IntegerOption( + String.format("Chan %d velocity intvl", i), + OctoQuad.MIN_VELOCITY_MEASUREMENT_INTERVAL_MS, + OctoQuad.MAX_VELOCITY_MEASUREMENT_INTERVAL_MS, + octoquad.getSingleVelocitySampleInterval(i)); + } + menuVelocityIntervals.addChildren(optionsVelocityIntervals); + + for(int i = 0; i < OctoQuad.NUM_ENCODERS; i++) + { + OctoQuad.ChannelPulseWidthParams params = octoquad.getSingleChannelPulseWidthParams(i); + + optionsAbsParamsMax[i] = new TelemetryMenu.IntegerOption( + String.format("Chan %d max pulse length", i), + OctoQuad.MIN_PULSE_WIDTH_US, + OctoQuad.MAX_PULSE_WIDTH_US, + params.max_length_us); + + optionsAbsParamsMin[i] = new TelemetryMenu.IntegerOption( + String.format("Chan %d min pulse length", i), + OctoQuad.MIN_PULSE_WIDTH_US, + OctoQuad.MAX_PULSE_WIDTH_US, + params.min_length_us); + } + menuAbsParams.addChildren(optionsAbsParamsMin); + menuAbsParams.addChildren(optionsAbsParamsMax); + + optionProgramToFlash = new TelemetryMenu.OptionElement() + { + String name = "Program Settings to FLASH"; + long lastClickTime = 0; + + @Override + protected String getDisplayText() + { + if(lastClickTime == 0) + { + return name; + } + else + { + if(System.currentTimeMillis() - lastClickTime < 1000) + { + return name + " **OK**"; + } + else + { + lastClickTime = 0; + return name; + } + } + } + + @Override + void onClick() + { + sendSettingsToRam(); + octoquad.saveParametersToFlash(); + lastClickTime = System.currentTimeMillis(); + } + }; + + optionSendToRAM = new TelemetryMenu.OptionElement() + { + String name = "Send Settings to RAM"; + long lastClickTime = 0; + + @Override + protected String getDisplayText() + { + if(lastClickTime == 0) + { + return name; + } + else + { + if(System.currentTimeMillis() - lastClickTime < 1000) + { + return name + " **OK**"; + } + else + { + lastClickTime = 0; + return name; + } + } + } + + @Override + void onClick() + { + sendSettingsToRam(); + lastClickTime = System.currentTimeMillis(); + } + }; + + rootMenu.addChild(menuHwInfo); + rootMenu.addChild(optionI2cResetMode); + rootMenu.addChild(optionChannelBankConfig); + rootMenu.addChild(menuEncoderDirections); + rootMenu.addChild(menuVelocityIntervals); + rootMenu.addChild(menuAbsParams); + rootMenu.addChild(optionProgramToFlash); + rootMenu.addChild(optionSendToRAM); + rootMenu.addChild(optionExit); + + TelemetryMenu menu = new TelemetryMenu(telemetry, rootMenu); + + while (!isStopRequested()) + { + menu.loop(gamepad1); + telemetry.update(); + sleep(20); + } + } + + void sendSettingsToRam() + { + for(int i = 0; i < OctoQuad.NUM_ENCODERS; i++) + { + octoquad.setSingleEncoderDirection(i, optionsEncoderDirections[i].getValue() ? OctoQuad.EncoderDirection.REVERSE : OctoQuad.EncoderDirection.FORWARD); + octoquad.setSingleVelocitySampleInterval(i, optionsVelocityIntervals[i].getValue()); + + OctoQuad.ChannelPulseWidthParams params = new OctoQuad.ChannelPulseWidthParams(); + params.max_length_us = optionsAbsParamsMax[i].getValue(); + params.min_length_us = optionsAbsParamsMin[i].getValue(); + + octoquad.setSingleChannelPulseWidthParams(i, params); + } + + octoquad.setI2cRecoveryMode((OctoQuad.I2cRecoveryMode) optionI2cResetMode.getValue()); + octoquad.setChannelBankConfig((OctoQuad.ChannelBankConfig) optionChannelBankConfig.getValue()); + } + + /* + * Copyright (c) 2023 OpenFTC Team + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + + public static class TelemetryMenu + { + private final MenuElement root; + private MenuElement currentLevel; + + private boolean dpadUpPrev; + private boolean dpadDnPrev; + private boolean dpadRightPrev; + private boolean dpadLeftPrev; + private boolean xPrev; + private boolean lbPrev; + + private int selectedIdx = 0; + private Stack selectedIdxStack = new Stack<>(); + + private final Telemetry telemetry; + + /** + * TelemetryMenu constructor + * @param telemetry pass in 'telemetry' from your OpMode + * @param root the root menu element + */ + public TelemetryMenu(Telemetry telemetry, MenuElement root) + { + this.root = root; + this.currentLevel = root; + this.telemetry = telemetry; + + telemetry.setDisplayFormat(Telemetry.DisplayFormat.HTML); + telemetry.setMsTransmissionInterval(50); + } + + /** + * Call this from inside your loop to put the current menu state into + * telemetry, and process gamepad inputs for navigating the menu + * @param gamepad the gamepad you want to use to navigate the menu + */ + public void loop(Gamepad gamepad) + { + // Capture current state of the gamepad buttons we care about; + // We can only look once or we risk a race condition + boolean dpadUp = gamepad.dpad_up; + boolean dpadDn = gamepad.dpad_down; + boolean dpadRight = gamepad.dpad_right; + boolean dpadLeft = gamepad.dpad_left; + boolean x = gamepad.x; + boolean lb = gamepad.left_bumper; + + // Figure out who our children our at this level + // and figure out which item is currently highlighted + // with the selection pointer + ArrayList children = currentLevel.children(); + Element currentSelection = children.get(selectedIdx); + + // Left and right are inputs to the selected item (if it's an Option) + if (currentSelection instanceof OptionElement) + { + if (dpadRight && !dpadRightPrev) // rising edge + { + ((OptionElement) currentSelection).onRightInput(); + } + else if (dpadLeft && !dpadLeftPrev) // rising edge + { + ((OptionElement) currentSelection).onLeftInput(); + } + } + + // Up and down navigate the current selection pointer + if (dpadUp && !dpadUpPrev) // rising edge + { + selectedIdx--; // Move selection pointer up + } + else if (dpadDn && !dpadDnPrev) // rising edge + { + selectedIdx++; // Move selection pointer down + } + + // Make selected index sane (don't let it go out of bounds) :eyes: + if (selectedIdx >= children.size()) + { + selectedIdx = children.size()-1; + } + else if (selectedIdx < 0) + { + selectedIdx = 0; + } + + // Select: either enter submenu or input to option + else if (x && !xPrev) // rising edge + { + // Select up element + if (currentSelection instanceof SpecialUpElement) + { + // We can only go up if we're not at the root level + if (currentLevel != root) + { + // Restore selection pointer to where it was before + selectedIdx = selectedIdxStack.pop(); + + // Change to the parent level + currentLevel = currentLevel.parent(); + } + } + // Input to option + else if (currentSelection instanceof OptionElement) + { + ((OptionElement) currentSelection).onClick(); + } + // Enter submenu + else if (currentSelection instanceof MenuElement) + { + // Save our current selection pointer so we can restore it + // later if the user navigates back up a level + selectedIdxStack.push(selectedIdx); + + // We have no idea what's in the submenu :monkey: so best to + // just set the selection pointer to the first element + selectedIdx = 0; + + // Now the current level becomes the submenu that the selection + // pointer was on + currentLevel = (MenuElement) currentSelection; + } + } + + // Go up a level + else if (lb && !lbPrev) + { + // We can only go up if we're not at the root level + if (currentLevel != root) + { + // Restore selection pointer to where it was before + selectedIdx = selectedIdxStack.pop(); + + // Change to the parent level + currentLevel = currentLevel.parent(); + } + } + + // Save the current button states so that we can look for + // the rising edge the next time around the loop :) + dpadUpPrev = dpadUp; + dpadDnPrev = dpadDn; + dpadRightPrev = dpadRight; + dpadLeftPrev = dpadLeft; + xPrev = x; + lbPrev = lb; + + // Start building the text display. + // First, we add the static directions for gamepad operation + StringBuilder builder = new StringBuilder(); + builder.append(""); + builder.append("Navigate items.....dpad up/down\n") + .append("Select.............X\n") + .append("Edit option........dpad left/right\n") + .append("Up one level.......left bumper\n"); + builder.append(""); + builder.append("\n"); + + // Now actually add the menu options. We start by adding the name of the current menu level. + builder.append(""); + builder.append("Current Menu: ").append(currentLevel.name).append("\n"); + + // Now we loop through all the child elements of this level and add them + for (int i = 0; i < children.size(); i++) + { + // If the selection pointer is at this index, put a green dot in the box :) + if (selectedIdx == i) + { + builder.append("[•] "); + } + // Otherwise, just put an empty box + else + { + builder.append("[ ] "); + } + + // Figure out who the selection pointer is pointing at :eyes: + Element e = children.get(i); + + // If it's pointing at a submenu, indicate that it's a submenu to the user + // by prefixing "> " to the name. + if (e instanceof MenuElement) + { + builder.append("> "); + } + + // Finally, add the element's name + builder.append(e.getDisplayText()); + + // We musn't forget the newline + builder.append("\n"); + } + + // Don't forget to close the font tag either + builder.append(""); + + // Build the string!!!! :nerd: + String menu = builder.toString(); + + // Add it to telemetry + telemetry.addLine(menu); + } + + public static class MenuElement extends Element + { + private String name; + private ArrayList children = new ArrayList<>(); + + /** + * Create a new MenuElement; may either be the root menu, or a submenu (set isRoot accordingly) + * @param name the name for this menu + * @param isRoot whether this is a root menu, or a submenu + */ + public MenuElement(String name, boolean isRoot) + { + this.name = name; + + // If it's not the root menu, we add the up one level option as the first element + if (!isRoot) + { + children.add(new SpecialUpElement()); + } + } + + /** + * Add a child element to this menu (may either be an Option or another menu) + * @param child the child element to add + */ + public void addChild(Element child) + { + child.setParent(this); + children.add(child); + } + + /** + * Add multiple child elements to this menu (may either be option, or another menu) + * @param children the children to add + */ + public void addChildren(Element[] children) + { + for (Element e : children) + { + e.setParent(this); + this.children.add(e); + } + } + + @Override + protected String getDisplayText() + { + return name; + } + + private ArrayList children() + { + return children; + } + } + + public static abstract class OptionElement extends Element + { + /** + * Override this to get notified when the element is clicked + */ + void onClick() {} + + /** + * Override this to get notified when the element gets a "left edit" input + */ + protected void onLeftInput() {} + + /** + * Override this to get notified when the element gets a "right edit" input + */ + protected void onRightInput() {} + } + + public static class EnumOption extends OptionElement + { + protected int idx = 0; + protected Enum[] e; + protected String name; + + public EnumOption(String name, Enum[] e) + { + this.e = e; + this.name = name; + } + + public EnumOption(String name, Enum[] e, Enum def) + { + this(name, e); + idx = def.ordinal(); + } + + @Override + public void onLeftInput() + { + idx++; + + if(idx > e.length-1) + { + idx = 0; + } + } + + @Override + public void onRightInput() + { + idx--; + + if(idx < 0) + { + idx = e.length-1; + } + } + + @Override + public void onClick() + { + onRightInput(); + } + + @Override + protected String getDisplayText() + { + return String.format("%s: %s", name, e[idx].name()); + } + + public Enum getValue() + { + return e[idx]; + } + } + + public static class IntegerOption extends OptionElement + { + protected int i; + protected int min; + protected int max; + protected String name; + + public IntegerOption(String name, int min, int max, int def) + { + this.name = name; + this.min = min; + this.max = max; + this.i = def; + } + + @Override + public void onLeftInput() + { + i--; + + if(i < min) + { + i = max; + } + } + + @Override + public void onRightInput() + { + i++; + + if(i > max) + { + i = min; + } + } + + @Override + public void onClick() + { + onRightInput(); + } + + @Override + protected String getDisplayText() + { + return String.format("%s: %d", name, i); + } + + public int getValue() + { + return i; + } + } + + static class BooleanOption extends OptionElement + { + private String name; + private boolean val = true; + + private String customTrue; + private String customFalse; + + BooleanOption(String name, boolean def) + { + this.name = name; + this.val = def; + } + + BooleanOption(String name, boolean def, String customTrue, String customFalse) + { + this(name, def); + this.customTrue = customTrue; + this.customFalse = customFalse; + } + + @Override + public void onLeftInput() + { + val = !val; + } + + @Override + public void onRightInput() + { + val = !val; + } + + @Override + public void onClick() + { + val = !val; + } + + @Override + protected String getDisplayText() + { + String valStr; + + if(customTrue != null && customFalse != null) + { + valStr = val ? customTrue : customFalse; + } + else + { + valStr = val ? "true" : "false"; + } + + return String.format("%s: %s", name, valStr); + } + + public boolean getValue() + { + return val; + } + } + + /** + * + */ + public static class StaticItem extends OptionElement + { + private String name; + + public StaticItem(String name) + { + this.name = name; + } + + @Override + protected String getDisplayText() + { + return name; + } + } + + public static abstract class StaticClickableOption extends OptionElement + { + private String name; + + public StaticClickableOption(String name) + { + this.name = name; + } + + abstract void onClick(); + + @Override + protected String getDisplayText() + { + return name; + } + } + + private static abstract class Element + { + private MenuElement parent; + + protected void setParent(MenuElement parent) + { + this.parent = parent; + } + + protected MenuElement parent() + { + return parent; + } + + protected abstract String getDisplayText(); + } + + private static class SpecialUpElement extends Element + { + @Override + protected String getDisplayText() + { + return ".. ↰ Up One Level"; + } + } + } +} diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/sample_conventions.md b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/sample_conventions.md index 45968ef9393d..e85e62545b82 100644 --- a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/sample_conventions.md +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/sample_conventions.md @@ -29,6 +29,11 @@ Concept: This is a sample OpMode that illustrates performing a specific function Each OpMode should try to only demonstrate a single concept so they are easy to locate based on their name. These OpModes may not produce a drivable robot. +Utility: This sample type is provided as a useful tool, or aide, to perform some specific development task. + It is not expected to be something you would include in your own robot code. + To use the tool, comment out the @Disabled annotation and build the App. + Read the comments found in the sample for an explanation of its intended use. + After the prefix, other conventions will apply: * Sensor class names should constructed as: Sensor - Company - Type diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java index 8c6ea59da600..ceab67dbd1cd 100644 --- a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java @@ -34,8 +34,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE import com.qualcomm.robotcore.eventloop.opmode.OpModeManager; import com.qualcomm.robotcore.eventloop.opmode.OpModeRegister; -import org.firstinspires.ftc.robotcontroller.external.samples.ConceptNullOp; - /** * {@link FtcOpModeRegister} is responsible for registering OpModes for use in an FTC game. * @see #register(OpModeManager) @@ -49,7 +47,7 @@ public class FtcOpModeRegister implements OpModeRegister { * There are two mechanisms by which an OpMode may be registered. * * 1) The preferred method is by means of class annotations in the OpMode itself. - * See, for example the class annotations in {@link ConceptNullOp}. + * See, for example the class annotations in {@link org.firstinspires.ftc.robotcontroller.external.samples.ConceptNullOp}. * * 2) The other, retired, method is to modify this {@link #register(OpModeManager)} * method to include explicit calls to OpModeManager.register(). diff --git a/README.md b/README.md index 2e5ef29f686a..bcfc5ad7eec9 100644 --- a/README.md +++ b/README.md @@ -59,6 +59,30 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc # Release Information +## Version 9.2 (20240701-085519) + +### Important Notes +* Java classes and Blocks for TensorFlow Object Detection have been deprecated and will be removed in Version 10.0. +* The samples that use TensorFlow Object Detection have been removed. + +### Enhancements +* Adds explanatory text to failed items on the inspection activities. To view the explanatory text tap the red warning icon for a failed item. +* In the Blocks editor: added a new kind of variable set block that sets the variable and also returns the new value. +* Changes the way that camera controls behave for a SwitchableCamera. Now, each method (such as getExposure, getMinExposure, getMaxExposure, setExposure for ExposureControl) acts on the currently active camera. +* Adds support for the REV USB PS4 Compatible Gamepad (REV-31-2983) +* Adds ConceptAprilTagMultiPortal OpMode +* Adds support for OctoQuad Quadrature Encoder & Pulse Width Interface Module +* Adds the ExportAprilTagLibraryToBlocks annotation that indicates that a static method that returns an AprilTagLibrary is exported to the Blocks programming environment. The corresponding block will appear in the Blocks toolbox along with the built-in tag libraries. +* Adds Blocks OpMode ConceptAprilTagOptimizeExposure. +* Adds support for the SparkFun Optical Tracking Odometry sensor. + +### Bug Fixes +* Fixes https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/942 where visionPortal.close() can cause an IndexOutOfBoundsError. +* Fixes a bug in the blocks editor where collapsed function blocks show a warning "Collapsed blocks contain warnings." when the Blocks OpMode is reopened. +* Fixes a bug where the blocks editor wouldn't warn you that you have unsaved changes when you try to leave. This bug was introduced due to a behavior change in Chrome 119. +* [Issue #764](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/764) - Get gain control returns a null pointer for a switchable camera +* Fixes a bug where the correct deadzone for certain gamepads was not applied when Advanced Gamepad Features was enabled + ## Version 9.1 (20240215-115542) ### Enhancements diff --git a/build.dependencies.gradle b/build.dependencies.gradle index 725fe52591b6..09d4b8a95001 100644 --- a/build.dependencies.gradle +++ b/build.dependencies.gradle @@ -4,15 +4,15 @@ repositories { } dependencies { - implementation 'org.firstinspires.ftc:Inspection:9.1.0' - implementation 'org.firstinspires.ftc:Blocks:9.1.0' - implementation 'org.firstinspires.ftc:Tfod:9.1.0' - implementation 'org.firstinspires.ftc:RobotCore:9.1.0' - implementation 'org.firstinspires.ftc:RobotServer:9.1.0' - implementation 'org.firstinspires.ftc:OnBotJava:9.1.0' - implementation 'org.firstinspires.ftc:Hardware:9.1.0' - implementation 'org.firstinspires.ftc:FtcCommon:9.1.0' - implementation 'org.firstinspires.ftc:Vision:9.1.0' + implementation 'org.firstinspires.ftc:Inspection:9.2.0' + implementation 'org.firstinspires.ftc:Blocks:9.2.0' + implementation 'org.firstinspires.ftc:Tfod:9.2.0' + implementation 'org.firstinspires.ftc:RobotCore:9.2.0' + implementation 'org.firstinspires.ftc:RobotServer:9.2.0' + implementation 'org.firstinspires.ftc:OnBotJava:9.2.0' + implementation 'org.firstinspires.ftc:Hardware:9.2.0' + implementation 'org.firstinspires.ftc:FtcCommon:9.2.0' + implementation 'org.firstinspires.ftc:Vision:9.2.0' implementation 'org.firstinspires.ftc:gameAssets-CenterStage:1.0.0' implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3' runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0' diff --git a/gradle.properties b/gradle.properties index 104e43cae8d5..7a370c51bbe7 100644 --- a/gradle.properties +++ b/gradle.properties @@ -3,8 +3,8 @@ # https://developer.android.com/topic/libraries/support-library/androidx-rn android.useAndroidX=true -# Automatically convert third-party libraries to use AndroidX -android.enableJetifier=true +# We no longer need to auto-convert third-party libraries to use AndroidX, which slowed down the build +android.enableJetifier=false # Allow Gradle to use up to 1 GB of RAM org.gradle.jvmargs=-Xmx1024M