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RedLeftAuto.java
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RedLeftAuto.java
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package org.firstinspires.ftc.teamcode;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.VoltageSensor;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.teamcode.cameracode.AprilTagDetectionPipeline;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence;
import org.openftc.apriltag.AprilTagDetection;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
import java.util.ArrayList;
@Autonomous(name = "Red + Left")
public class RedLeftAuto extends LinearOpMode {
private DcMotorEx arm;
private Servo wrist;
private Servo spooky;
private Servo claw;
private DistanceSensor distance;
private VoltageSensor ControlHub_VoltageSensor;
private ColorSensor clawSensor;
OpenCvCamera camera;
AprilTagDetectionPipeline aprilTagDetectionPipeline;
static final double FEET_PER_METER = 3.28084;
// Lens intrinsics
// UNITS ARE PIXELS
// NOTE: this calibration is for the C920 webcam at 800x448.
// You will need to do your own calibration for other configurations!
double fx = 578.272;
double fy = 578.272;
double cx = 402.145;
double cy = 221.506;
// UNITS ARE METERS
double tagsize = 0.166;
int tag1 = 0;// Tag ID 18 from the 36h11 family, https://github.com/AprilRobotics/apriltag-imgs/blob/master/tag36h11/tag36_11_00000.png
int tag2 = 1;//https://github.com/AprilRobotics/apriltag-imgs/blob/master/tag36h11/tag36_11_00001.png
int tag3 = 2;//https://github.com/AprilRobotics/apriltag-imgs/blob/master/tag36h11/tag36_11_00002.png
AprilTagDetection tagOfInterest = null;
@Override
public void runOpMode() {
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
camera = OpenCvCameraFactory.getInstance().createWebcam(hardwareMap.get(WebcamName.class, "Webcam 1"), cameraMonitorViewId);
aprilTagDetectionPipeline = new AprilTagDetectionPipeline(tagsize, fx, fy, cx, cy);
camera.setPipeline(aprilTagDetectionPipeline);
camera.openCameraDeviceAsync(new OpenCvCamera.AsyncCameraOpenListener() {
@Override
public void onOpened() {
camera.startStreaming(1280, 720, OpenCvCameraRotation.SIDEWAYS_LEFT);
}
@Override
public void onError(int errorCode) {
}
});
telemetry.setMsTransmissionInterval(50);
SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
arm = hardwareMap.get(DcMotorEx.class, "arm");
wrist = hardwareMap.get(Servo.class, "wrist");
spooky = hardwareMap.get(Servo.class, "spooky");
claw = hardwareMap.get(Servo.class, "claw");
distance = hardwareMap.get(DistanceSensor.class, "distance");
clawSensor = hardwareMap.get(ColorSensor.class, "claw color");
ControlHub_VoltageSensor = hardwareMap.get(VoltageSensor.class, "Control Hub");
int coneLevel = 5;
arm.setDirection(DcMotorSimple.Direction.REVERSE);
arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
arm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
Pose2d startPose = new Pose2d(-36, -61.5, Math.toRadians(270));
drive.setPoseEstimate(startPose);
telemetry.addLine("building trajectory 1/7");
telemetry.update();
TrajectorySequence toFirstScore = drive.trajectorySequenceBuilder(startPose)
.lineToSplineHeading(new Pose2d(-39, -9.5, Math.toRadians(230)))
.UNSTABLE_addTemporalMarkerOffset(-3, () -> {
arm.setTargetPosition(900);
arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
arm.setPower(.3);
})
.UNSTABLE_addTemporalMarkerOffset(-2, () -> {
spooky.setPosition(0.21);
wrist.setPosition(.25);
})
.build();
telemetry.addLine("building trajectory 2/7");
telemetry.update();
Trajectory toFirstCone = drive.trajectoryBuilder(toFirstScore.end())
.addTemporalMarker(0, () -> {
arm.setTargetPosition(0);
arm.setPower(.3);
})
.addTemporalMarker(.3, () -> {
wrist.setPosition(.7);
})
.lineToSplineHeading(new Pose2d(-60.5, -8, Math.toRadians(180)))
.build();
telemetry.addLine("building trajectory 3/7");
telemetry.update();
TrajectorySequence toLoopScore = drive.trajectorySequenceBuilder(toFirstCone.end())
.lineToSplineHeading(new Pose2d(-41, -9.5, Math.toRadians(220)))
.UNSTABLE_addTemporalMarkerOffset(-3, () -> {
arm.setTargetPosition(900);
arm.setPower(.3);
})
.UNSTABLE_addTemporalMarkerOffset(-2, () -> {
spooky.setPosition(0.95);
wrist.setPosition(.3);
})
.build();
telemetry.addLine("building trajectory 4/7");
telemetry.update();
Trajectory toLoopCone = drive.trajectoryBuilder(toFirstScore.end())
.addTemporalMarker(0, () -> {
arm.setTargetPosition(0);
arm.setPower(.2);
})
.addTemporalMarker(.3, () -> {
spooky.setPosition(0.21);
wrist.setPosition(.7);
})
.lineToSplineHeading(new Pose2d(-62.5, -7.5, Math.toRadians(180)))
.build();
telemetry.addLine("building trajectory 5/7");
telemetry.update();
Trajectory AprilTag1 = drive.trajectoryBuilder(toLoopScore.end())
.lineToSplineHeading(new Pose2d(-69, -8, Math.toRadians(180)))
.addTemporalMarker(.4, () -> {
wrist.setPosition(.7);
spooky.setPosition(0.95);
claw.setPosition(.82);
})
.build();
telemetry.addLine("building trajectory 6/7");
telemetry.update();
Trajectory AprilTag2 = drive.trajectoryBuilder(toLoopScore.end())
.lineToSplineHeading(new Pose2d(-41, -10, Math.toRadians(180)))
.addTemporalMarker(.4, () -> {
wrist.setPosition(.7);
spooky.setPosition(0.95);
claw.setPosition(.82);
})
.build();
telemetry.addLine("building trajectory 7/7");
telemetry.update();
Trajectory AprilTag3 = drive.trajectoryBuilder(toLoopScore.end())
.lineToSplineHeading(new Pose2d(-16, -10, Math.toRadians(180)))
.addTemporalMarker(.4, () -> {
wrist.setPosition(.7);
spooky.setPosition(0.95);
claw.setPosition(.82);
})
.build();
wrist.setPosition(.7);
spooky.setPosition(0.95);
sleep(1000);
claw.setPosition(.82);
sleep(2000);
claw.setPosition(.6);
while (!isStarted() && !isStopRequested()) {
ArrayList<AprilTagDetection> currentDetections = aprilTagDetectionPipeline.getLatestDetections();
if (currentDetections.size() != 0) {
boolean tagFound = false;
for (AprilTagDetection tag : currentDetections) {
if (tag.id == tag1 || tag.id == tag2 || tag.id == tag3) {
tagOfInterest = tag;
tagFound = true;
break;
}
}
if (tagFound) {
telemetry.addLine("Tag of interest is in sight!\n\nLocation data:");
tagToTelemetry(tagOfInterest);
} else {
telemetry.addLine("Don't see tag of interest :(");
if (tagOfInterest == null) {
telemetry.addLine("(The tag has never been seen)");
} else {
telemetry.addLine("\nBut we HAVE seen the tag before; last seen at:");
tagToTelemetry(tagOfInterest);
}
}
} else {
telemetry.addLine("Don't see tag of interest :(");
if (tagOfInterest == null) {
telemetry.addLine("(The tag has never been seen)");
} else {
telemetry.addLine("\nBut we HAVE seen the tag before; last seen at:");
tagToTelemetry(tagOfInterest);
}
}
telemetry.update();
sleep(20);
}
/**
* start of program
*/
waitForStart();
drive.followTrajectorySequence(toFirstScore);
telemetry.addData("arm position", arm.getCurrentPosition());
telemetry.update();
arm.setPower(.1);
arm.setTargetPosition(1100);
sleep(500);
telemetry.addData("arm scoring position", arm.getCurrentPosition());
telemetry.update();
//wrist.setPosition(.3);
sleep(400);
wrist.setPosition(.45);
sleep(300);
claw.setPosition(.82);
drive.followTrajectory(toFirstCone);
for(int i = 0; i < 2; i++) {
if(i != 0) {
drive.followTrajectory(toLoopCone);
}
grabStack(coneLevel);
coneLevel--;
drive.followTrajectorySequence(toLoopScore);
arm.setPower(.1);
arm.setTargetPosition(1100);
sleep(500);
telemetry.addData("arm scoring position", arm.getCurrentPosition());
telemetry.update();
//wrist.setPosition(.3);
sleep(400);
wrist.setPosition(.45);
sleep(300);
claw.setPosition(.82);
}
arm.setTargetPosition(0);
sleep(300);
if(tagOfInterest.id == 1) {
drive.followTrajectory(AprilTag2);
}
else if(tagOfInterest.id == 2) {
drive.followTrajectory(AprilTag3);
}
else {
drive.followTrajectory(AprilTag1);
}
}
void tagToTelemetry(AprilTagDetection detection)
{
telemetry.addLine(String.format("\nDetected tag ID=%d", detection.id));
telemetry.addLine(String.format("Translation X: %.2f feet", detection.pose.x*FEET_PER_METER));
telemetry.addLine(String.format("Translation Y: %.2f feet", detection.pose.y*FEET_PER_METER));
telemetry.addLine(String.format("Translation Z: %.2f feet", detection.pose.z*FEET_PER_METER));
telemetry.addLine(String.format("Rotation Yaw: %.2f degrees", Math.toDegrees(detection.pose.yaw)));
telemetry.addLine(String.format("Rotation Pitch: %.2f degrees", Math.toDegrees(detection.pose.pitch)));
telemetry.addLine(String.format("Rotation Roll: %.2f degrees", Math.toDegrees(detection.pose.roll)));
}
public void grabStack(int level) {
switch(level) {
case (1):
wrist.setPosition(.21);
break;
case (2):
wrist.setPosition(.424);
break;
case (3):
wrist.setPosition(.47);
break;
case (4):
wrist.setPosition(.514);
break;
case (5):
wrist.setPosition(.536);
}
sleep(250);
claw.setPosition(.6);
sleep(300);
wrist.setPosition(.7);
sleep(200);
}
}