v10.0 sdk

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagLocalization.java

@@ -0,0 +1,244 @@
+/* Copyright (c) 2024 Dryw Wade. 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.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.Position;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of AprilTag based localization.
+ *
+ * For an introduction to AprilTags, see the FTC-DOCS link below:
+ * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
+ *
+ * In this sample, any visible tag ID will be detected and displayed, but only tags that are included in the default
+ * "TagLibrary" will be used to compute the robot's location and orientation.  This default TagLibrary contains
+ * the current Season's AprilTags and a small set of "test Tags" in the high number range.
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the robot, relative to the field origin.
+ * This information is provided in the "robotPose" member of the returned "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: AprilTag Localization", group = "Concept")
+@Disabled
+public class ConceptAprilTagLocalization extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    /**
+     * Variables to store the position and orientation of the camera on the robot. Setting these
+     * values requires a definition of the axes of the camera and robot:
+     *
+     * Camera axes:
+     * Origin location: Center of the lens
+     * Axes orientation: +x right, +y down, +z forward (from camera's perspective)
+     *
+     * Robot axes (this is typical, but you can define this however you want):
+     * Origin location: Center of the robot at field height
+     * Axes orientation: +x right, +y forward, +z upward
+     *
+     * Position:
+     * If all values are zero (no translation), that implies the camera is at the center of the
+     * robot. Suppose your camera is positioned 5 inches to the left, 7 inches forward, and 12
+     * inches above the ground - you would need to set the position to (-5, 7, 12).
+     *
+     * Orientation:
+     * If all values are zero (no rotation), that implies the camera is pointing straight up. In
+     * most cases, you'll need to set the pitch to -90 degrees (rotation about the x-axis), meaning
+     * the camera is horizontal. Use a yaw of 0 if the camera is pointing forwards, +90 degrees if
+     * it's pointing straight left, -90 degrees for straight right, etc. You can also set the roll
+     * to +/-90 degrees if it's vertical, or 180 degrees if it's upside-down.
+     */
+    private Position cameraPosition = new Position(DistanceUnit.INCH,
+            0, 0, 0, 0);
+    private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES,
+            0, -90, 0, 0);
+
+    /**
+     * The variable to store our instance of the AprilTag processor.
+     */
+    private AprilTagProcessor aprilTag;
+
+    /**
+     * The variable to store our instance of the vision portal.
+     */
+    private VisionPortal visionPortal;
+
+    @Override
+    public void runOpMode() {
+
+        initAprilTag();
+
+        // Wait for the DS start button to be touched.
+        telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
+        telemetry.addData(">", "Touch START to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        while (opModeIsActive()) {
+
+            telemetryAprilTag();
+
+            // 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 method runOpMode()
+
+    /**
+     * Initialize the AprilTag processor.
+     */
+    private void initAprilTag() {
+
+        // Create the AprilTag processor.
+        aprilTag = new AprilTagProcessor.Builder()
+
+                // The following default settings are available to un-comment and edit as needed.
+                //.setDrawAxes(false)
+                //.setDrawCubeProjection(false)
+                //.setDrawTagOutline(true)
+                //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
+                //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
+                //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
+                .setCameraPose(cameraPosition, cameraOrientation)
+
+                // == CAMERA CALIBRATION ==
+                // If you do not manually specify calibration parameters, the SDK will attempt
+                // to load a predefined calibration for your camera.
+                //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)
+                // ... these parameters are fx, fy, cx, cy.
+
+                .build();
+
+        // Adjust Image Decimation to trade-off detection-range for detection-rate.
+        // eg: Some typical detection data using a Logitech C920 WebCam
+        // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
+        // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
+        // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second (default)
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second (default)
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        //aprilTag.setDecimation(3);
+
+        // 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(aprilTag);
+
+        // Build the Vision Portal, using the above settings.
+        visionPortal = builder.build();
+
+        // Disable or re-enable the aprilTag processor at any time.
+        //visionPortal.setProcessorEnabled(aprilTag, true);
+
+    }   // end method initAprilTag()
+
+    /**
+     * Add telemetry about AprilTag detections.
+     */
+    private void telemetryAprilTag() {
+
+        List<AprilTagDetection> 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.robotPose.getPosition().x,
+                        detection.robotPose.getPosition().y,
+                        detection.robotPose.getPosition().z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)",
+                        detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES),
+                        detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES),
+                        detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES)));
+            } 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
+
+        // Add "key" information to telemetry
+        telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
+        telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
+
+    }   // end method telemetryAprilTag()
+
+}   // end class

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagMultiPortal.java

@@ -101,4 +101,4 @@ public void runOpMode() throws InterruptedException
             sleep(20);
         }
     }
-}
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptLEDStick.java

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+package org.firstinspires.ftc.robotcontroller.external.samples;
+/*
+        Copyright (c) 2021-24 Alan Smith
+
+        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 Alan Smith 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 FITNESSFOR 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.
+*/
+
+import android.graphics.Color;
+
+import com.qualcomm.hardware.sparkfun.SparkFunLEDStick;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.Range;
+
+/*
+ * This OpMode illustrates how to use the SparkFun QWIIC LED Strip
+ *
+ * This is a simple way to add a strip of 10 LEDs to your robot where you can set the color of each
+ * LED or the whole strip.   This allows for driver feedback or even just fun ways to show your team
+ * colors.
+ *
+ * Why?
+ * Because more LEDs == more fun!!
+ *
+ * This OpMode assumes that the QWIIC LED Stick is attached to an I2C interface named "back_leds" in the robot configuration.
+ *
+ * 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
+ *
+ * You can buy this product here:  https://www.sparkfun.com/products/18354
+ * Don't forget to also buy this to make it easy to connect to your Control or Expansion Hub:
+ * https://www.sparkfun.com/products/25596
+ */
+@TeleOp(name = "Concept: LED Stick", group = "Concept")
+@Disabled
+public class ConceptLEDStick extends OpMode {
+    private boolean wasUp;
+    private boolean wasDown;
+    private int brightness = 5;  // this needs to be between 0 and 31
+    private final static double END_GAME_TIME = 120 - 30;
+
+    private SparkFunLEDStick ledStick;
+
+    @Override
+    public void init() {
+        ledStick = hardwareMap.get(SparkFunLEDStick.class, "back_leds");
+        ledStick.setBrightness(brightness);
+        ledStick.setColor(Color.GREEN);
+    }
+
+    @Override
+    public void start() {
+        resetRuntime();
+    }
+
+    @Override
+    public void loop() {
+        telemetry.addLine("Hold the A button to turn blue");
+        telemetry.addLine("Hold the B button to turn red");
+        telemetry.addLine("Hold the left bumper to turn off");
+        telemetry.addLine("Use DPAD Up/Down to change brightness");
+
+        if (getRuntime() > END_GAME_TIME) {
+            int[] ledColors = {Color.RED, Color.YELLOW, Color.RED, Color.YELLOW, Color.RED,
+                    Color.YELLOW, Color.RED, Color.YELLOW, Color.RED, Color.YELLOW};
+            ledStick.setColors(ledColors);
+        } else if (gamepad1.a) {
+            ledStick.setColor(Color.BLUE);
+        } else if (gamepad1.b) {
+            ledStick.setColor(Color.RED);
+        } else if (gamepad1.left_bumper) {
+            ledStick.turnAllOff();
+        } else {
+            ledStick.setColor(Color.GREEN);
+        }
+
+        /*
+         * Use DPAD up and down to change brightness
+         */
+        int newBrightness = brightness;
+        if (gamepad1.dpad_up && !wasUp) {
+            newBrightness = brightness + 1;
+        } else if (gamepad1.dpad_down && !wasDown) {
+            newBrightness = brightness - 1;
+        }
+        if (newBrightness != brightness) {
+            brightness = Range.clip(newBrightness, 0, 31);
+            ledStick.setBrightness(brightness);
+        }
+        telemetry.addData("Brightness", brightness);
+
+        wasDown = gamepad1.dpad_down;
+        wasUp = gamepad1.dpad_up;
+    }
+}