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Autonomous.kt
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190 lines (167 loc) · 8.55 KB
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
import com.qualcomm.robotcore.hardware.DcMotor
import org.firstinspires.ftc.teamcode.AprilTagDetectionPipeline
import org.firstinspires.ftc.teamcode.Hardware
import org.firstinspires.ftc.teamcode.Odometry
import org.openftc.apriltag.AprilTagDetection
import org.openftc.easyopencv.OpenCvCamera
import org.openftc.easyopencv.OpenCvCameraRotation
import java.util.ArrayList
@Autonomous
class Autonomous : LinearOpMode() {
override fun runOpMode() {
// Lens intrinsics
// UNITS ARE PIXELS
// TODO: calibrate
var fx = 578.272
var fy = 578.272
var cx = 402.145
var cy = 221.506
// UNITS ARE METERS
// 0.98 inches
var tagsize = 0.0249
// hardwareMap is null until runOpMode() is called
val robot = Hardware(hardwareMap)
val odometry = Odometry()
var state = 0
robot.grabberServo.position = 0.35
robot.leftMotor.targetPosition = robot.leftMotor.currentPosition
robot.rightMotor.targetPosition = robot.rightMotor.currentPosition
robot.leftMotor.mode = DcMotor.RunMode.RUN_TO_POSITION
robot.rightMotor.mode = DcMotor.RunMode.RUN_TO_POSITION
robot.leftMotor.power = 0.3
robot.rightMotor.power = 0.3
val camera = robot.openCvCamera
val aprilTagDetectionPipeline = AprilTagDetectionPipeline(tagsize, fx, fy, cx, cy)
camera.setPipeline(aprilTagDetectionPipeline)
camera.openCameraDeviceAsync(object : OpenCvCamera.AsyncCameraOpenListener {
override fun onOpened() {
camera.startStreaming(1280, 720, OpenCvCameraRotation.UPRIGHT)
}
override fun onError(errorCode: Int) {
// who cares about error handling
}
})
var detections: ArrayList<AprilTagDetection>?
var tagNumber = 2
telemetry.addLine("initializing...")
telemetry.update()
do {
robot.resetCache()
detections = aprilTagDetectionPipeline.getDetectionsUpdate()
if (detections != null && detections.size != 0) {
tagNumber = detections[0].id
}
} while (!isStopRequested && !isStarted && (detections == null || detections.size == 0))
camera.closeCameraDeviceAsync {}
telemetry.addLine("READY!! tagNumber: $tagNumber")
telemetry.update()
waitForStart()
while (opModeIsActive()) {
robot.resetCache()
if (!robot.leftMotor.isBusy && !robot.rightMotor.isBusy) {
when(tagNumber) {
1 -> {
when (state) {
0 -> {
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition + (Odometry.TICKS_PER_INCH * 3).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition + (Odometry.TICKS_PER_INCH * 3).toInt()
}
1 -> {
// turn left
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition - (Odometry.TICKS_PER_TURN / 4).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition + (Odometry.TICKS_PER_TURN / 4).toInt()
}
2 -> {
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition + (Odometry.TICKS_PER_INCH * 24).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition + (Odometry.TICKS_PER_INCH * 24).toInt()
}
3 -> {
// turn right
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition + (Odometry.TICKS_PER_TURN / 4).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition - (Odometry.TICKS_PER_TURN / 4).toInt()
}
4 -> {
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition + (Odometry.TICKS_PER_INCH * 18).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition + (Odometry.TICKS_PER_INCH * 18).toInt()
}
5 -> {} // intentionally empty
else -> state -= 1 // cancel out the add ahead
}
state += 1
}
2 -> {
when (state) {
0 -> {
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition + (Odometry.TICKS_PER_INCH * 24).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition + (Odometry.TICKS_PER_INCH * 24).toInt()
}
1 -> {
}
else -> state -= 1
}
state += 1
}
3 -> {
when (state) {
0 -> {
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition + (Odometry.TICKS_PER_INCH * 3).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition + (Odometry.TICKS_PER_INCH * 3).toInt()
}
1 -> {
// turn right
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition + (Odometry.TICKS_PER_TURN / 4).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition - (Odometry.TICKS_PER_TURN / 4).toInt()
}
2 -> {
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition + (Odometry.TICKS_PER_INCH * 24).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition + (Odometry.TICKS_PER_INCH * 24).toInt()
}
3 -> {
// turn left
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition - (Odometry.TICKS_PER_TURN / 4).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition + (Odometry.TICKS_PER_TURN / 4).toInt()
}
4 -> {
robot.leftMotor.targetPosition =
robot.leftMotor.currentPosition + (Odometry.TICKS_PER_INCH * 18).toInt()
robot.rightMotor.targetPosition =
robot.rightMotor.currentPosition + (Odometry.TICKS_PER_INCH * 18).toInt()
}
5 -> {} // intentionally empty
else -> state -= 1 // cancel out the add ahead
}
state += 1
}
}
}
//DEBUG: Log movement
telemetry.addLine("Motor Position (BL): ${robot.leftMotor.currentPosition.toFloat() * Odometry.ROTATIONS_PER_TICK}")
telemetry.addLine("Motor Position (BR): ${robot.rightMotor.currentPosition.toFloat() * Odometry.ROTATIONS_PER_TICK}")
telemetry.addLine("Stage: $state")
telemetry.addLine("tagNumber: $tagNumber")
telemetry.update()
}
}
}