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Jd hometesting #8

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Jd hometesting #8

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a7779b8
Updating TestBeaconEllipse.java to strafe towards the side of a butto…
jmarakelian Feb 18, 2017
8bac3c0
working with strafe in testbeaconellipse
jmarakelian Feb 18, 2017
2652751
Merge branch 'master' of github.com:FTC7729/2016-FTC into jd-hometesting
jmarakelian Feb 18, 2017
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40 changes: 39 additions & 1 deletion FtcRobotController/src/main/java/chawks/autonomous/vision/TestBeaconEllipse.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
import org.lasarobotics.vision.opmode.LinearVisionOpMode;
import org.lasarobotics.vision.opmode.extensions.CameraControlExtension;
import org.lasarobotics.vision.util.ScreenOrientation;
import org.opencv.core.Point;
import org.opencv.core.Size;

import chawks.hardware.Dutchess;
Expand All @@ -21,10 +22,17 @@ public class TestBeaconEllipse extends LinearVisionOpMode {
private final int CAMERA_WIDTH = 900;
private final int CAMERA_HEIGHT = CAMERA_WIDTH / 12 * 9;
private final Size CAMERA_SIZE = new Size(CAMERA_WIDTH, CAMERA_HEIGHT);
private final int THRESHOLD = 20;

private Dutchess robot = new Dutchess();

private MovementController movementController;
private Thread movementThread;

@Override
public void runOpMode() throws InterruptedException {
initializeVision();
initHardware();

// wait for op-mode start
waitForStart();
Expand All @@ -34,7 +42,17 @@ public void runOpMode() throws InterruptedException {
shutDown();
}

public void initHardware() {
robot.init(hardwareMap);
movementController = new MovementController(robot, telemetry);
movementThread = new Thread(movementController);
movementThread.start();
}


public void shutDown() {
robot.stopAllWheels();
movementController.stop();
}

private boolean checkColors() {
Expand All @@ -43,6 +61,9 @@ private boolean checkColors() {
int numMeasurements = 0;
double minConfidence = .9;

Point rightButtonLocation;
Point leftButtonLocation;

for (; ; ) {
if (!opModeIsActive()) {
return false;
Expand Down Expand Up @@ -85,16 +106,33 @@ private boolean checkColors() {

if (rightButton != null) {
telemetry.addLine("RightButton Location: " + rightButton.getLocationString());
rightButtonLocation = rightButton.center();
double distanceFromCenter = (this.getFrameSize().width / 2) - rightButtonLocation.x;
if (Math.abs(distanceFromCenter) > THRESHOLD && isRightRed) {
movementController.strafeRight(1);
}
telemetry.addData("Distance: %.2f", distanceFromCenter);
telemetry.addData("Frame Center X: %.2f", this.getFrameSize().width / 2);
telemetry.addData("Right Button X: %.2f", rightButtonLocation.x);
} else {
telemetry.addLine("RightButton is NULL");
}
if (leftButton != null) {
telemetry.addLine("LeftButton Location: " + leftButton.getLocationString());
leftButtonLocation = leftButton.center();
double distanceFromCenter = (this.getFrameSize().width / 2) - leftButtonLocation.x;
if (Math.abs(distanceFromCenter) > THRESHOLD && isLeftRed) {
movementController.strafeRight(1);
}
telemetry.addData("Distance: %.2f", distanceFromCenter);
telemetry.addData("Frame Center X: %.2f", this.getFrameSize().width / 2);
telemetry.addData("Right Button X: %.2f", leftButtonLocation.x);
} else {
telemetry.addLine("LeftButton is NULL");
}
} else {
// TODO: Unknown what to do when unaware of beacon
telemetry.addLine("Aren't I supposed to be seeing something?");
}
telemetry.addLine("Beacon Red and Blue: (" + beaconAnalysis.getColorString() + ")");
}
Expand All @@ -113,7 +151,7 @@ private void initializeVision() throws InterruptedException {
enableExtensions();

/** Beacon Analysis Method : COMMAND/CONTROL CLICK "AnalysisMethod" TO VIEW OTHER RENDERS */
beacon.setAnalysisMethod(Beacon.AnalysisMethod.FAST);
beacon.setAnalysisMethod(Beacon.AnalysisMethod.REALTIME);

/**
* Set color tolerances
Expand Down
4 changes: 2 additions & 2 deletions FtcRobotController/src/main/java/chawks/autonomous/vision/TestBeaconRange.java
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Original file line number Diff line number Diff line change
Expand Up @@ -97,9 +97,9 @@ private boolean checkColors() {
}

if (isRightBlue && isLeftRed) {
//movementController.turn(-5);
movementController.turn(-5);
} else if (isLeftBlue && isRightRed) {
//movementController.turn(5);
movementController.turn(5);
}


Expand Down