Changes that were left on laptop made by AlanW and Keerthana

ftc16072 · Feb 6, 2024 · bb84644 · bb84644
1 parent e5021f3
commit bb84644
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Showing 4 changed files with 23 additions and 16 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Camera.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Camera.java
@@ -69,7 +69,7 @@ public void fillPositions(TeamColor teamColor){
     Hashtable<Integer, Pose2d> aprilTagPositions = new Hashtable<>();
 
     private AprilTagProcessor aprilTag;
-    private TeamPropDetector teamPropDetector;
+    public TeamPropDetector teamPropDetector;
 
     private VisionPortal visionPortal;
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/CompTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/CompTeleOp.java
@@ -7,7 +7,10 @@ public class CompTeleOp extends  QQOpMode{
     Node root = TeleopTree.root();
 
     boolean done;
-
+    public void init_loop(){
+        telemetry.addData("right saturation",robot.cameraBack.teamPropDetector.rightSaturation);
+        telemetry.addData("middle saturation", robot.cameraBack.teamPropDetector.middleSaturation);
+    }
 
     @Override
     public void loop() {

diff --git a/...72/OpModes/RRTests/PlacingOnTapeAuto.java → ...e/ftc16072/OpModes/PlacingOnTapeAuto.java b/...72/OpModes/RRTests/PlacingOnTapeAuto.java → ...e/ftc16072/OpModes/PlacingOnTapeAuto.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ftc16072.OpModes.RRTests;
+package org.firstinspires.ftc.teamcode.ftc16072.OpModes;
 
 import com.acmerobotics.roadrunner.geometry.Pose2d;
 import com.acmerobotics.roadrunner.trajectory.Trajectory;
@@ -9,23 +9,23 @@
 import org.firstinspires.ftc.teamcode.ftc16072.Util.TeamPropLocation;
 
 @Autonomous
-public class PlacingOnTapeAuto extends OpMode {
-    Robot robot = new Robot();
+public class PlacingOnTapeAuto extends QQOpMode {
     Trajectory trajectory;
     private enum State {BEGIN, FORWARD,TURN,FORWARD_TO_TAPE, DONE}
     State state = State.BEGIN;
+    TeamPropLocation teamPropLocation;
+
     @Override
-    public void init() {
-        robot.makeDriveOnly();
-        robot.init(hardwareMap);
+    public void init_loop(){
+        TeamPropLocation teamPropLocation = robot.cameraBack.getTeamPropPosition();
+        telemetry.addData("team prop location: ", teamPropLocation);
     }
 
     @Override
     public void loop() {
         robot.nav.updatePoseEstimate();
         Pose2d currentPose = robot.nav.getPoseEstimate();
-        TeamPropLocation teamPropLocation = robot.cameraBack.getTeamPropPosition();
-
+        telemetry.addData("team prop location: ", teamPropLocation);
         telemetry.addData("STATE", state);
         telemetry.addData("POSE", "x = %.2f y = %.2f h = %.1f", currentPose.getX(), currentPose.getY(), Math.toDegrees(currentPose.getHeading()));
         switch (state) {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/TeamPropDetector.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/TeamPropDetector.java
@@ -15,12 +15,14 @@
 import org.opencv.imgproc.Imgproc;
 @Config
 public class TeamPropDetector implements VisionProcessor {
-    public static final int SATURATION_THRESHOLD = 1233;
+    public static final int SATURATION_THRESHOLD = 90;
     //makes "detection zones" for each tape zone
     TeamPropLocation location = TeamPropLocation.NOT_DETECTED;
-    public Rect leftTapeDetectionZone = new Rect(100,100,75,75);
-    public Rect middleTapeDetectionZone = new Rect(250,130,75,75);
-    public Rect rightTapeDetectionZone = new Rect(400,100,75,75);
+    public Rect leftTapeDetectionZone = new Rect(20,100,75,75);
+    public Rect middleTapeDetectionZone = new Rect(200,180,75,75);
+    public Rect rightTapeDetectionZone = new Rect(550,160,75,75);
+    public double middleSaturation;
+    public double rightSaturation;
 
     //submats are smaller portions of the frame that you can get values from
     Mat submat = new Mat();
@@ -35,11 +37,12 @@ public void init(int width, int height, CameraCalibration calibration) {
 
     @Override
     public Object processFrame(Mat frame, long captureTimeNanos) {
+
         Imgproc.cvtColor(frame, hsvMat, Imgproc.COLOR_RGB2HSV);
 
 
-        double middleSaturation = getAvgSaturation(hsvMat, middleTapeDetectionZone);
-        double rightSaturation  = getAvgSaturation(hsvMat, rightTapeDetectionZone);
+        middleSaturation = getAvgSaturation(hsvMat, middleTapeDetectionZone);
+        rightSaturation  = getAvgSaturation(hsvMat, rightTapeDetectionZone);
 
         if(middleSaturation > SATURATION_THRESHOLD) {
             location = TeamPropLocation.MIDDLE_SPIKE;
@@ -65,6 +68,7 @@ protected double getAvgSaturation(Mat input, Rect rect){
         return color.val[1];
     }
 
+
     //scales rectangle to
     private android.graphics.Rect makeGraphicsRect (Rect rect, float scaleBmpPxToCanvasPx){
         int left =  Math.round(rect.x*scaleBmpPxToCanvasPx);