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Merge branch 'bumblebee_dev' of https://github.com/IronEaglesRobotics/CenterStage into bumblebee_dev

This commit is contained in:
Thomas 2023-11-27 09:53:08 -06:00
parent 42f8c06c30 296a382c56
commit 0d0a315734
11 changed files with 310 additions and 108 deletions
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114
TeamCode/src/main/java/opmodes/AutoBase.java
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@ -6,6 +6,7 @@ import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.SCORING_DISTAN
import static org.firstinspires.ftc.teamcode.util.CenterStageCommon.PropLocation.Center;
import static org.firstinspires.ftc.teamcode.util.CenterStageCommon.PropLocation.Left;
import static org.firstinspires.ftc.teamcode.util.CenterStageCommon.PropLocation.Right;
import static org.firstinspires.ftc.teamcode.util.CenterStageCommon.PropLocation.Unknown;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -22,19 +23,22 @@ import org.firstinspires.ftc.teamcode.vision.Detection;
@Config
public abstract class AutoBase extends LinearOpMode {
public static int DEPOSIT_HEIGHT = 100;
public static int SCORING_DURATION_MS = 5000;
public static double SCORING_DURATION_S = 5f;
public static double APRIL_TAG_RIGHT_DELTA = -8.5;
public static double APRIL_TAG_LEFT_DELTA = 7.0;
protected Robot robot;
protected FtcDashboard dashboard;
protected Telemetry dashboardTelemetry;
protected CenterStageCommon.PropLocation propLocation;
protected final Pose2d initialPosition;
protected final CenterStageCommon.Alliance alliance;
protected final Vector2d rendezvous;
protected final Pose2d park;
protected AutoBase(CenterStageCommon.Alliance alliance, Pose2d initialPosition, Vector2d rendezvous) {
protected AutoBase(CenterStageCommon.Alliance alliance, Pose2d initialPosition, Pose2d park) {
this.alliance = alliance;
this.initialPosition = initialPosition;
this.rendezvous = rendezvous;
this.park = park;
}
@Override
@ -50,75 +54,103 @@ public abstract class AutoBase extends LinearOpMode {
this.sleep(20);
}
if (isStopRequested()) {
return;
}
// If the prop is visible at this point, then it must be in the center (2) position
determinePropLocation();
TrajectorySequenceBuilder builder;
switch (this.propLocation) {
case Left:
// TODO Tommy: Place the pixel on the left tape and move to rendezvous position
propLeft();
break;
case Unknown:
case Center:
dislodgePropAndPlacePixel();
propCenter();
break;
case Right:
// TODO Tommy: Place the pixel on the right tape and move to rendezvous position
propRight();
break;
}
moveToBackstage();
prepareToScore();
scorePreloadedPixel();
// TODO Tommy: Park
park();
}
private void scorePreloadedPixel() {
protected abstract void propLeft();
protected abstract void propCenter();
protected abstract void propRight();
protected void openAndLiftClaw() {
this.robot.getClaw().openSync();
this.sleep(100);
this.robot.getClaw().setArmPosition(PICKUP_ARM_MAX);
}
protected void scorePreloadedPixel() {
this.robot.getGantry().setSlideTarget(DEPOSIT_HEIGHT);
this.robot.getGantry().armOut();
while(this.robot.getGantry().isIn()) {
this.robot.getGantry().update();
this.robot.update();
sleep(20);
}
this.robot.getGantry().deposit();
this.sleep(SCORING_DURATION_MS);
double startTime = this.getRuntime();
while (this.getRuntime() < (startTime + SCORING_DURATION_S)) {
this.robot.update();
}
this.robot.getGantry().stop();
this.robot.getGantry().setSlideTarget(0);
this.robot.getGantry().armInSync();
}
private void prepareToScore() {
protected void prepareToScore() {
// At this point we know that Y = 38
// For 2 -> Ydelta = 0
// For 3 -> 3 5/8
// For 1 -> - 3 5/8
double delta = 0;
switch (this.propLocation) {
case Left:
delta = APRIL_TAG_LEFT_DELTA;
break;
case Unknown:
case Center:
delta = 0;
break;
case Right:
delta = APRIL_TAG_RIGHT_DELTA;
break;
}
double distance = this.robot.getCamera().getDistanceToAprilTag(2, 25, 5);
Vector2d target = new Vector2d(this.robot.getDrive().getPoseEstimate().getX() + (distance - SCORING_DISTANCE_FROM_APRIL_TAG), this.robot.getDrive().getPoseEstimate().getY() + delta);
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.forward(distance - SCORING_DISTANCE_FROM_APRIL_TAG);
builder.lineToConstantHeading(target);
this.robot.getDrive().followTrajectorySequence(builder.build());
}
private void moveToBackstage() {
protected void moveToBackstage() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(36, 11, 0));
builder.lineToLinearHeading(new Pose2d(36, 38, 0));
this.robot.getDrive().followTrajectorySequence(builder.build());
}
private void dislodgePropAndPlacePixel() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToConstantHeading(rendezvous);
builder.addDisplacementMarker(10, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
this.robot.getClaw().openSync();
this.sleep(100);
this.robot.getClaw().setArmPosition(PICKUP_ARM_MAX);
}
private void determinePropLocation() {
setPropLocationIfVisible(Center, null);
protected void determinePropLocation() {
setPropLocationIfVisible(Center, Unknown);
if (this.propLocation != Center) {
peekRight();
}
}
private void peekRight() {
protected void peekRight() {
TrajectorySequenceBuilder builder = this.robot.getDrive()
.trajectorySequenceBuilder(initialPosition);
builder.forward(5);
@ -127,20 +159,6 @@ public abstract class AutoBase extends LinearOpMode {
setPropLocationIfVisible(Right, Left);
}
protected static int getExpectedAprilTagId(CenterStageCommon.PropLocation propLocation) {
switch (propLocation) {
case Left:
return 1;
case Unknown:
case Center:
return 2;
case Right:
return 3;
}
return 2;
}
protected void setPropLocationIfVisible(CenterStageCommon.PropLocation ifVisible, CenterStageCommon.PropLocation ifNotVisible) {
float seenCount = 0;
float samples = 10;
@ -156,4 +174,12 @@ public abstract class AutoBase extends LinearOpMode {
this.propLocation = ifNotVisible;
}
}
public void park() {
double currentX = this.robot.getDrive().getPoseEstimate().getX();
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.strafeTo(new Vector2d(currentX, park.getY()));
builder.lineToConstantHeading(park.vec());
this.robot.getDrive().followTrajectorySequence(builder.build());
}
}

60
TeamCode/src/main/java/opmodes/BlueBackStage.java Normal file
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@ -0,0 +1,60 @@
package opmodes;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.PICKUP_ARM_MIN;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "BlueBackStage", preselectTeleOp = "MainTeleOp")
public class BlueBackStage extends AutoBase {
private final Pose2d rendezvous = new Pose2d(12, 11);
public BlueBackStage() {
super(
CenterStageCommon.Alliance.Blue,
new Pose2d(12, 63, Math.toRadians(-90)),
new Pose2d(62, 62));
}
protected void propLeft() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(36, 25, Math.toRadians(-33)));
builder.addDisplacementMarker(10, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
}
protected void propCenter() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToConstantHeading(rendezvous.vec());
builder.addDisplacementMarker(10, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
builder = this.robot.getTrajectorySequenceBuilder();
builder.turn(Math.toRadians(90));
this.robot.getDrive().followTrajectorySequence(builder.build());
}
protected void propRight() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(32, 34, Math.toRadians(0)));
builder.lineToConstantHeading(new Vector2d(19, 34));
builder.addTemporalMarker(0.5, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
}
}

66
TeamCode/src/main/java/opmodes/BlueFrontStage.java Normal file
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@ -0,0 +1,66 @@
package opmodes;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.PICKUP_ARM_MIN;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "BlueFrontStage", preselectTeleOp = "MainTeleOp")
public class BlueFrontStage extends AutoBase {
private final Pose2d rendezvous = new Pose2d(-36, 11);
public BlueFrontStage() {
super(
CenterStageCommon.Alliance.Blue,
new Pose2d(-36, 63, Math.toRadians(-90)),
new Pose2d(62, 12));
}
protected void propLeft() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-52, 31, Math.toRadians(-180)));
builder.lineToConstantHeading(new Vector2d(-42, 31));
builder.addTemporalMarker(0.2, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(rendezvous);
this.robot.getDrive().followTrajectorySequence(builder.build());
}
protected void propCenter() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToConstantHeading(rendezvous.vec());
builder.addDisplacementMarker(10, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
builder = this.robot.getTrajectorySequenceBuilder();
builder.turn(Math.toRadians(90));
this.robot.getDrive().followTrajectorySequence(builder.build());
}
protected void propRight() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-54, 17, Math.toRadians(-123)));
builder.addDisplacementMarker(10, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(this.rendezvous);
this.robot.getDrive().followTrajectorySequence(builder.build());
}
}

22
TeamCode/src/main/java/opmodes/LeftAuto.java
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@ -1,22 +0,0 @@
package opmodes;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "Left Auto", preselectTeleOp = "MainTeleOp")
public class LeftAuto extends AutoBase {
public LeftAuto() {
super(
CenterStageCommon.Alliance.Red,
new Pose2d(-36, 63, Math.toRadians(-90)),
new Vector2d(-36, 11));
}
@Override
public void runOpMode() {
super.runOpMode();
}
}

64
TeamCode/src/main/java/opmodes/RedFrontStage.java Normal file
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@ -0,0 +1,64 @@
package opmodes;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.PICKUP_ARM_MIN;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "RedFrontStage", preselectTeleOp = "MainTeleOp")
public class RedFrontStage extends AutoBase {
private final Pose2d rendezvous = new Pose2d(-36, -11);
public RedFrontStage() {
super(
CenterStageCommon.Alliance.Red,
new Pose2d(-36, -63, Math.toRadians(90)),
new Pose2d(-12, 62));
}
protected void propLeft() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-54, -17, Math.toRadians(123)));
builder.addDisplacementMarker(10, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(this.rendezvous);
this.robot.getDrive().followTrajectorySequence(builder.build());
}
protected void propCenter() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToConstantHeading(rendezvous.vec());
builder.addDisplacementMarker(10, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
builder = this.robot.getTrajectorySequenceBuilder();
builder.turn(Math.toRadians(90));
this.robot.getDrive().followTrajectorySequence(builder.build());
}
protected void propRight() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-52, -31, Math.toRadians(-180)));
builder.lineToConstantHeading(new Vector2d(-42, -31));
builder.addTemporalMarker(0.5, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
});
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
}
}

29
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
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@ -1,11 +1,9 @@
package org.firstinspires.ftc.teamcode.hardware;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DETECTION_CENTER_X;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DETECTION_LEFT_X;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DETECTION_RIGHT_X;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.WEBCAM_NAME;
import static org.firstinspires.ftc.teamcode.util.Constants.INVALID_DETECTION;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -16,8 +14,12 @@ import org.firstinspires.ftc.teamcode.vision.PropDetectionPipeline;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import org.opencv.core.Point;
@Config
public class Camera {
public static float PROP_REJECTION_VERTICAL_UPPER = 175;
public static float PROP_REJECTION_VERTICAL_LOWER = 300;
private PropDetectionPipeline prop;
private AprilTagProcessor aprilTag;
private VisionPortal visionPortal;
@ -60,27 +62,6 @@ public class Camera {
return INVALID_DETECTION;
}
public CenterStageCommon.PropLocation getPropLocation() {
Detection prop = this.getProp();
if (prop == null || !prop.isValid()) {
return CenterStageCommon.PropLocation.Unknown;
}
double x = prop.getCenter().x + 50;
if (x <= DETECTION_LEFT_X) {
return CenterStageCommon.PropLocation.Left;
}
if (x <= DETECTION_CENTER_X) {
return CenterStageCommon.PropLocation.Center;
}
if (x <= DETECTION_RIGHT_X) {
return CenterStageCommon.PropLocation.Right;
}
return CenterStageCommon.PropLocation.Unknown;
}
public AprilTagDetection getAprilTag(int id) {
return this.aprilTag.getDetections()
.stream()

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Gantry.java
View File

@ -82,10 +82,24 @@ public class Gantry {
this.armControllerTarget = GANTRY_ARM_MAX;
}
public void armOutSync() {
this.armOut();
while (this.armServo.getPosition() < this.armControllerTarget - 0.001) {
this.update();
}
}
public void armIn() {
this.armControllerTarget = GANTRY_ARM_MIN;
}
public void armInSync() {
this.armIn();
while (this.armServo.getPosition() > this.armControllerTarget + 0.001) {
this.update();
}
}
public void intake() {
this.screwServo.setPower(-1);
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
View File

@ -54,6 +54,7 @@ public class Robot {
}
public TrajectorySequenceBuilder getTrajectorySequenceBuilder() {
this.drive.update();
return this.drive.trajectorySequenceBuilder(this.drive.getPoseEstimate());
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
View File

@ -41,7 +41,7 @@ public class RobotConfig {
public static double GANTRY_ARM_MIN = 0.435;
public static double GANTRY_ARM_MAX = 0.94;
public static int GANTRY_LIFT_DELTA = 50;
public static double GANTRY_ARM_KP = 0.06;
public static double GANTRY_ARM_KP = 0.1;
public static double X_KP = 0.1;
public static double X_MAX = 0.84;
public static double X_MIN = 0.16;
@ -66,5 +66,5 @@ public class RobotConfig {
public static double DETECTION_LEFT_X = 0;
public static double DETECTION_CENTER_X = .5;
public static double DETECTION_RIGHT_X = 1;
public static double SCORING_DISTANCE_FROM_APRIL_TAG = 6.5;
public static double SCORING_DISTANCE_FROM_APRIL_TAG = 6f;
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java
View File

@ -67,8 +67,8 @@ public class DriveConstants {
*/
public static double MAX_VEL = 45;
public static double MAX_ACCEL = 45;
public static double MAX_ANG_VEL = Math.toRadians(60);
public static double MAX_ANG_ACCEL = Math.toRadians(60);
public static double MAX_ANG_VEL = Math.toRadians(720);
public static double MAX_ANG_ACCEL = Math.toRadians(720);
/*
* Adjust the orientations here to match your robot. See the FTC SDK documentation for details.

40
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/PropDetectionPipeline.java
View File

@ -1,15 +1,16 @@
package org.firstinspires.ftc.teamcode.vision;
import static org.firstinspires.ftc.teamcode.hardware.Camera.PROP_REJECTION_VERTICAL_LOWER;
import static org.firstinspires.ftc.teamcode.hardware.Camera.PROP_REJECTION_VERTICAL_UPPER;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DETECTION_AREA_MAX;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DETECTION_AREA_MIN;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DETECTION_CENTER_X;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DETECTION_LEFT_X;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DETECTION_RIGHT_X;
import static org.firstinspires.ftc.teamcode.util.Colors.FTC_BLUE_RANGE;
import static org.firstinspires.ftc.teamcode.util.Colors.FTC_RED_RANGE_1;
import static org.firstinspires.ftc.teamcode.util.Colors.FTC_RED_RANGE_2;
import static org.firstinspires.ftc.teamcode.util.Colors.RED;
import static org.firstinspires.ftc.teamcode.util.Colors.WHITE;
import static org.firstinspires.ftc.teamcode.util.Constants.ANCHOR;
import static org.firstinspires.ftc.teamcode.util.Constants.BLACK;
import static org.firstinspires.ftc.teamcode.util.Constants.BLUR_SIZE;
import static org.firstinspires.ftc.teamcode.util.Constants.ERODE_DILATE_ITERATIONS;
import static org.firstinspires.ftc.teamcode.util.Constants.STRUCTURING_ELEMENT;
@ -24,6 +25,7 @@ import org.firstinspires.ftc.vision.VisionProcessor;
import org.opencv.core.Core;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint;
import org.opencv.core.Point;
import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
@ -88,6 +90,9 @@ public class PropDetectionPipeline implements VisionProcessor {
Core.add(mask, tmpMask, mask);
}
Imgproc.rectangle(mask, new Point(0,0), new Point(mask.cols() - 1, (int)PROP_REJECTION_VERTICAL_UPPER), BLACK, -1);
Imgproc.rectangle(mask, new Point(0,(int)PROP_REJECTION_VERTICAL_LOWER), new Point(mask.cols() - 1, mask.rows() -1), BLACK, -1);
Imgproc.erode(mask, mask, STRUCTURING_ELEMENT, ANCHOR, ERODE_DILATE_ITERATIONS);
Imgproc.dilate(mask, mask, STRUCTURING_ELEMENT, ANCHOR, ERODE_DILATE_ITERATIONS);
@ -99,20 +104,27 @@ public class PropDetectionPipeline implements VisionProcessor {
@Override
public void onDrawFrame(Canvas canvas, int onscreenWidth, int onscreenHeight, float scaleBmpPxToCanvasPx, float scaleCanvasDensity, Object userContext) {
int detectionLeftXPx = (int)((DETECTION_LEFT_X / 100) * onscreenWidth);
int detectionCenterXPx = (int)((DETECTION_CENTER_X / 100) * onscreenWidth);
int detectionRightXPx = (int)((DETECTION_RIGHT_X / 100) * onscreenWidth);
canvas.drawLine(0, PROP_REJECTION_VERTICAL_LOWER, canvas.getWidth(), PROP_REJECTION_VERTICAL_LOWER, WHITE);
canvas.drawLine(0, PROP_REJECTION_VERTICAL_UPPER, canvas.getWidth(), PROP_REJECTION_VERTICAL_UPPER, WHITE);
canvas.drawLine(detectionLeftXPx, 0, detectionLeftXPx, canvas.getHeight(), WHITE);
canvas.drawLine(detectionCenterXPx, 0, detectionCenterXPx, canvas.getHeight(), WHITE);
canvas.drawLine(detectionRightXPx, 0, detectionRightXPx, canvas.getHeight(), WHITE);
if (red.isValid()) {
canvas.drawCircle((float)red.getCenterPx().x, (float)red.getCenterPx().y, 10, WHITE);
if (red != null && red.isValid()) {
Point center = red.getCenterPx();
if (center.y < PROP_REJECTION_VERTICAL_LOWER
&& center.y > PROP_REJECTION_VERTICAL_UPPER) {
canvas.drawCircle((float)red.getCenterPx().x, (float)red.getCenterPx().y, 10, WHITE);
} else {
canvas.drawCircle((float)red.getCenterPx().x, (float)red.getCenterPx().y, 10, RED);
}
}
if (blue.isValid()) {
canvas.drawCircle((float)blue.getCenterPx().x, (float)blue.getCenterPx().y, 10, WHITE);
if (blue != null && blue.isValid()) {
Point center = blue.getCenterPx();
if (center.y < PROP_REJECTION_VERTICAL_LOWER
&& center.y > PROP_REJECTION_VERTICAL_UPPER) {
canvas.drawCircle((float)blue.getCenterPx().x, (float)blue.getCenterPx().y, 10, WHITE);
} else {
canvas.drawCircle((float)blue.getCenterPx().x, (float)blue.getCenterPx().y, 10, RED);
}
}
}
}