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Fixed prop detector

This commit is contained in:
Scott Barnes 2023-11-15 18:20:50 -06:00
parent 5ea81285ce
commit 385c19ff9f
7 changed files with 78 additions and 18 deletions
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33
TeamCode/src/main/java/opmodes/AutoBase.java Normal file
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@ -0,0 +1,33 @@
package opmodes;
import com.acmerobotics.dashboard.FtcDashboard;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.hardware.Robot;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
import org.firstinspires.ftc.teamcode.vision.Detection;
public abstract class AutoBase extends LinearOpMode {
protected Robot robot;
protected FtcDashboard dashboard;
protected Telemetry dashboardTelemetry;
protected CenterStageCommon.PropLocation propLocation;
@Override
public void runOpMode() {
this.robot = new Robot(hardwareMap, telemetry);
this.dashboard = FtcDashboard.getInstance();
this.dashboardTelemetry = dashboard.getTelemetry();
this.robot.getCamera().setAlliance(CenterStageCommon.Alliance.Red);
while(!isStarted() && !isStopRequested()) {
this.propLocation = this.robot.getCamera().getPropLocation();
Detection detection = this.robot.getCamera().getProp();
this.dashboardTelemetry.addData("Prop", detection.getCenterPx());
this.dashboardTelemetry.addData("Prop Location", this.propLocation);
this.dashboardTelemetry.update();
}
}
}

11
TeamCode/src/main/java/opmodes/LeftAuto.java Normal file
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@ -0,0 +1,11 @@
package opmodes;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
@Autonomous(name = "Left Auto", preselectTeleOp = "MainTeleOp")
public class LeftAuto extends AutoBase {
@Override
public void runOpMode() {
super.runOpMode();
}
}

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
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@ -21,9 +21,6 @@ import lombok.Getter;
import lombok.Setter;
public class Camera {
@Getter
@Setter
private CenterStageCommon.Alliance alliance;
private PropDetectionPipeline prop;
private AprilTagProcessor aprilTag;
private VisionPortal visionPortal;
@ -50,16 +47,17 @@ public class Camera {
}
public Detection getProp() {
if (!initialized || alliance == null) {
if (!initialized || getAlliance() == null) {
return INVALID_DETECTION;
}
switch (alliance) {
switch (getAlliance()) {
case Blue:
return this.prop.getBlue();
Detection blue = this.prop.getBlue();
return blue != null && blue.isValid() ? blue : INVALID_DETECTION;
case Red:
return this.prop.getRed();
Detection red = this.prop.getRed();
return red != null && red.isValid() ? red : INVALID_DETECTION;
}
return INVALID_DETECTION;
@ -67,7 +65,7 @@ public class Camera {
public CenterStageCommon.PropLocation getPropLocation() {
Detection prop = this.getProp();
if (!prop.isValid()) {
if (prop == null || !prop.isValid()) {
return CenterStageCommon.PropLocation.Unknown;
}
@ -93,4 +91,12 @@ public class Camera {
.findFirst()
.orElse(null);
}
public void setAlliance(CenterStageCommon.Alliance alliance) {
this.prop.setAlliance(alliance);
}
public CenterStageCommon.Alliance getAlliance() {
return this.prop != null ? this.prop.getAlliance() : null;
}
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
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@ -60,8 +60,8 @@ public class RobotConfig {
// Vision
public static double CAMERA_OFFSET_X = 0f;
public static double DETECTION_AREA_MIN = 0f;
public static double DETECTION_AREA_MAX = 1f;
public static double DETECTION_AREA_MIN = 0.02f;
public static double DETECTION_AREA_MAX = 0.3f;
public static double DETECTION_LEFT_X = 0;
public static double DETECTION_CENTER_X = .5;
public static double DETECTION_RIGHT_X = 1;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Colors.java
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@ -6,11 +6,11 @@ public class Colors {
// CV Color Threshold Constants
public static Scalar FTC_RED_LOWER = new Scalar(165, 80, 80);
public static Scalar FTC_RED_UPPER = new Scalar(15, 255, 255);
public static ScalarRange FTC_RED_RANGE_1 = new ScalarRange(FTC_RED_UPPER, FTC_RED_LOWER);
public static ScalarRange FTC_RED_RANGE_2 = new ScalarRange(FTC_RED_UPPER, FTC_RED_LOWER);
public static ScalarRange FTC_RED_RANGE_1 = new ScalarRange(new Scalar(180, FTC_RED_UPPER.val[1], FTC_RED_UPPER.val[2]), FTC_RED_LOWER);
public static ScalarRange FTC_RED_RANGE_2 = new ScalarRange(FTC_RED_UPPER, new Scalar(0, FTC_RED_LOWER.val[1], FTC_RED_LOWER.val[2]));
public static Scalar FTC_BLUE_LOWER = new Scalar(75, 40, 80);
public static Scalar FTC_BLUE_UPPER = new Scalar(120, 255, 255);
public static ScalarRange FTC_BLUE_RANGE = new ScalarRange(FTC_BLUE_UPPER, FTC_RED_LOWER);
public static ScalarRange FTC_BLUE_RANGE = new ScalarRange(FTC_BLUE_UPPER, FTC_BLUE_LOWER);
public static Scalar FTC_WHITE_LOWER = new Scalar(0, 0, 40);
public static Scalar FTC_WHITE_UPPER = new Scalar(180, 30, 255);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Detection.java
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@ -67,7 +67,7 @@ public class Detection {
// Check if the current Detection is valid
public boolean isValid() {
return (this.contour != null) && (this.centerPx != INVALID_POINT) && (this.areaPx != INVALID_AREA);
return (this.contour != null) && (this.areaPx != INVALID_AREA);
}
// Get the current contour

16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/PropDetectionPipeline.java
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@ -8,6 +8,7 @@ import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DETECTION_RIGH
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.BLUR_SIZE;
@ -79,11 +80,12 @@ public class PropDetectionPipeline implements VisionProcessor {
}
private MatOfPoint detect(ScalarRange... colorRanges) {
if (!mask.empty()) {
mask.setTo(this.zeros(mask.size(), mask.type()));
}
mask.release();
for (ScalarRange colorRange : colorRanges) {
Core.inRange(hsv, colorRange.getLower(), colorRange.getUpper(), tmpMask);
if (mask.empty() || mask.rows() <= 0) {
Core.inRange(hsv, colorRange.getLower(), colorRange.getUpper(), mask);
}
Core.add(mask, tmpMask, mask);
}
@ -105,5 +107,13 @@ public class PropDetectionPipeline implements VisionProcessor {
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 (blue.isValid()) {
canvas.drawCircle((float)blue.getCenterPx().x, (float)blue.getCenterPx().y, 10, WHITE);
}
}
}