From d01f3b1d7ec159fa2efc84c0b708f6dfd9e1c45a Mon Sep 17 00:00:00 2001 From: Scott Barnes Date: Wed, 20 Mar 2024 17:47:40 -0500 Subject: [PATCH] Try to fix the camera --- .../ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java | 3 +++ .../java/org/firstinspires/ftc/teamcode/vision/Camera.java | 4 ++++ 2 files changed, 7 insertions(+) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java index 0a96fbe..47c920c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java @@ -246,6 +246,9 @@ public class AutoBlueTwoPlusTwo extends LinearOpMode { this.telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); this.robot = new Robot().init(hardwareMap); + while(!this.robot.getCamera().isReady()) { + sleep(20); + } // this.robot.getCamera().setAlliance(Alliance.Blue); // this.robot.getCamera().initTargetingCamera(); this.initialPosition = new Pose2d(-34, -59.5, Math.toRadians(270)); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Camera.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Camera.java index 2fa6dcc..568976a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Camera.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Camera.java @@ -117,4 +117,8 @@ public class Camera { } return this.aprilTagPoseEstimator.estimatePose(detection); } + + public boolean isReady() { + return this.propPortal.getCameraState() == VisionPortal.CameraState.CAMERA_DEVICE_READY; + } } \ No newline at end of file