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Try to fix the camera

This commit is contained in:
Scott Barnes 2024-03-20 17:47:40 -05:00
parent 87399f0670
commit d01f3b1d7e
2 changed files with 7 additions and 0 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoBlueTwoPlusTwo.java
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@ -246,6 +246,9 @@ public class AutoBlueTwoPlusTwo extends LinearOpMode {
this.telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); this.telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
this.robot = new Robot().init(hardwareMap); this.robot = new Robot().init(hardwareMap);
while(!this.robot.getCamera().isReady()) {
sleep(20);
}
// this.robot.getCamera().setAlliance(Alliance.Blue); // this.robot.getCamera().setAlliance(Alliance.Blue);
// this.robot.getCamera().initTargetingCamera(); // this.robot.getCamera().initTargetingCamera();
this.initialPosition = new Pose2d(-34, -59.5, Math.toRadians(270)); this.initialPosition = new Pose2d(-34, -59.5, Math.toRadians(270));

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Camera.java
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@ -117,4 +117,8 @@ public class Camera {
} }
return this.aprilTagPoseEstimator.estimatePose(detection); return this.aprilTagPoseEstimator.estimatePose(detection);
} }
public boolean isReady() {
return this.propPortal.getCameraState() == VisionPortal.CameraState.CAMERA_DEVICE_READY;
}
} }