Added teleop for airplane launcher using the gamepad 1 with the right…

… bumper.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagOmni.java

@@ -90,7 +90,7 @@
 public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
 {
     // Adjust these numbers to suit your robot.
-    final double DESIRED_DISTANCE = 12.0; //  this is how close the camera should get to the target (inches)
+    final double DESIRED_DISTANCE = 1.0; //  this is how close the camera should get to the target (inches)
 
     //  Set the GAIN constants to control the relationship between the measured position error, and how much power is
     //  applied to the drive motors to correct the error.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOp.java

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.teamcode.abstractions.Claw;
@@ -15,7 +16,8 @@
 public class TeleOp extends LinearOpMode {
     /**
      * Returns the maximum of all the arguments
-     * @param a the first argument
+     *
+     * @param a      the first argument
      * @param others the other arguments
      * @return the maximum of all the arguments
      */
@@ -36,6 +38,12 @@ private double max(double a, double... others) {
         }
         return max;
     }
+    public double OdoToInches (double ticks){
+        double ticksPerRotation = 8192;
+        double radius_inches = 0.69;
+        double num_wheel_rotations = ticks/8192;
+        return (num_wheel_rotations * 2 * Math.PI * radius_inches);
+    }
 
     @Override
     public void runOpMode() {
@@ -50,6 +58,9 @@ public void runOpMode() {
         // set up the claw
         Claw claw = new Claw(scheduler, robot.clawGrab(), robot.clawRotate(), robot.getClawLock());
 
+        //Reset odometry pods
+        driveMotors.frontLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        driveMotors.backRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 
         waitForStart();
         int targetLeft = 0;
@@ -71,6 +82,11 @@ public void runOpMode() {
         balBL /= balanceDen;
         balBR /= balanceDen;
 
+        // Creates Drone motor instance
+        DcMotor drone = hardwareMap.get(DcMotor.class, "drone");
+        DcMotor intake = hardwareMap.get(DcMotor.class, "intake");
+        intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
         ElapsedTime timer1 = new ElapsedTime();
         while (opModeIsActive()) {
             scheduler.tick();
@@ -145,7 +161,17 @@ public void runOpMode() {
 
             // TODO: really should make this based on deltaTime
             // make time between refreshes longer to avoid spamming motors with commands
-            sleep(5);
+
+            // Makes drone launcher motor go zoom when the right bumper is pressed on game pad 1
+            if (gamepad1.right_bumper) {
+                drone.setPower(1);
+            } else {
+                drone.setPower(0);
+            }
+            //Updates the average distance traveled forward: positive is right or forward; negative is backward or left
+            telemetry.addData("Distance Driven Forward:", OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2));
+            telemetry.addData("Inches Strafed: ", OdoToInches(intake.getCurrentPosition()));
+            telemetry.update();
         }
 
         // panic() cleans up 'resources' (Claw, drive motors, etc)

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utility/TFODObjectDetectionSpikes.java

@@ -0,0 +1,154 @@
+package org.firstinspires.ftc.teamcode.utility;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.tfod.TfodProcessor;
+
+import java.util.List;
+@Autonomous
+public class TFODObjectDetectionSpikes extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    // TFOD_MODEL_FILE points to a model file stored onboard the Robot Controller's storage,
+    // this is used when uploading models directly to the RC using the model upload interface.
+    private static final String TFOD_MODEL_ASSET = "model_20231021_184041.tflite";
+    // Define the labels recognized in the model for TFOD (must be in training order!)
+    private static final String[] LABELS = {
+            "ShampooBottle",
+    };
+
+    /**
+     * The variable to store our instance of the TensorFlow Object Detection processor.
+     */
+    private TfodProcessor tfod;
+    private VisionPortal visionPortal;
+
+    @Override
+    public void runOpMode() {
+
+        initTfod();
+
+        // Wait for the DS start button to be touched.
+        telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
+        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        if (opModeIsActive()) {
+            while (opModeIsActive()) {
+
+                telemetryTfod();
+
+                // Push telemetry to the Driver Station.
+                telemetry.update();
+
+                // Save CPU resources; can resume streaming when needed.
+                if (gamepad1.dpad_down) {
+                    visionPortal.stopStreaming();
+                } else if (gamepad1.dpad_up) {
+                    visionPortal.resumeStreaming();
+                }
+
+                // Share the CPU.
+                sleep(20);
+            }
+        }
+
+        // Save more CPU resources when camera is no longer needed.
+        visionPortal.close();
+
+    }   // end runOpMode()
+
+    /**
+     * Initialize the TensorFlow Object Detection processor.
+     */
+    private void initTfod() {
+
+        // Create the TensorFlow processor by using a builder.
+        tfod = new TfodProcessor.Builder()
+
+                // With the following lines commented out, the default TfodProcessor Builder
+                // will load the default model for the season. To define a custom model to load,
+                // choose one of the following:
+                //   Use setModelAssetName() if the custom TF Model is built in as an asset (AS only).
+                //   Use setModelFileName() if you have downloaded a custom team model to the Robot Controller.
+                .setModelAssetName(TFOD_MODEL_ASSET)
+                //.setModelFileName(TFOD_MODEL_FILE)
+
+                // The following default settings are available to un-comment and edit as needed to
+                // set parameters for custom models.
+                .setModelLabels(LABELS)
+                //.setIsModelTensorFlow2(true)
+                //.setIsModelQuantized(true)
+                //.setModelInputSize(300)
+                //.setModelAspectRatio(16.0 / 9.0)
+
+                .build();
+
+        // Create the vision portal by using a builder.
+        VisionPortal.Builder builder = new VisionPortal.Builder();
+
+        // Set the camera (webcam vs. built-in RC phone camera).
+        if (USE_WEBCAM) {
+            builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
+        } else {
+            builder.setCamera(BuiltinCameraDirection.BACK);
+        }
+
+        // Choose a camera resolution. Not all cameras support all resolutions.
+        //builder.setCameraResolution(new Size(640, 480));
+
+        // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
+        //builder.enableLiveView(true);
+
+        // Set the stream format; MJPEG uses less bandwidth than default YUY2.
+        //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
+
+        // Choose whether or not LiveView stops if no processors are enabled.
+        // If set "true", monitor shows solid orange screen if no processors enabled.
+        // If set "false", monitor shows camera view without annotations.
+        //builder.setAutoStopLiveView(false);
+
+        // Set and enable the processor.
+        builder.addProcessor(tfod);
+
+        // Build the Vision Portal, using the above settings.
+        visionPortal = builder.build();
+
+        // Set confidence threshold for TFOD recognitions, at any time.
+        //tfod.setMinResultConfidence(0.75f);
+
+        // Disable or re-enable the TFOD processor at any time.
+        //visionPortal.setProcessorEnabled(tfod, true);
+
+    }   // end method initTfod()
+
+    /**
+     * Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
+     */
+    private void telemetryTfod() {
+
+        List<Recognition> currentRecognitions = tfod.getRecognitions();
+        telemetry.addData("# Objects Detected", currentRecognitions.size());
+
+        // Step through the list of recognitions and display info for each one.
+        for (Recognition recognition : currentRecognitions) {
+            double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
+            double y = (recognition.getTop()  + recognition.getBottom()) / 2 ;
+
+            telemetry.addData(""," ");
+            telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
+            telemetry.addData("- Position", "%.0f,%.0f", x, y);
+            telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
+        }   // end for() loop
+
+    }   // end method telemetryTfod()
+
+}   // end class