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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,65 +1,65 @@ | ||
| package edu.stuy.robot.commands; | ||
|
|
||
| import java.util.Arrays; | ||
|
|
||
| import edu.stuy.robot.Robot; | ||
| import edu.stuy.robot.cv.StuyVision; | ||
| import edu.wpi.first.wpilibj.command.Command; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
|
|
||
| /** | ||
| * | ||
| */ | ||
| public class CVReadAndPrintCommand extends Command { | ||
| boolean tryToSaveFile; | ||
| public CVReadAndPrintCommand() { | ||
| // Use requires() here to declare subsystem dependencies | ||
| // eg. requires(chassis); | ||
| } | ||
| public CVReadAndPrintCommand(boolean save) { | ||
| // Use requires() here to declare subsystem dependencies | ||
| // eg. requires(chassis); | ||
| tryToSaveFile = save; | ||
| } | ||
|
|
||
| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| try { | ||
| long start = System.currentTimeMillis(); | ||
| double[] cvReading = null; | ||
| cvReading = Robot.vision.processImage(Robot.isDebugModeOn() && tryToSaveFile); | ||
| System.out.println("\n\n\n\n\n\n\n\n\n\nprocessImage took " + (System.currentTimeMillis() - start) + "ms"); | ||
| System.out.println(new StuyVision.Report(cvReading)); | ||
| boolean canProceed = cvReading != null; | ||
| SmartDashboard.putString("cv-reading", Arrays.toString(cvReading)); | ||
| if (canProceed) { | ||
| double desiredAngle = StuyVision.frameXPxToDegrees(cvReading[0]); | ||
| SmartDashboard.putNumber("cv-angle", desiredAngle); | ||
| System.out.println("Desired Angle Delta: " + desiredAngle); | ||
| } | ||
| SmartDashboard.putBoolean("cv-visible", canProceed); | ||
| } catch (Exception e) { | ||
| System.err.println("\n\n\n\nGeneric exception caught in CVReadAndPrintCommand:"); | ||
| e.printStackTrace(); | ||
| System.err.println("^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"); | ||
| } | ||
| } | ||
|
|
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
| } | ||
|
|
||
| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| return true; | ||
| } | ||
|
|
||
| // Called once after isFinished returns true | ||
| protected void end() { | ||
| } | ||
|
|
||
| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| } | ||
| } | ||
| //package edu.stuy.robot.commands; | ||
| // | ||
| //import java.util.Arrays; | ||
| // | ||
| //import edu.stuy.robot.Robot; | ||
| //import edu.stuy.robot.cv.StuyVision; | ||
| //import edu.wpi.first.wpilibj.command.Command; | ||
| //import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| // | ||
| ///** | ||
| // * | ||
| // */ | ||
| //public class CVReadAndPrintCommand extends Command { | ||
| // boolean tryToSaveFile; | ||
| // public CVReadAndPrintCommand() { | ||
| // // Use requires() here to declare subsystem dependencies | ||
| // // eg. requires(chassis); | ||
| // } | ||
| // public CVReadAndPrintCommand(boolean save) { | ||
| // // Use requires() here to declare subsystem dependencies | ||
| // // eg. requires(chassis); | ||
| // tryToSaveFile = save; | ||
| // } | ||
| // | ||
| // // Called just before this Command runs the first time | ||
| // protected void initialize() { | ||
| // try { | ||
| // long start = System.currentTimeMillis(); | ||
| // double[] cvReading = null; | ||
| // cvReading = Robot.vision.processImage(Robot.isDebugModeOn() && tryToSaveFile); | ||
| // System.out.println("\n\n\n\n\n\n\n\n\n\nprocessImage took " + (System.currentTimeMillis() - start) + "ms"); | ||
| // System.out.println(new StuyVision.Report(cvReading)); | ||
| // boolean canProceed = cvReading != null; | ||
| // SmartDashboard.putString("cv-reading", Arrays.toString(cvReading)); | ||
| // if (canProceed) { | ||
| // double desiredAngle = StuyVision.frameXPxToDegrees(cvReading[0]); | ||
| // SmartDashboard.putNumber("cv-angle", desiredAngle); | ||
| // System.out.println("Desired Angle Delta: " + desiredAngle); | ||
| // } | ||
| // SmartDashboard.putBoolean("cv-visible", canProceed); | ||
| // } catch (Exception e) { | ||
| // System.err.println("\n\n\n\nGeneric exception caught in CVReadAndPrintCommand:"); | ||
| // e.printStackTrace(); | ||
| // System.err.println("^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"); | ||
| // } | ||
| // } | ||
| // | ||
| // // Called repeatedly when this Command is scheduled to run | ||
| // protected void execute() { | ||
| // } | ||
| // | ||
| // // Make this return true when this Command no longer needs to run execute() | ||
| // protected boolean isFinished() { | ||
| // return true; | ||
| // } | ||
| // | ||
| // // Called once after isFinished returns true | ||
| // protected void end() { | ||
| // } | ||
| // | ||
| // // Called when another command which requires one or more of the same | ||
| // // subsystems is scheduled to run | ||
| // protected void interrupted() { | ||
| // } | ||
| //} |
68 changes: 34 additions & 34 deletions
68
src/edu/stuy/robot/commands/DriveToCourtyardRangeCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,34 +1,34 @@ | ||
| package edu.stuy.robot.commands; | ||
|
|
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| import static edu.stuy.robot.RobotMap.COURTYARD_SHOOTING_DISTANCE; | ||
|
|
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| import edu.stuy.robot.Robot; | ||
| import edu.stuy.robot.cv.StuyVision; | ||
|
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| /** | ||
| * | ||
| */ | ||
| public class DriveToCourtyardRangeCommand extends EncoderDrivingCommand { | ||
|
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| public DriveToCourtyardRangeCommand() { | ||
| super(Robot.stopAutoMovement); | ||
| // Use requires() here to declare subsystem dependencies | ||
| // eg. requires(chassis); | ||
| requires(Robot.drivetrain); | ||
| } | ||
|
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| protected void setInchesToMove() { | ||
| double[] cvReading = Robot.vision.processImage(); | ||
| if (cvReading != null) { | ||
| double curDistance = StuyVision.findBotDistanceToGoal(cvReading[1]); | ||
| initialInchesToMove = curDistance - COURTYARD_SHOOTING_DISTANCE; | ||
| } else { | ||
| // CV failed! | ||
| cancelCommand = true; | ||
| } | ||
| System.out.println(new StuyVision.Report(cvReading)); | ||
| if (cvReading != null) { | ||
| System.out.println(StuyVision.findBotDistanceToGoal(cvReading[1])); | ||
| } | ||
| } | ||
| } | ||
| //package edu.stuy.robot.commands; | ||
| // | ||
| //import static edu.stuy.robot.RobotMap.COURTYARD_SHOOTING_DISTANCE; | ||
| // | ||
| //import edu.stuy.robot.Robot; | ||
| //import edu.stuy.robot.cv.StuyVision; | ||
| // | ||
| ///** | ||
| // * | ||
| // */ | ||
| //public class DriveToCourtyardRangeCommand extends EncoderDrivingCommand { | ||
| // | ||
| // public DriveToCourtyardRangeCommand() { | ||
| // super(Robot.stopAutoMovement); | ||
| // // Use requires() here to declare subsystem dependencies | ||
| // // eg. requires(chassis); | ||
| // requires(Robot.drivetrain); | ||
| // } | ||
| // | ||
| // protected void setInchesToMove() { | ||
| // double[] cvReading = Robot.vision.processImage(); | ||
| // if (cvReading != null) { | ||
| // double curDistance = StuyVision.findBotDistanceToGoal(cvReading[1]); | ||
| // initialInchesToMove = curDistance - COURTYARD_SHOOTING_DISTANCE; | ||
| // } else { | ||
| // // CV failed! | ||
| // cancelCommand = true; | ||
| // } | ||
| // System.out.println(new StuyVision.Report(cvReading)); | ||
| // if (cvReading != null) { | ||
| // System.out.println(StuyVision.findBotDistanceToGoal(cvReading[1])); | ||
| // } | ||
| // } | ||
| //} |
70 changes: 35 additions & 35 deletions
70
src/edu/stuy/robot/commands/DriveToLayupRangeCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,35 +1,35 @@ | ||
| package edu.stuy.robot.commands; | ||
|
|
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| import static edu.stuy.robot.RobotMap.LAYUP_SHOOTING_DISTANCE; | ||
|
|
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| import edu.stuy.robot.Robot; | ||
| import edu.stuy.robot.cv.StuyVision; | ||
| import edu.stuy.util.BoolBox; | ||
|
|
||
| /** | ||
| * | ||
| */ | ||
| public class DriveToLayupRangeCommand extends EncoderDrivingCommand { | ||
|
|
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| public DriveToLayupRangeCommand() { | ||
| super(Robot.stopAutoMovement); | ||
| // Use requires() here to declare subsystem dependencies | ||
| // eg. requires(chassis); | ||
| requires(Robot.drivetrain); | ||
| } | ||
|
|
||
| protected void setInchesToMove() { | ||
| double[] cvReading = Robot.vision.processImage(); | ||
| if (cvReading != null) { | ||
| double curDistance = StuyVision.findBotDistanceToGoal(cvReading[1]); | ||
| initialInchesToMove = curDistance - LAYUP_SHOOTING_DISTANCE; | ||
| } else { | ||
| // CV failed! | ||
| cancelCommand = true; | ||
| } | ||
| System.out.println(new StuyVision.Report(cvReading)); | ||
| if (cvReading != null) { | ||
| System.out.println(StuyVision.findBotDistanceToGoal(cvReading[1])); | ||
| } | ||
| } | ||
| } | ||
| //package edu.stuy.robot.commands; | ||
| // | ||
| //import static edu.stuy.robot.RobotMap.LAYUP_SHOOTING_DISTANCE; | ||
| // | ||
| //import edu.stuy.robot.Robot; | ||
| //import edu.stuy.robot.cv.StuyVision; | ||
| //import edu.stuy.util.BoolBox; | ||
| // | ||
| ///** | ||
| // * | ||
| // */ | ||
| //public class DriveToLayupRangeCommand extends EncoderDrivingCommand { | ||
| // | ||
| // public DriveToLayupRangeCommand() { | ||
| // super(Robot.stopAutoMovement); | ||
| // // Use requires() here to declare subsystem dependencies | ||
| // // eg. requires(chassis); | ||
| // requires(Robot.drivetrain); | ||
| // } | ||
| // | ||
| // protected void setInchesToMove() { | ||
| // double[] cvReading = Robot.vision.processImage(); | ||
| // if (cvReading != null) { | ||
| // double curDistance = StuyVision.findBotDistanceToGoal(cvReading[1]); | ||
| // initialInchesToMove = curDistance - LAYUP_SHOOTING_DISTANCE; | ||
| // } else { | ||
| // // CV failed! | ||
| // cancelCommand = true; | ||
| // } | ||
| // System.out.println(new StuyVision.Report(cvReading)); | ||
| // if (cvReading != null) { | ||
| // System.out.println(StuyVision.findBotDistanceToGoal(cvReading[1])); | ||
| // } | ||
| // } | ||
| //} |
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