org.firstinspires.ftc.teamcode.util.vision

Class VisionManager

java.lang.Object

org.firstinspires.ftc.teamcode.util.vision.VisionManager

public class VisionManager
extends java.lang.Object

This class handles the robot CV functions and makes combining Vuforia and DogeCV easy in a single OpMode.

Field Summary

Fields

Modifier and Type	Field and Description
private java.util.List<org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable>	allTrackables
private static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection	CAMERA_CHOICE
private com.disnodeteam.dogecv.detectors.roverrukus.GoldAlignDetector	goldDetector
private org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix	lastLocation
private static float	mmFTCFieldWidth
private static float	mmPerInch
private static float	mmTargetHeight
private com.disnodeteam.dogecv.detectors.roverrukus.SamplingOrderDetector	sampleDetector
(package private) boolean	targetVisible
private com.disnodeteam.dogecv.Dogeforia	vuforia

Constructor Summary

Constructors

Constructor and Description
VisionManager()

Method Summary

Modifier and Type	Method and Description
void	getCubeDetails()
com.disnodeteam.dogecv.detectors.roverrukus.SamplingOrderDetector.GoldLocation	getGoldLocation() Get the current order of Gold cube using DogeCV.
double	getGoldPosX()
com.disnodeteam.dogecv.detectors.roverrukus.SamplingOrderDetector.GoldLocation	getLastGoldOrder() Get the last known order of Gold cube using DogeCV.
void	goldAlignInit(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Gold Align methods.
void	goldAlignStop()
boolean	isGoldAligned()
void	samplingInit(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Sampling methods.
void	samplingStop()
void	vuforiaInit(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Vuforia methods.
void	vuforiaStop()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

sampleDetector

private com.disnodeteam.dogecv.detectors.roverrukus.SamplingOrderDetector sampleDetector

goldDetector

private com.disnodeteam.dogecv.detectors.roverrukus.GoldAlignDetector goldDetector

vuforia

private com.disnodeteam.dogecv.Dogeforia vuforia

allTrackables

private java.util.List<org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable> allTrackables

CAMERA_CHOICE

private static final org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection CAMERA_CHOICE

mmPerInch

private static final float mmPerInch

See Also:

Constant Field Values

mmFTCFieldWidth

private static final float mmFTCFieldWidth

See Also:

Constant Field Values

mmTargetHeight

private static final float mmTargetHeight

See Also:

Constant Field Values

targetVisible

boolean targetVisible

lastLocation

private org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix lastLocation

Constructor Detail

VisionManager

public VisionManager()

Method Detail

samplingInit

public void samplingInit(com.qualcomm.robotcore.hardware.HardwareMap hwMap)

Sampling methods.

getGoldLocation

public com.disnodeteam.dogecv.detectors.roverrukus.SamplingOrderDetector.GoldLocation getGoldLocation()

Get the current order of Gold cube using DogeCV.

Returns:

UNKNOWN, LEFT, CENTER, RIGHT based on cube order

getLastGoldOrder

public com.disnodeteam.dogecv.detectors.roverrukus.SamplingOrderDetector.GoldLocation getLastGoldOrder()

Get the last known order of Gold cube using DogeCV.

Returns:

UNKNOWN, LEFT, CENTER, RIGHT based on cube order

samplingStop

public void samplingStop()

goldAlignInit

public void goldAlignInit(com.qualcomm.robotcore.hardware.HardwareMap hwMap)

Gold Align methods.

isGoldAligned

public boolean isGoldAligned()

getGoldPosX

public double getGoldPosX()

goldAlignStop

public void goldAlignStop()

vuforiaInit

public void vuforiaInit(com.qualcomm.robotcore.hardware.HardwareMap hwMap)

Vuforia methods.

vuforiaStop

public void vuforiaStop()

getCubeDetails

public void getCubeDetails()