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kevinfreikevinfrei
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Adding a 'learning' bot
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‎PhoenixCode/build.gradle

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//
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// build.gradle in TeamCode
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//
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// Most of the definitions for building your module reside in a common, shared
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// file 'build.common.gradle'. Being factored in this way makes it easier to
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// integrate updates to the FTC into your code. If you really need to customize
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// the build definitions, you can place those customizations in this file, but
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// please think carefully as to whether such customizations are really necessary
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// before doing so.
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// Custom definitions may go here
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// Include common definitions from above.
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apply from: '../build.common.gradle'
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apply from: '../build.dependencies.gradle'
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dependencies {
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implementation project(':FtcRobotController')
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implementation project(':RobotLibrary')
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implementation project(':Vision')
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implementation project(':Path')
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testImplementation(platform('org.junit:junit-bom:5.7.0'))
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testImplementation('org.junit.jupiter:junit-jupiter-api:5.7.0')
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testImplementation 'org.junit.jupiter:junit-jupiter:5.7.0'
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testRuntimeOnly('org.junit.jupiter:junit-jupiter-engine:5.7.0')
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testImplementation "org.junit.jupiter:junit-jupiter-params:5.7.0"
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// We don't need Team two depending on Team one's code. Bad Things (tm) happen
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// implementation project(path: ':TechnoOneCode')
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annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
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implementation 'org.apache.commons:commons-math3:3.6.1'
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implementation 'com.acmerobotics.roadrunner:core:0.5.4'
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implementation 'org.openftc:easyopencv:1.5.0'
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implementation 'com.acmerobotics.dashboard:dashboard:0.4.3'
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//implementation 'com.github.technototes:TechnoLib:0.9.11'
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}
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tasks.withType(Test) {
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useJUnitPlatform()
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}

‎PhoenixCode/lib/OpModeAnnotationProcessor.jar

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‎PhoenixCode/src/main/AndroidManifest.xml

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<?xml version="1.0" encoding="utf-8"?>
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<!-- Note: the actual manifest file used in your APK merges this file with contributions
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from the modules on which your app depends (such as FtcRobotController, etc).
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So it won't ultimately be as empty as it might here appear to be :-) -->
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<!-- The package name here determines the package for your R class and your BuildConfig class -->
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<manifest
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package="org.firstinspires.ftc.teamcode"
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xmlns:android="http://schemas.android.com/apk/res/android">
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<application/>
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</manifest>

‎PhoenixCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md

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## TeamCode Module
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Welcome!
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This module, TeamCode, is the place where you will write/paste the code for your team's
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robot controller App. This module is currently empty (a clean slate) but the
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process for adding OpModes is straightforward.
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## Creating your own OpModes
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The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
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Sample opmodes exist in the FtcRobotController module.
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To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
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Expand the following tree elements:
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FtcRobotController / java / org.firstinspires.ftc.robotcontroller / external / samples
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A range of different samples classes can be seen in this folder.
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The class names follow a naming convention which indicates the purpose of each class.
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The full description of this convention is found in the samples/sample_convention.md file.
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A brief synopsis of the naming convention is given here:
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The prefix of the name will be one of the following:
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* Basic: This is a minimally functional OpMode used to illustrate the skeleton/structure
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of a particular style of OpMode. These are bare bones examples.
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* Sensor: This is a Sample OpMode that shows how to use a specific sensor.
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It is not intended as a functioning robot, it is simply showing the minimal code
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required to read and display the sensor values.
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* Hardware: This is not an actual OpMode, but a helper class that is used to describe
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one particular robot's hardware devices: eg: for a Pushbot. Look at any
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Pushbot sample to see how this can be used in an OpMode.
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Teams can copy one of these to create their own robot definition.
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* Pushbot: This is a Sample OpMode that uses the Pushbot robot structure as a base.
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* Concept: This is a sample OpMode that illustrates performing a specific function or concept.
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These may be complex, but their operation should be explained clearly in the comments,
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or the header should reference an external doc, guide or tutorial.
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* Library: This is a class, or set of classes used to implement some strategy.
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These will typically NOT implement a full OpMode. Instead they will be included
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by an OpMode to provide some stand-alone capability.
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Once you are familiar with the range of samples available, you can choose one to be the
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basis for your own robot. In all cases, the desired sample(s) needs to be copied into
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your TeamCode module to be used.
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This is done inside Android Studio directly, using the following steps:
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1) Locate the desired sample class in the Project/Android tree.
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2) Right click on the sample class and select "Copy"
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3) Expand the TeamCode / java folder
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4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
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5) You will be prompted for a class name for the copy.
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Choose something meaningful based on the purpose of this class.
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Start with a capital letter, and remember that there may be more similar classes later.
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Once your copy has been created, you should prepare it for use on your robot.
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This is done by adjusting the OpMode's name, and enabling it to be displayed on the
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Driver Station's OpMode list.
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Each OpMode sample class begins with several lines of code like the ones shown below:
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```
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@TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
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@Disabled
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```
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The name that will appear on the driver station's "opmode list" is defined by the code:
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``name="Template: Linear OpMode"``
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You can change what appears between the quotes to better describe your opmode.
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The "group=" portion of the code can be used to help organize your list of OpModes.
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As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
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``@Disabled`` annotation which has been included.
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This line can simply be deleted , or commented out, to make the OpMode visible.
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## ADVANCED Multi-Team App management: Cloning the TeamCode Module
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In some situations, you have multiple teams in your club and you want them to all share
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a common code organization, with each being able to *see* the others code but each having
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their own team module with their own code that they maintain themselves.
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In this situation, you might wish to clone the TeamCode module, once for each of these teams.
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Each of the clones would then appear along side each other in the Android Studio module list,
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together with the FtcRobotController module (and the original TeamCode module).
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Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
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prior to clicking to the green Run arrow.
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Warning: This is not for the inexperienced Software developer.
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You will need to be comfortable with File manipulations and managing Android Studio Modules.
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These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
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Also.. Make a full project backup before you start this :)
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To clone TeamCode, do the following:
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Note: Some names start with "Team" and others start with "team". This is intentional.
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1) Using your operating system file management tools, copy the whole "TeamCode"
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folder to a sibling folder with a corresponding new name, eg: "Team0417".
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2) In the new Team0417 folder, delete the TeamCode.iml file.
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3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
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to a matching name with a lowercase 'team' eg: "team0417".
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4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that contains
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package="org.firstinspires.ftc.teamcode"
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to be
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package="org.firstinspires.ftc.team0417"
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5) Add: include ':Team0417' to the "/settings.gradle" file.
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6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""

‎PhoenixCode/src/main/res/raw/readme.md

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Place your sound files in this folder to use them as project resources.

‎PhoenixCode/src/main/res/values/strings.xml

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<?xml version="1.0" encoding="utf-8"?>
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<resources>
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</resources>

‎PhoenixCode/src/main/res/xml/teamwebcamcalibrations.xml

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<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
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<!--
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This file can provide additional camera calibration settings beyond those built into the SDK itself.
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Each calibration is for a particular camera (indicated by USB vid & pid pair) and a particular
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capture resolution for the camera. Note: it is very important when capturing images used to calibrate
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a camera that the image acquisition tool can actually control this capture resolution within the camera
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itself and that you use this setting correctly. Many image acquistion tools do not in fact provide
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this level of control.
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Beyond simply providing additional, new camera calibrations, calibrations provided herein can
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*replace/update* those that are builtin to the SDK. This matching is keyed, of course, by the
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(vid, pid, size) triple. Further, if such a calibration has the 'remove' attribute with value 'true',
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any existing calibration with that key is removed (and the calibration itself not added).
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Calibrations are internally processed according to aspect ratio. If a format is requested in a size
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that is not calibrated, but a calibration does exist for the same aspect ratio on the same camera,
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then the latter will be scaled to accommodate the request. For example, if a 640x480 calibration
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is requested but only a 800x600 calibration exists for that camera, then the 800x600 is scaled
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down to service the 640x480 request.
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Further, it is important to note that if *no* calibrations exist for a given camera, then Vuforia
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is offered the entire range of capture resolutions that the hardware can support (and it does its
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best to deal with the lack of calibration). However, if *any* calibrations are provided for a camera,
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then capture resolutions in those aspect ratios supported by the camera for which any calibrations
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are *not* provided are *not* offered. Thus, if you calibrate a camera but fail to calibrate all
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the camera's supported aspect ratios, you limit the choices of capture resolutions that Vuforia can
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select from.
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One image acquisition program that supports control of camera capture resolution is YouCam 7:
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https://www.cyberlink.com/products/youcam/features_en_US.html
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Programs that can process acquired images to determine camera calibration settings include:
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https://www.3dflow.net/3df-zephyr-free/ (see "Utilities/Images/Launch Camera Calibration" therein)
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http://graphics.cs.msu.ru/en/node/909
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Note that the type of images that must be acquired in order to calibrate is specific to the
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calibration software used.
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The required contents are illustrated here by example. Note that for the attribute names, both the
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camelCase or the underscore_variations are supported; they are equivalent. The attributes for
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each Calibration are as follows:
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size (int pair): space separated camera resolution (width, height).
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focalLength (float pair): space separated focal length value.
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principalPoint (float pair): space separated principal point values (width, height).
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distortionCoefficients (an 8-element float array): distortion coefficients in the following form
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(r:radial, t:tangential): [r0, r1, t0, t1, r2, r3, r4, r5]
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see https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
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The examples here are commented out as the values are built-in to the FTC SDK. They serve instead
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here as examples on how make your own.
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-->
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<Calibrations>
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<!-- ======================================================================================= -->
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<!-- Microsoft Lifecam HD 3000 v1, Calibrated by PTC using unknown tooling -->
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<!-- <Camera vid="Microsoft" pid="0x0779">
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<Calibration
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size="640 480"
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focalLength="678.154f, 678.17f"
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principalPoint="318.135f, 228.374f"
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distortionCoefficients="0.154576f, -1.19143f, 0f, 0f, 2.06105f, 0f, 0f, 0f"
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/>
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</Camera> -->
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<!-- ======================================================================================= -->
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<!-- Microsoft Lifecam HD 3000 v2, Calibrated by PTC using unknown tooling -->
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<!-- <Camera vid="Microsoft" pid="0x0810">
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<Calibration
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size="640 480"
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focalLength="678.154f, 678.17f"
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principalPoint="318.135f, 228.374f"
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distortionCoefficients="0.154576f, -1.19143f, 0f, 0f, 2.06105f, 0f, 0f, 0f"
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/>
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</Camera> -->
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<!-- ======================================================================================= -->
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<!-- Logitech HD Webcam C310, Calibrated by by Robert Atkinson, 2018.05.30 using 3DF Zephyr -->
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<!-- <Camera vid="Logitech" pid="0x081B">
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<Calibration
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size="640 480"
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focalLength="821.993f, 821.993f"
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principalPoint="330.489f, 248.997f"
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distortionCoefficients="-0.018522, 1.03979, 0, 0, -3.3171, 0, 0, 0"
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/>
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<Calibration
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size="640 360"
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focalLength="715.307f, 715.307f"
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principalPoint="319.759f, 188.917f"
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distortionCoefficients="-0.0258948, 1.06258, 0, 0, -3.40245, 0, 0, 0"
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/>
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</Camera> -->
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<!-- ======================================================================================= -->
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<!-- Logitech HD Pro Webcam C920, Calibrated by Robert Atkinson, 2018.05.30 using 3DF Zephyr -->
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<!-- <Camera vid="Logitech" pid="0x082D">
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<Calibration
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size="640 480"
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focalLength="622.001f, 622.001f"
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principalPoint="319.803f, 241.251f"
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distortionCoefficients="0.1208, -0.261599, 0, 0, 0.10308, 0, 0, 0"
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/>
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<Calibration
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size="800 600"
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focalLength="775.79f, 775.79f"
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principalPoint="400.898f, 300.79f"
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distortionCoefficients="0.112507, -0.272067, 0, 0, 0.15775, 0, 0, 0"
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/>
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<Calibration
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size="640 360"
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focalLength="463.566f, 463.566f"
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principalPoint="316.402f, 176.412f"
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distortionCoefficients="0.111626 , -0.255626, 0, 0, 0.107992, 0, 0, 0"
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/>
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<Calibration
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size="1920, 1080"
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focalLength="1385.92f , 1385.92f"
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principalPoint="951.982f , 534.084f"
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distortionCoefficients="0.117627, -0.248549, 0, 0, 0.107441, 0, 0, 0"
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/>
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<Calibration
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size="800, 448"
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focalLength="578.272f , 578.272f"
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principalPoint="402.145f , 221.506f"
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distortionCoefficients="0.12175, -0.251652 , 0, 0, 0.112142, 0, 0, 0"
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/>
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<Calibration
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size="864, 480"
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focalLength="626.909f , 626.909f"
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principalPoint="426.007f , 236.834f"
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distortionCoefficients="0.120988, -0.253336 , 0, 0, 0.102445, 0, 0, 0"
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/>
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</Camera> -->
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<!-- ======================================================================================= -->
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<!-- Logitech HD Webcam C270, Calibrated by Noah Andrews, 2019.03.13 using 3DF Zephyr -->
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<!--<Camera vid="Logitech" pid="0x0825">
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<Calibration
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size="640 480"
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focalLength="822.317f, 822.317f"
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principalPoint="319.495f, 242.502f"
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distortionCoefficients="-0.0449369, 1.17277, 0, 0, -3.63244, 0, 0, 0"
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/>
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</Camera> -->
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<!-- ======================================================================================= -->
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</Calibrations>

‎settings.gradle

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include ':FtcRobotController'
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include ':OspreyCode', ':SeagullCode'
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include ':OspreyCode', ':SeagullCode', ':PhoenixCode'
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include ':RobotLibrary'
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include ':Vision'
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include ':Path'

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