org.firstinspires.ftc.teamcode.auto

Class InnerBlue

java.lang.Object

com.qualcomm.robotcore.eventloop.opmode.OpMode

com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

org.firstinspires.ftc.teamcode.auto.InnerBlue

@Autonomous(name="Inner Blue v10",
            group="MCC")
public class InnerBlue
extends com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

Nested Class Summary

Nested classes/interfaces inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

com.qualcomm.robotcore.eventloop.opmode.LinearOpMode.LinearOpModeHelper

Field Summary

Fields

Modifier and Type	Field and Description
(package private) SampleMecanumDrive	drive
private static java.lang.String	LABEL_FIRST_ELEMENT
private static java.lang.String	LABEL_SECOND_ELEMENT
(package private) Robot	robot
(package private) com.acmerobotics.roadrunner.geometry.Pose2d	startPose
private org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector	tfod tfod is the variable we will use to store our instance of the TensorFlow Object Detection engine.
private static java.lang.String	TFOD_MODEL_ASSET
(package private) com.qualcomm.robotcore.util.ElapsedTime	time
double	TOWER_SHOT_ANGLE
private org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer	vuforia vuforia is the variable we will use to store our instance of the Vuforia localization engine.
private static java.lang.String	VUFORIA_KEY

Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry

Constructor Summary

Constructors

Constructor and Description
InnerBlue()

Method Summary

Modifier and Type	Method and Description
void	dropOffWobbleGoal() Drops off the wobble goal
void	executeAutoPath(char targetZone) Executes the (MCC) auto path, completing the following tasks: - shoot 3 pre-loaded rings into low goal - drop off pre-loaded wobble goal - park on launch line Pre-conditions: - robot is on the inner blue starting line - robot is pre-loaded with 1 wobble goal, and the arm is in CARRY position - robot is pre-loaded with 3 rings - robot's webcam is facing the ring stack
private void	initTfod() Initialize the TensorFlow Object Detection engine.
private void	initVuforia() Initialize the Vuforia localization engine.
void	runOpMode()
void	shootThreeRings() Shoots 3 rings into the blue tower goal

Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

handleLoop, idle, init_loop, init, internalPostInitLoop, internalPostLoop, isStarted, isStopRequested, loop, opModeIsActive, sleep, start, stop, waitForStart

Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

getRuntime, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, updateTelemetry

Methods inherited from class java.lang.Object

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

Field Detail

time

com.qualcomm.robotcore.util.ElapsedTime time

robot

Robot robot

drive

SampleMecanumDrive drive

startPose

com.acmerobotics.roadrunner.geometry.Pose2d startPose

TOWER_SHOT_ANGLE

public final double TOWER_SHOT_ANGLE

See Also:

Constant Field Values

TFOD_MODEL_ASSET

private static final java.lang.String TFOD_MODEL_ASSET

See Also:

Constant Field Values

LABEL_FIRST_ELEMENT

private static final java.lang.String LABEL_FIRST_ELEMENT

See Also:

Constant Field Values

LABEL_SECOND_ELEMENT

private static final java.lang.String LABEL_SECOND_ELEMENT

See Also:

Constant Field Values

VUFORIA_KEY

private static final java.lang.String VUFORIA_KEY

See Also:

Constant Field Values

vuforia

private org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer vuforia

vuforia is the variable we will use to store our instance of the Vuforia localization engine.

tfod

private org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector tfod

tfod is the variable we will use to store our instance of the TensorFlow Object Detection engine.

Constructor Detail

InnerBlue

public InnerBlue()

Method Detail

runOpMode

public void runOpMode()

Specified by:

runOpMode in class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

executeAutoPath

public void executeAutoPath(char targetZone)

Executes the (MCC) auto path, completing the following tasks: - shoot 3 pre-loaded rings into low goal - drop off pre-loaded wobble goal - park on launch line Pre-conditions: - robot is on the inner blue starting line - robot is pre-loaded with 1 wobble goal, and the arm is in CARRY position - robot is pre-loaded with 3 rings - robot's webcam is facing the ring stack

Parameters:

targetZone - target zone for wobble goal drop off. Either A, B, or C.

shootThreeRings

public void shootThreeRings()

Shoots 3 rings into the blue tower goal

dropOffWobbleGoal

public void dropOffWobbleGoal()

Drops off the wobble goal

initVuforia

private void initVuforia()

Initialize the Vuforia localization engine.

initTfod

private void initTfod()

Initialize the TensorFlow Object Detection engine.