BlueRight

/* Copyright (c) 2019 FIRST. All rights reserved.
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 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
//
package org.firstinspires.ftc.teamcode.drive.opmode;
//try using dcmotorex.setposition() to move the motors a certain distance

import android.util.Size;

import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.arcrobotics.ftclib.controller.PIDController;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.DcMotorEx;
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.teamcode.drive.SampleMecanumDrive;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;

import java.util.List;

@Autonomous(name = "Blue Far", group = "Concept")
public class BlueRight extends LinearOpMode {
    public static double p=0.003, i=0, d=0.0002, f=0.05;
    public static double goal = 0;
    public static double curr = 0;
    private PIDController slideController;
    boolean left;
    boolean right;
    boolean middle;
    double speed;
    private DcMotorEx lift;
    private DcMotorEx lift2;
    private DcMotor swingBar;
    private CRServo claw;
    private CRServo claw2;
    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera

    /**
     * The variable to store our instance of the TensorFlow Object Detection processor.
     */
    private TfodProcessor tfod;

    /**
     * The variable to store our instance of the vision portal.
     */
    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();
//        swingBar.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        slideController = new PIDController(p,i,d);
        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
        waitForStart();
        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);

        lift = hardwareMap.get(DcMotorEx.class, "lift");
        lift2 = hardwareMap.get(DcMotorEx.class, "lift2");
        claw = hardwareMap.get(CRServo.class, "claw");
        claw2 = hardwareMap.get(CRServo.class, "claw2");
        swingBar = hardwareMap.get(DcMotor.class, "swingBar");

        lift2.setDirection(DcMotorEx.Direction.REVERSE);
        claw.setDirection(DcMotorSimple.Direction.REVERSE);
        speed = 0.25;

        Trajectory traj1 = drive.trajectoryBuilder(new Pose2d())
                .back(50)
                .build();
        Trajectory traj2 = drive.trajectoryBuilder(new Pose2d())
                .forward(15)
                .build();
        Trajectory traj3 = drive.trajectoryBuilder(new Pose2d())
                .forward(3)
                .build();
        Trajectory traj4 = drive.trajectoryBuilder(new Pose2d())
                .back(4)
                .build();
        Trajectory traj5 = drive.trajectoryBuilder(new Pose2d())
                .forward(4) // 6
                .build();
        Trajectory traj6 = drive.trajectoryBuilder(new Pose2d())
                .back(29)
                .build();
        Trajectory traj7 = drive.trajectoryBuilder(new Pose2d())
                .strafeLeft(40)
                .build();
        Trajectory traj8 = drive.trajectoryBuilder(new Pose2d())
                .strafeRight(5)
                .build();
        Trajectory traj9 = drive.trajectoryBuilder(new Pose2d())
                .forward(70)
                .build();
        Trajectory traj10 = drive.trajectoryBuilder(new Pose2d())
                .strafeRight(30)
                .build();
        Trajectory traj11 = drive.trajectoryBuilder(new Pose2d())
                .forward(10)
                .build();
        Trajectory traj12 = drive.trajectoryBuilder(new Pose2d())
                .strafeLeft(40)
                .build();
        Trajectory traj13 = drive.trajectoryBuilder(new Pose2d())
                .strafeLeft(5)
                .build();
        Trajectory traj14 = drive.trajectoryBuilder(new Pose2d())
                .strafeRight(30)
                .build();
        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();
                }

                if(right == true){
                    swingBar.setPower(0.2);
                    drive.followTrajectory(traj6);
                    sleep(300);
                    drive.turn(Math.toRadians(-100));
                    sleep(500);
                    drive.followTrajectory(traj5);
                    sleep(200);
                    swingBar.setPower(0);
                    claw.setPower(-0.3);
                    claw2.setPower(-0.3);
                    sleep(300);
                    claw.setPower(0);
                    claw2.setPower(0);
                    drive.followTrajectory(traj4);
                    sleep(200);
                    drive.followTrajectory(traj7);
                    sleep(200);
                    drive.followTrajectory(traj8);
                    sleep(200);
                    drive.followTrajectory(traj9);
                    sleep(200);
                    drive.followTrajectory(traj10);
                    sleep(200);
                    drive.followTrajectory(traj11);
                    sleep(200);
                    break;
                }
                else if(left == true){
                    drive.followTrajectory(traj1);
                    sleep(500);
                    drive.turn(Math.toRadians(90));
                    sleep(200);
                    drive.followTrajectory(traj3);
                    sleep(500);
                    swingBar.setPower(0);
                    claw.setPower(-0.3);
                    claw2.setPower(-0.3);
                    sleep(300);
                    claw.setPower(0);
                    claw2.setPower(0);
                    drive.followTrajectory(traj4);
                    sleep(200);
                    drive.followTrajectory(traj12);
                    sleep(200);
                    drive.followTrajectory(traj7);
                    sleep(200);
                    drive.followTrajectory(traj13);
                    sleep(200);
                    drive.followTrajectory(traj9);
                    sleep(200);
                    drive.followTrajectory(traj14);
                    sleep(200);
                    drive.followTrajectory(traj11);
                    sleep(200);
                    break;
                }
                else if(middle == true){
                    drive.followTrajectory(traj1);
                    sleep(200);
                    drive.followTrajectory(traj2);
                    claw.setPower(-0.3);
                    claw2.setPower(-0.3);
                    sleep(300);
                    drive.followTrajectory(traj4);
                    claw.setPower(0);
                    claw2.setPower(0);
                    drive.turn(Math.toRadians(-100));
                    sleep(200);
                    drive.followTrajectory(traj7);
                    sleep(200);
                    drive.followTrajectory(traj8);
                    sleep(200);
                    drive.followTrajectory(traj9);
                    sleep(200);
                    drive.followTrajectory(traj10);
                    sleep(200);
                    drive.followTrajectory(traj11);
                    sleep(200);
                    break;
                }
                else{
                    drive.setMotorPowers(0, 0, 0, 0);
                }

                // 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()

                // Use setModelAssetName() if the TF Model is built in as an asset.
                // Use setModelFileName() if you have downloaded a custom team model to the Robot Controller.
                .setModelAssetName("redModel.tflite")
                //.setModelFileName(redModel)

                .setModelLabels(new String [] {
                        "red"
                })
                //.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.enableCameraMonitoring(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(0.7f);

        // 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());
            if(x<150){//these numbers might need to be tested and updated because x is in the upper right corner of the rect
                left = true;
            }
            else if(x>400){
                right = true;
            }
            else{
                middle = true;
            }
        }   // end for() loop
        if(currentRecognitions.size() == 0){
            left = true;
            right = true;
            middle = true;
        }
    }   // end method telemetryTfod()
}   // end class