MeepMeep

Path creation/visualization tool for Road Runner

Table of Contents

• Installing (Android Studio)
• Extra Documentation
  • Custom Background
  • Adding a second bot
  • Pulling Specific Jitpack Commits
• Misc
  • Poor Performance?
  • Misc. Notes

Installing (Android Studio)

Video instructions found here: https://youtu.be/vdn1v404go8. Please note that it was recorded in 2021 and may be outdated at the time of viewing

1. In Android Studio, click on the "FtcRobotController" Module, then right click on the FtcRobotController folder and click New > Module

2. On the left part of this window, select "Java or Kotlin Library"

3. From here, remove the :ftcrobotcontroller:lib in the "Library Name" section, and rename it to MeepMeepTesting. You may use whatever name you wish but the rest of the instructions will assume you have chosen the name MeepMeepTesting. Ensure that you also change the "class name" section to match.

4. Hit "Finish" at the bottom right of the Module Create window.

5. Open up the build.gradle file for the MeepMeepTesting module (or whatever you chose to name it prior). In this file, change all instances JavaVersion.VERSION_1_7 to JavaVersion.VERSION_1_8

6. At the bottom of the file add the following gradle snippet:

repositories {
    maven { url = 'https://jitpack.io' }
    maven { url = 'https://maven.brott.dev/' }
}

dependencies {
    implementation 'com.github.NoahBres:MeepMeep:2.0.3'
}

7. When android studio prompts you to make a gradle sync, click "Sync Now".

8. Create a class for your MeepMeepTesting java module if it does not yet exist. Paste the following sample in it. Feel free to change this later.

🚨 The code snippet and explanation within the video is currently not up-to-date with the latest MeepMeep 2.0.x API 🚨

package com.example.meepmeeptesting;

import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.noahbres.meepmeep.MeepMeep;
import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder;
import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity;

public class MeepMeepTesting {
    public static void main(String[] args) {
        MeepMeep meepMeep = new MeepMeep(800);

        RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)
                // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
                .followTrajectorySequence(drive ->
                        drive.trajectorySequenceBuilder(new Pose2d(0, 0, 0))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .build()
                );

        meepMeep.setBackground(MeepMeep.Background.FIELD_POWERPLAY_OFFICIAL)
                .setDarkMode(true)
                .setBackgroundAlpha(0.95f)
                .addEntity(myBot)
                .start();
    }
}

9. Create a run configuration for Android Studio.

   1. First, click on the drop down menu on the top bar of Android Studio, where it says "TeamCode" with a little Android logo next to it.

   2. Click Edit Configurations

      

   3. Click on the "+" symbol in the top left of the window, and when it prompts you, select "Application".

      

   4. Change the name to your liking (ex. meepmeep-run)

      

   5. Where it says "cp " click it to open the dropdown, and then select FtcRobotController.MeepMeepTesting.main

      

   6. Where it says "Main Class", click the little "file" icon to the right of the text and then select the name of the main class for your MeepMeepTesting module.

      

   7. From here, in the bottom right of the window, press "Apply" then "Ok".

      

   8. It will now automatically switch to that Run/Debug Configuration profile.

10. If at any point you would like to build code onto your Control Hub or Phone, then click the Run/Debug configuration profile at the top to open the dropdown menu and select TeamCode. Perform the same steps to switch back to MeepMeepRun.

Extra Documentation

Custom Background

Before the meepmeep.setBackground(MeepMeep.Background.FIELD_POWERPLAY_OFFICIAL), add the following lines of code and update the setBackground() command:

Image img = null;
try { img = ImageIO.read(new File("<PATH TO IMAGE>")); }
catch (IOException e) {}

meepMeep.setBackground(img)
//  <following code you were using previously>

where is your path to the image you want to use for example: - On MacOs: /Users/<username>/Documents/field.png - On Windows: C:\Users\<username>\Documents\field.png

Adding a second bot:

MeepMeep version 2.x introduces a new API and updated entity handling, allowing one to run and coordinate multiple trajectories. Declare a new RoadRunnerBotEntity and add it via MeepMeep#addEntity(Entity).

package com.example.meepmeeptesting;

import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.noahbres.meepmeep.MeepMeep;
import com.noahbres.meepmeep.core.colorscheme.scheme.ColorSchemeBlueDark;
import com.noahbres.meepmeep.core.colorscheme.scheme.ColorSchemeRedDark;
import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder;
import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity;

public class MeepMeepTesting {
    public static void main(String[] args) {
        MeepMeep meepMeep = new MeepMeep(800);

        // Declare our first bot
        RoadRunnerBotEntity myFirstBot = new DefaultBotBuilder(meepMeep)
                // We set this bot to be blue
                .setColorScheme(new ColorSchemeBlueDark())
                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
                .followTrajectorySequence(drive ->
                        drive.trajectorySequenceBuilder(new Pose2d(0, 0, 0))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .build()
                );

        // Declare out second bot
        RoadRunnerBotEntity mySecondBot = new DefaultBotBuilder(meepMeep)
                // We set this bot to be red
                .setColorScheme(new ColorSchemeRedDark())
                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
                .followTrajectorySequence(drive ->
                        drive.trajectorySequenceBuilder(new Pose2d(30, 30, Math.toRadians(180)))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .build()
                );

        meepMeep.setBackground(MeepMeep.Background.FIELD_FREIGHTFRENZY_ADI_DARK)
                .setDarkMode(true)
                .setBackgroundAlpha(0.95f)

                // Add both of our declared bot entities
                .addEntity(myFirstBot)
                .addEntity(mySecondBot)
                .start();
    }
}

Pulling Specific Jitpack Commits

MeepMeep is hosted on JitPack. This allows the user to pull dependencies from any Git commit. Change the dependency version in build.gradle to do so.

• Pull from a specific tagged version (same as install instructions)
  • implementation 'com.github.NoahBres:MeepMeep:2.0.3'
  • 2.0.3 can be replaced with whatever version specified on the GitHub releases page
• Pull from whatever the latest commit on the master branch is
  • implementation 'com.github.NoahBres:MeepMeep:-SNAPSHOT'
• Pull from a specific commit
  • implementation 'com.github.NoahBres:MeepMeep:<commit version ID>'
  • <commit ID> is replaced with ID of commit. For example "79d123f0c1"
  • This is not the full commit hash. It is the first 10 characters of the comit hash

Misc

Poor Performance?

On some systems, hardware acceleration may not be enabled by default. To enable hardware acceleration use the cli flag: -Dsun.java2d.opengl=true.

Or, enable it before initializing your MeepMeep instance with the following snippet: System.setProperty("sun.java2d.opengl", "true");

Notes:

Default Bot Settings:

• Constraints
• Max Vel: 30in/s
• Max Accel: 30in/s/s
• Max Ang Vel: 60deg/s
• Max Ang Accel: 60deg/s/s
• Track Width: 15in
• Bot Width: 18in
• Bot Width: 18in
• Start Pose: (x: 0in, y: 0in, heading: 0rad)
• Color Scheme: Inherited from MeepMeep.colorManager unless overriden
• Drive Train Type: Mecanum