Added Vision

Added code to initialize the TFObjectDetector and Voforia. Also created the code to detect whether or not a duck is in front of it.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Teleop.java

@@ -4,7 +4,6 @@
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import org.checkerframework.checker.units.qual.C;
 import org.firstinspires.ftc.teamcode.drive.BaseBotMecanumDrive;
 import org.firstinspires.ftc.teamcode.drive.DriveFactory;
 import org.firstinspires.ftc.teamcode.subsystems.Carosel;
@@ -20,7 +19,7 @@ public class Teleop extends LinearOpMode {
     @Override
     public void runOpMode() throws InterruptedException {
 
-        //BaseBotMecanumDrive drive = DriveFactory.getDrive(hardwareMap);
+        BaseBotMecanumDrive drive = DriveFactory.getDrive(hardwareMap);
         Carousel = new Carosel(hardwareMap);
 
         waitForStart();
@@ -50,7 +49,7 @@ public void runOpMode() throws InterruptedException {
                 new Pose2d(
                         -gamepad1.left_stick_y,
                         -gamepad1.left_stick_x,
-                        -gamepad1.right_stick_x * scaling
+                        -gamepad1.right_stick_x
                 )
         );
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Testop.java

@@ -9,7 +9,7 @@
 //  It also goes through and explains everything that goes on
 
 
-@Autonomous(name = "Autonomous") // The string here is what the OpMode Shows up as on the phone
+@Autonomous(name = "Testop") // The string here is what the OpMode Shows up as on the phone
                                  // and the @Autonomous declares this OpMode as an Autonomous one
 
 public class Testop extends LinearOpMode { // LinearOpMode is the base of all the OpModes we will be using

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Carosel.java

@@ -5,7 +5,7 @@
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
-
+@SuppressWarnings("unused") // This looks nice and reduces the amount of warnings the code gives
 public class Carosel {
 
     public double Power = 0.20;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Vision.java

@@ -0,0 +1,117 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import android.annotation.SuppressLint;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.robotcore.external.ClassFactory;
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
+import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
+import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
+
+import java.util.List;
+
+@SuppressWarnings("unused")
+public class Vision {
+
+    private final Telemetry telemetry; // Telemetry shows us what it's seeing on the phone
+    private final LinearOpMode opMode;
+
+    private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite"; // contains models of the objects that we scan for
+    private static final String[] LABELS = {
+            "Ball",
+            "Cube",
+            "Duck",
+            "Marker"
+    };
+
+    private static final String VUFORIA_KEY = // License key, this tells Vuforia that we are licensed to use their code, or something
+            " AfdtDjj/////AAABmSp18qqTqUEYrfASUDj9ojCEPgyv/+3QyV1T/YOsOoFzl7KZtvlusn/W+i4UPgZUCsQdd2xR9Vd1kXR4hoStrTiZrT7KxsuLH+R4lMgjJ3NP0Xx5k9a7cAE4gY2DCbf8SEN/+ewYXiOrk5MrM62OovFMgKU5BDZBw9osYg/QZxGMdBPEJdR7gsDhnGogUrRPcwbsSJkIHpmxycJ9Hf/AdamUprPkV+ta7VDgG8+ZnBXKWMitFenMgv9eXxvY9GFPJm59bP9kXAQAOnZwUPqwtXD/4zr6alQf0N43rAWHaQQ59E3C4JL7XqIxDf+EO3sK9aKmzAQOc9ozJlktK37fld3Ow7OdYMhWiIs37lJ7mAoW";
+
+    private VuforiaLocalizer vuforia; // Vuforia tells the robot where it is via vision
+    private TFObjectDetector tfod; // Tensor Flow Object Detector: It detects objects using the model asset file we send it
+
+    public Vision(LinearOpMode opMode, HardwareMap hardwareMap, Telemetry telemetry) {
+        this.telemetry = telemetry;
+        this.opMode = opMode;
+        initVuforia();
+        initTfod(hardwareMap);
+    }
+
+    @SuppressLint("DefaultLocale")
+    public boolean finder() {
+        FtcDashboard dashboard = FtcDashboard.getInstance();
+        dashboard.setTelemetryTransmissionInterval(25);
+
+        boolean duckDetected = false;
+
+        long DETECTION_TIME = 3000; // How long we give it to determine whether or not there is a duck
+        long startTimeMillis = System.currentTimeMillis();
+        long deadline = startTimeMillis + DETECTION_TIME;
+
+        while (opMode.opModeIsActive() && !duckDetected
+                && deadline > System.currentTimeMillis()) {
+            TelemetryPacket packet = new TelemetryPacket();
+
+            List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
+            if (updatedRecognitions != null) {
+                telemetry.addData("# Object Detected", updatedRecognitions.size());
+
+                duckDetected = true;
+
+                for (Recognition recognition : updatedRecognitions) {
+                    packet.put("label", recognition.getLabel());
+
+                    packet.put("top,left", String.format("%.03f , %.03f",
+                            recognition.getLeft(), recognition.getTop()));
+                    packet.put("right, bottom", String.format("%.03f , %.03f",
+                            recognition.getRight(), recognition.getBottom()));
+                }
+                dashboard.sendTelemetryPacket(packet);
+            }
+        }
+        if (tfod != null) {
+            tfod.shutdown();
+        }
+
+        return duckDetected;
+    }
+
+    private void initVuforia() {
+
+        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
+        parameters.vuforiaLicenseKey = VUFORIA_KEY;
+        // Here it automatically finds the camera that we're using, last year we had to do this manually
+
+        vuforia = ClassFactory.getInstance().createVuforia(parameters); // Initialize Vuforia given the parameters
+    }
+
+    private void initTfod(HardwareMap hardwareMap) {
+
+        int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
+                "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName()); // ngl, I still don't understand this
+
+        TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
+        tfodParameters.minResultConfidence = 0.8f; // It was already set to 0.4f when we instantiated it. Why are we increasing it?
+
+        tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
+        tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
+    }
+}
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