CyberEaglesJade/BlueBackstage.java at master · k754a/CyberEaglesJade · GitHub

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package org.firstinspires.ftc.teamcode;

import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.teamcode.Vision.OpenCVBlue;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
import org.openftc.easyopencv.OpenCvWebcam;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.firstinspires.ftc.teamcode.drive.DriveConstants;

@Autonomous(name = "Blue Backstage")
public class BlueBackstage extends LinearOpMode {
    OpenCvWebcam webcam;
    OpenCVBlue pipeline = new OpenCVBlue(telemetry);
    private DcMotor Arm, Extend = null;
    private double ArmPower = 0.5, SlidePower = 0.4;

    @Override
    public void runOpMode() {
        Arm = hardwareMap.get(DcMotor.class, "AE");
        Arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        Arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        Arm.setDirection(DcMotor.Direction.REVERSE);

        Extend = hardwareMap.get(DcMotor.class, "SE");
        Extend.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        Extend.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        Extend.setDirection(DcMotor.Direction.REVERSE);

        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
        webcam = OpenCvCameraFactory.getInstance().createWebcam(hardwareMap.get(WebcamName.class, "Webcam 1"), cameraMonitorViewId);
        webcam.setPipeline(pipeline);
        webcam.setMillisecondsPermissionTimeout(5000); // Timeout for obtaining permission is configurable. Set before opening.
        webcam.openCameraDeviceAsync(new OpenCvCamera.AsyncCameraOpenListener() {
            @Override
            public void onOpened() {webcam.startStreaming(1920, 1080, OpenCvCameraRotation.UPRIGHT);}

            @Override
            public void onError(int errorCode) {}
        });


        telemetry.addLine("Waiting for start");
        telemetry.update();
        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);

        TrajectorySequence Left = drive.trajectorySequenceBuilder(new Pose2d())
                .lineToLinearHeading(new Pose2d(25, 12, Math.toRadians(0)))
                .back(8)
                .turn(Math.toRadians(95))
                .forward(26)
                .addTemporalMarker(() -> {
                    Arm.setTargetPosition(700);
                    Arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Arm.setPower(ArmPower);
                })
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Extend.setTargetPosition(1094);
                    Extend.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Extend.setPower(SlidePower);
                })
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Arm.setTargetPosition(590);
                    Arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Arm.setPower(ArmPower);
                })
                .waitSeconds(1)
                .back(8)
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Extend.setTargetPosition(0);
                    Extend.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Extend.setPower(SlidePower);
                })
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Arm.setTargetPosition(0);
                    Arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Arm.setPower(ArmPower);
                })
                .waitSeconds(1)
                .build();

        TrajectorySequence Middle = drive.trajectorySequenceBuilder(new Pose2d())
                .lineToLinearHeading(new Pose2d(31, 0, Math.toRadians(0)))
                .back(8)
                .turn(Math.toRadians(95))
                .forward(38)
                .strafeRight(2)
                .addTemporalMarker(() -> {
                    Arm.setTargetPosition(700);
                    Arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Arm.setPower(ArmPower);
                })
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Extend.setTargetPosition(1094);
                    Extend.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Extend.setPower(SlidePower);
                })
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Arm.setTargetPosition(590);
                    Arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Arm.setPower(ArmPower);
                })
                .waitSeconds(1)
                .back(8)
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Extend.setTargetPosition(0);
                    Extend.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Extend.setPower(SlidePower);
                })
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Arm.setTargetPosition(0);
                    Arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Arm.setPower(ArmPower);
                })
                .waitSeconds(1)
                .build();

        TrajectorySequence Right = drive.trajectorySequenceBuilder(new Pose2d())
                .lineToLinearHeading(new Pose2d(24, 0, Math.toRadians(0)))
                .back(4)
                .strafeLeft(14)
                .turn(Math.toRadians(-90))
                .strafeLeft(6)
                .forward(18)
                .back(8)
                .turn(Math.toRadians(-190))
                .forward(34)
                .strafeRight(6)
                .addTemporalMarker(() -> {
                    Arm.setTargetPosition(700);
                    Arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Arm.setPower(ArmPower);
                })
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Extend.setTargetPosition(1094);
                    Extend.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Extend.setPower(SlidePower);
                })
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Arm.setTargetPosition(590);
                    Arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Arm.setPower(ArmPower);
                })
                .waitSeconds(1)
                .back(8)
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Extend.setTargetPosition(0);
                    Extend.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Extend.setPower(SlidePower);
                })
                .waitSeconds(1)
                .addTemporalMarker(() -> {
                    Arm.setTargetPosition(0);
                    Arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                    Arm.setPower(ArmPower);
                })
                .waitSeconds(1)
                .build();

        waitForStart();

        String result = pipeline.getResult();
        webcam.stopStreaming();
        webcam.closeCameraDevice();

        if (result == "LEFT") {drive.followTrajectorySequence(Left);}
        if (result == "MIDDLE") {drive.followTrajectorySequence(Middle);}
        if (result == "RIGHT") {drive.followTrajectorySequence(Right);}

        while (opModeIsActive()) {
            telemetry.update();
            sleep(100);
        }
    }
}