KeshavAnandCode/FTCDecodeMain
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Added placeholder for webcam logic

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Signed-off-by: KeshavAnandCode <keshavanandofficial@gmail.com>
This commit is contained in:
KeshavAnandCode
2025-12-05 17:08:39 +00:00
parent 5d93e3fc59
commit 17643535ae
1 changed files with 31 additions and 0 deletions
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31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
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@@ -14,6 +14,8 @@ import static org.firstinspires.ftc.teamcode.tests.ShooterTest.maxStep;
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.restPos; import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.restPos;
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.scalar; import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.scalar;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -28,6 +30,9 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive; import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.List; import java.util.List;
@@ -65,6 +70,9 @@ public class TeleopV2 extends LinearOpMode {
boolean oddBallColor = false; boolean oddBallColor = false;
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
MecanumDrive drive; MecanumDrive drive;
double hoodOffset = 0.0; double hoodOffset = 0.0;
boolean shoot1 = false; boolean shoot1 = false;
@@ -111,6 +119,14 @@ public class TeleopV2 extends LinearOpMode {
Pose2d shootPos = teleStart; Pose2d shootPos = teleStart;
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
robot.turr1.setPosition(0.4);
robot.turr2.setPosition(1-0.4);
waitForStart(); waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
while (opModeIsActive()) { while (opModeIsActive()) {
@@ -442,6 +458,18 @@ public class TeleopV2 extends LinearOpMode {
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
boolean shootingDone = false; boolean shootingDone = false;
AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
if (d20!=null){
//TODO: Add logic here and below for webcam if using
}
if (d24!=null){
}
switch (currentSlot) { switch (currentSlot) {
case 1: case 1:
shootA = shootTeleop(spindexer_outtakeBall1); shootA = shootTeleop(spindexer_outtakeBall1);
@@ -589,6 +617,9 @@ public class TeleopV2 extends LinearOpMode {
TELE.addData("shootOrder", shootOrder); TELE.addData("shootOrder", shootOrder);
TELE.addData("oddColor", oddBallColor); TELE.addData("oddColor", oddBallColor);
aprilTagWebcam.update();
TELE.update(); TELE.update();
ticker++; ticker++;