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Vision #20

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jizelda Feb 22, 2022
4d81f5e
reformat robot.java
jizelda Feb 26, 2022
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195 changes: 117 additions & 78 deletions src/main/java/frc/robot/Robot.java
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package frc.robot;

import org.opencv.core.Mat;

import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.CvSink;
import edu.wpi.first.cscore.CvSource;
import edu.wpi.first.cscore.UsbCamera;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the name of this class or
* the package after creating this project, you must also update the build.gradle file in the
* The VM is configured to automatically run this class, and to call the
* functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the
* name of this class or
* the package after creating this project, you must also update the
* build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
private Command m_autonomousCommand;

private RobotContainer m_robotContainer;
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
}

/**
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
}

/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {
m_robotContainer.disableInit();
}

@Override
public void disabledPeriodic() {}

/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_robotContainer.calibrateDrivetrainSteering();
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
private Command m_autonomousCommand;

private RobotContainer m_robotContainer;

private Thread m_visionThread;

/**
* This function is run when the robot is first started up and should be used
* for any
* initialization code.
*/
@Override
public void robotInit() {
// Instantiate our RobotContainer. This will perform all our button bindings,
// and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
m_visionThread = new Thread(
() -> {
UsbCamera visionCamera = CameraServer.startAutomaticCapture();
visionCamera.setResolution(1920, 1080);
CvSink image = CameraServer.getVideo();
CvSource outputStream = CameraServer.putVideo("video test", 1920, 1080);
Mat imageMat = new Mat();
while (!Thread.interrupted()) {
image.grabFrame(imageMat);
outputStream.putFrame(imageMat);
}
});
m_visionThread.setDaemon(true);
m_visionThread.start();
}
}

/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {}

@Override
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();

/**
* This function is called every robot packet, no matter the mode. Use this for
* items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and
* test.
*
* <p>
* This runs after the mode specific periodic functions, but before LiveWindow
* and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
// Runs the Scheduler. This is responsible for polling buttons, adding
// newly-scheduled
// commands, running already-scheduled commands, removing finished or
// interrupted commands,
// and running subsystem periodic() methods. This must be called from the
// robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
}
m_robotContainer.calibrateDrivetrainSteering();

/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {
m_robotContainer.disableInit();
}

}
@Override
public void disabledPeriodic() {
}

/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
}
/**
* This autonomous runs the autonomous command selected by your
* {@link RobotContainer} class.
*/
@Override
public void autonomousInit() {
m_robotContainer.calibrateDrivetrainSteering();
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
}
}

@Override
public void testInit() {
// Cancels all running commands at the start of test mode.
CommandScheduler.getInstance().cancelAll();
}
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
}

@Override
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
m_robotContainer.calibrateDrivetrainSteering();

/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {}
}

/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
}

@Override
public void testInit() {
// Cancels all running commands at the start of test mode.
CommandScheduler.getInstance().cancelAll();
}

/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {
}
}