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FTC SDK Samples > SensorSparkFunOTOS

FTC SDK Samples·BSD 3-Clause

SPDX-License-Identifier: MIT

/*
    SPDX-License-Identifier: MIT

    Copyright (c) 2024 SparkFun Electronics
*/
package org.firstinspires.ftc.robotcontroller.external.samples;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import com.qualcomm.hardware.sparkfun.SparkFunOTOS;

import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;

/*
 * This OpMode illustrates how to use the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS)
 *
 * The OpMode assumes that the sensor is configured with a name of "sensor_otos".
 *
 * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
 *
 * See the sensor's product page: https://www.sparkfun.com/products/24904
 */
@TeleOp(name = "Sensor: SparkFun OTOS", group = "Sensor")
@Disabled
public class SensorSparkFunOTOS extends LinearOpMode {
    // Create an instance of the sensor
    SparkFunOTOS myOtos;

    @Override
    public void runOpMode() throws InterruptedException {
        // Get a reference to the sensor
        myOtos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos");

        // All the configuration for the OTOS is done in this helper method, check it out!
        configureOtos();

        // Wait for the start button to be pressed
        waitForStart();

        // Loop until the OpMode ends
        while (opModeIsActive()) {
            // Get the latest position, which includes the x and y coordinates, plus the
            // heading angle
            SparkFunOTOS.Pose2D pos = myOtos.getPosition();

            // Reset the tracking if the user requests it
            if (gamepad1.y) {
                myOtos.resetTracking();
            }

            // Re-calibrate the IMU if the user requests it
            if (gamepad1.x) {
                myOtos.calibrateImu();
            }

            // Inform user of available controls
            telemetry.addLine("Press Y (triangle) on Gamepad to reset tracking");
            telemetry.addLine("Press X (square) on Gamepad to calibrate the IMU");
            telemetry.addLine();

            // Log the position to the telemetry
            telemetry.addData("X coordinate", pos.x);
            telemetry.addData("Y coordinate", pos.y);
            telemetry.addData("Heading angle", pos.h);

            // Update the telemetry on the driver station
            telemetry.update();
        }
    }

    private void configureOtos() {
        telemetry.addLine("Configuring OTOS...");
        telemetry.update();

        // Set the desired units for linear and angular measurements. Can be either
        // meters or inches for linear, and radians or degrees for angular. If not
        // set, the default is inches and degrees. Note that this setting is not
        // persisted in the sensor, so you need to set at the start of all your
        // OpModes if using the non-default value.
        // myOtos.setLinearUnit(DistanceUnit.METER);
        myOtos.setLinearUnit(DistanceUnit.INCH);
        // myOtos.setAngularUnit(AnguleUnit.RADIANS);
        myOtos.setAngularUnit(AngleUnit.DEGREES);

        // Assuming you've mounted your sensor to a robot and it's not centered,
        // you can specify the offset for the sensor relative to the center of the
        // robot. The units default to inches and degrees, but if you want to use
        // different units, specify them before setting the offset! Note that as of
        // firmware version 1.0, these values will be lost after a power cycle, so
        // you will need to set them each time you power up the sensor. For example, if
        // the sensor is mounted 5 inches to the left (negative X) and 10 inches
        // forward (positive Y) of the center of the robot, and mounted 90 degrees
        // clockwise (negative rotation) from the robot's orientation, the offset
        // would be {-5, 10, -90}. These can be any value, even the angle can be
        // tweaked slightly to compensate for imperfect mounting (eg. 1.3 degrees).
        SparkFunOTOS.Pose2D offset = new SparkFunOTOS.Pose2D(0, 0, 0);
        myOtos.setOffset(offset);

        // Here we can set the linear and angular scalars, which can compensate for
        // scaling issues with the sensor measurements. Note that as of firmware
        // version 1.0, these values will be lost after a power cycle, so you will
        // need to set them each time you power up the sensor. They can be any value
        // from 0.872 to 1.127 in increments of 0.001 (0.1%). It is recommended to
        // first set both scalars to 1.0, then calibrate the angular scalar, then
        // the linear scalar. To calibrate the angular scalar, spin the robot by
        // multiple rotations (eg. 10) to get a precise error, then set the scalar
        // to the inverse of the error. Remember that the angle wraps from -180 to
        // 180 degrees, so for example, if after 10 rotations counterclockwise
        // (positive rotation), the sensor reports -15 degrees, the required scalar
        // would be 3600/3585 = 1.004. To calibrate the linear scalar, move the
        // robot a known distance and measure the error; do this multiple times at
        // multiple speeds to get an average, then set the linear scalar to the
        // inverse of the error. For example, if you move the robot 100 inches and
        // the sensor reports 103 inches, set the linear scalar to 100/103 = 0.971
        myOtos.setLinearScalar(1.0);
        myOtos.setAngularScalar(1.0);

        // The IMU on the OTOS includes a gyroscope and accelerometer, which could
        // have an offset. Note that as of firmware version 1.0, the calibration
        // will be lost after a power cycle; the OTOS performs a q

Open FTC SDK Samples

FTC SDK API > com.qualcomm.hardware.sparkfun > SparkFunOTOS

FTC SDK API·BSD 3-Clause

SparkFunOTOS is the Java driver for the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS). This is a port of the Arduino library.

Open FTC SDK API

Chief Delphi > FTC > SparkFun OTOS initial pose always 0 degrees

Chief Delphi·Community forum posts — not openly licensed

This source does not publish a licence, so its text is not reproduced here. Open the source to read it.

Open Chief Delphi

Computer Vision > Officially Supported Solutions > AprilTags

Game Manual 0·CC BY-NC 4.0

AprilTags detect specific low-resolution, black-and-white images that are placed on various parts of the field. AprilTags are a great way to detect specific parts of the fields at wide angles, distances, and in a variety of lighting conditions. AprilTags are supported in OnBot Java, Android Studio, and Blocks.

You can learn more about implementing AprilTags on FTC Docs (https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html). Supported AprilTag images are available on this PDF (https://ftc-docs.firstinspires.org/en/latest/_downloads/ba0d87cc0d392ad0bad054d4b81e9077/AprilTag_0-20_family36h11.pdf).

Open Game Manual 0

External Libraries in OnBot Java and Blocks > Advanced

FTC Docs·BSD 3-Clause

Here are some technical details that might apply to very advanced use of the External Libraries feature. These are not covered in this basic tutorial.

.aar files with assets are not supported
External libraries can include .so files for native code
External libraries can add new hardware devices with these

annotations:

com.qualcomm.robotcore.hardware.configuration.annotations.AnalogSensorType
com.qualcomm.robotcore.hardware.configuration.annotations.DeviceProperties
com.qualcomm.robotcore.hardware.configuration.annotations.DigitalIoDeviceType
com.qualcomm.robotcore.hardware.configuration.annotations.I2cDeviceType
com.qualcomm.robotcore.hardware.configuration.annotations.MotorType
com.qualcomm.robotcore.hardware.configuration.annotations.ServoType

External libraries can add new functionality to the Robot Controller

with these annotations:

org.firstinspires.ftc.ftccommon.external.OnCreate
org.firstinspires.ftc.ftccommon.external.OnCreateEventLoop
org.firstinspires.ftc.ftccommon.external.OnCreateMenu
org.firstinspires.ftc.ftccommon.external.OnDestroy
org.firstinspires.ftc.ftccommon.external.WebHandlerRegistrar

Open FTC Docs

External Libraries in OnBot Java and Blocks

FTC Docs·BSD 3-Clause

Blocks and OnBot Java programmers can use external libraries, starting with SDK 7.0 released for the Freight Frenzy season. This capability previously existed for programmers using Android Studio.

An external library is a collection of specialized software ready for public use, and typically available from a website or repository, called a ‘repo’. You don’t need to know its inner workings, just what it does and how to use it.

This beginner-level tutorial shows how to incorporate a library’s features into your Op Modes, and provides simple examples. It does not teach Java.

Many thanks to Liz Looney (https://github.com/lizlooney) who developed this capability, along with myBlocks and many other useful features of the software.

Note: This new capability exists for a Robot Controller (RC) running Android 7 & and higher. Moto G 2nd Gen and Moto G 3rd Gen RC phones cannot use this feature.

Open FTC Docs

External Libraries in OnBot Java and Blocks > Summary

FTC Docs·BSD 3-Clause

Blocks and OnBot Java programmers can benefit and learn from this new capability with external libraries.

You are encouraged to submit other examples and suggestions that worked for you.

=============

Questions, comments and corrections to westsiderobotics@verizon.net

Open FTC Docs

External Libraries in OnBot Java and Blocks > Real-world libraries

FTC Docs·BSD 3-Clause

External Libraries have unique content and structure. Each may pose special challenges as you try to use it in robot code. Communication with the library developer will be very helpful, perhaps essential.

Ideally, the library’s .jar or .aar file encompasses all the classes you’ll need, without external dependencies. A good example is EasyOpenCV, designed and ready for use. See the simple instructions here (https://github.com/OpenFTC/EasyOpenCV).

General external libraries might involve a longer journey. For example, Apache Commons (https://commons.apache.org/) is a vast public repo, basically a library of libraries, focused on the Java programming language. Complications can arise even when choosing a simple math-only library.

Apache libraries are organized into Modules, typically each with one or more .jar files. It may not be sufficient to upload only the .jar file that seems to contain the class and methods you want to use.

If the library code refers to a class not contained in that .jar file, OnBot Java’s auto-complete feature may eventually throw a ‘class not found’ exception, causing your RC app to crash. The exception triggered by this ‘hidden dependency’ may occur within minutes or hours, whenever OBJ encounters the ‘missing’ class – even if your OpMode does not directly or indirectly use that class. After that point, your RC app will not operate. It can operate again only by manually deleting the .jar file and its associated folder, directly on the RC device.

Starting over, you can find and upload the .jar file containing the ‘missing’ class. But that may expose further dependencies, requiring more .jar files.

Also, be aware that the SDK already contains some common Apache classes. OnBot Java may detect this duplication, preventing upload of your .jar file. On the bright side, your desired methods should already be available!

So, be prepared for these and other challenges that may arise. Again, it’s helpful to communicate with the library developer where possible.

Open FTC Docs

External Libraries in OnBot Java and Blocks > Overview

FTC Docs·BSD 3-Clause

It’s a simple process with three basic steps.

Step 1, find a library with features you want to use, and get its .jar or .aar file.

Step 2, upload that file in OnBot Java.

Step 3 has three variations, depending on your planned use of the library.

Step 3A assumes you want to use a library function, or method, in OnBot Java only. Namely you are not planning to make that method available for Blocks users.

Step 3B assumes that you do want to provide the library method to a Blocks user, by creating a special Block called a myBlock. MyBlocks are not new with 7.0, but now you can use library code in that myBlock. You can create your myBlock to have the exactly same inputs and outputs as the library method, or slightly different inputs and outputs.

Step 3C is a different scenario, where the library method is made available directly to the Blocks user, without creating a myBlock. This can be done, if the library is specially annotated by its author.

Open FTC Docs

External Libraries in OnBot Java and Blocks > Step 2 - Upload archive file

FTC Docs·BSD 3-Clause

Copy the .jar or .aar file to your programming laptop, if the file is not stored there already.

Connect your laptop via Wi-Fi to a Robot Controller device that’s running the RC app, version 7.0 or higher (see instructions at Program and Manage, on the RC phone or its paired Driver Station device). In the Chrome browser, open OnBot Java.

In OnBot Java (OBJ) click the upload icon, normally used to upload a regular Java file to the teamcode folder.

(Figure: Upload icon in OnBot Java)

Instead of a Java file, select the .jar or .aar library file to upload from the laptop.

OnBot Java will recognize that it’s an archive file, and will automatically create a folder called ExternalLibraries. This folder will appear above the teamcode folder.

(Figure: ExternalLibraries folder and Build Everything icon)

Open FTC Docs

Webcams for Vision Portal > Quick Summary

FTC Docs·BSD 3-Clause

This below table summarizes the most common and known-supported cameras with the FIRST Tech Challenge SDK, including resolutions with built-in calibrations and those without calibrations.

- Camera
Features
Resolutions with Built-In Calibrations
Resolutions without Calibrations
- Logitech C270
60 DegFOV, 30fps@720p
640x480
160x120, 176x144, 320x176, 320x240, 352x288, 432x240, 544x288, 640x360, 752x416, 800x448, 800x600, 864x480, 960x544, 960x720, 1024x576, 1184x656, 1280x720
- Logitech C310
60 DegFOV, 30fps@720p
640x480, 640x360
All other resolutions
- Logitech C920
78 DegFOV, 30fps@1080p
640x480, 640x360, 800x448, 800x600, 864x480, 1920x1080
160x90, 160x120, 176x144, 320x180, 320x240, 352x288, 432x240, 960x720, 1024x576, 1280x720, 1600x896, 2304x1296, 2304x1536
- Microsoft LifeCam HD-3000 v1/v2
68.5 DegFOV, 30fps@720p
640x480
All other resolutions
- Arducam Global Shutter 120 FPS
70 DegFOV, 120fps@1280x800 MJPG, Monochrome
No Built-In Calibrations
MJPEG: 320x240, 640x480, 800x600, 1280x720, 1280x800; YUY2: 1280x720, 1280x800
- Kayeton Global Shutter (Other Global Shutter Cameras)
70 DegFOV, 120fps@720p MJPG, Monochrome
No Built-In Calibrations
All resolutions
- ELP Global Shutter (Other Global Shutter Cameras)
70 DegFOV, 90fps@1920x1200 MJPG, Monochrome
No Built-In Calibrations
All resolutions

============

Questions, comments and corrections to westsiderobotics@verizon.net

Open FTC Docs

Vision Processor Initialization

FTC Docs·BSD 3-Clause

Your OpMode must first prepare for using AprilTag and/or Color Processing commands, or methods.

In the INIT portion of your Java or Blocks code, before waitForStart(), use these steps:

Step 1. Optional:

Supplement the default AprilTag Library with

additional tags. This task is not shown in the Sample OpModes, and is covered at the Library page (not here).

Step 2. Required:

Create the AprilTag Processor (or the **Color Locator or Color Sensor

Processor), to analyze frames streaming in from the camera. "Under the hood", the Apriltag Processor is attached to an EOCV pipeline**, which performs various steps, in order, to each stream frame. The stream is the input to the pipeline. A similar process happens for Color Processing.

Step 3. Required:

Create the FTC VisionPortal, to manage the overall

pipeline. Here you specify which Processor(s) from Step 2 the Portal includes. Each Processor evaluates camera frames independently.

This page describes Step 2 in more detail, for both Processors. The VisionPortal Init page covers Step 3, VisionPortal Initialization.

Open FTC Docs

External Libraries in OnBot Java and Blocks > Step 1 - Select library, get archive file

FTC Docs·BSD 3-Clause

There are hundreds of code libraries available on the internet. In Step 1, you find a library with specialized functions (methods) that you want to use. Start with a web search, or get suggestions from other teams.

It’s best to choose a repo with a well documented interface. Review its documentation or API, learn what the methods can do, and learn about inputs required and output provided.

If that’s something you want to use, then try to find the .jar or .aar file. The .jar suffix means Java Archive and .aar means a similar format called Android Archive. This is a compressed file containing the entire collection of code that you want, in a single file. It’s similar to a zip file that you may have used for general web downloads.

If you’re having trouble locating that .jar file, or if you’re not sure how to use that library, you are encouraged to contact the repo owner or developer. They often enjoy hearing how programmers plan to use their code, and would be happy to help you get started. Don’t be intimidated, they are often willing to help.

Then just download that .jar or .aar file to local storage such as your laptop or to a team Google drive.

Open FTC Docs

External Libraries in OnBot Java and Blocks > User Training & Documentation

FTC Docs·BSD 3-Clause

For Step 3B or Step 3C, your Blocks users must be taught how to use the new myBlocks or the new pass-through Blocks. That’s your job, as the Java developer who implemented this feature.

Start with good documentation. For myBlocks, use the existing tools to make helpful labels (for input parameters), clear tooltips and detailed comments. The comments appear in a text box that expands after clicking the blue question-mark icon on that Block. Tell your users it’s there.

(Figure: myBlock documented using comment, tooltip and input labels)

Meet with your team’s Blocks programmer(s) to explain the new features. Consider writing a short description, for their future reference. Encourage users to give you feedback, to improve your code. Congratulations, you are now a Java developer!

Open FTC Docs

External Libraries in OnBot Java and Blocks > Benefits

FTC Docs·BSD 3-Clause

Obviously this External Libraries feature provides advanced functions previously available only to Android Studio teams.

Secondly, more of your team members can continue programming the robot in Blocks. Meanwhile other students (like you), if they want to, can advance their Java skills and still contribute to the team’s actual robot programming.

Often, teams have one student who has moved far ahead with their Java skills, and becomes the team programmer – the only programmer. Then nobody else has the chance to learn and contribute basic programming.

This feature can allow a new arrangement: “nobody is left out, and nobody is held back”.

As a third benefit, judges love to hear about Outreach. For example your team could develop useful Blocks for beginner teams. Or, you share ideas and tips with other advanced teams who are doing the same kind of development. And, you are encouraged to communicate with library developers. This is a good opportunity for real-world interaction with specialists: sharing your needs, and receiving expert guidance. Scientists, engineers, doctors, entrepreneurs – nobody needs to reinvent the wheel. Professional life is built on these interactions.

Open FTC Docs

FTC SDK API > com.qualcomm.hardware.sparkfun > SparkFunLEDStick

FTC SDK API·BSD 3-Clause

Support for the Sparkfun QWIIC LED Stick To connect it directly, you need this cable

Open FTC SDK API