public Shooter() throws CANTimeoutException { loadingStick = new CANJaguar(5); // http://www.chiefdelphi.com/forums/showthread.php?t=101737 // Configuring firstShootMotor in order to control speed with encoder firstShootingMotor = new CANJaguar(6, CANJaguar.ControlMode.kSpeed); firstShootingMotor.configEncoderCodesPerRev(256); firstShootingMotor.enableControl(); firstShootingMotor.changeControlMode(CANJaguar.ControlMode.kVoltage); firstShootingMotor.enableControl(); // Configuring secondShootMotor in order to control speed with encoder secondShootingMotor = new CANJaguar(7, CANJaguar.ControlMode.kSpeed); secondShootingMotor.configEncoderCodesPerRev(256); secondShootingMotor.enableControl(); secondShootingMotor.changeControlMode(CANJaguar.ControlMode.kVoltage); secondShootingMotor.enableControl(); angleMotor = new CANJaguar(8); frontSwitch = new DigitalInput(1); backSwitch = new DigitalInput(1); table = NetworkTable.getTable("shooter"); table.putNumber("firstSpeed", 0); table.putNumber("angle", 0); }
public void robotInit() { log("RobotInit called. Initializing NetworkTabes..."); try { NetworkTable.setIPAddress("10.36.99.2"); NetworkTable.setServerMode(); NetworkTable.setTeam(3699); NetworkTable.initialize(); } catch (Exception be) { error("Error in robotInit: \n " + be.getMessage(), 0); error("Reocourrence Test! You shouldnt see this!", 0); } log("Init SmartDashboard..."); this.server = NetworkTable.getTable("SmartDashboard"); log("" + this.server.containsKey("/SmartDashboard/")); log("" + this.server.containsKey("/SmartDashboard/FPS")); log("" + NetworkTable.DEFAULT_PORT); this.server.putString("_PREINIT0", "_PREINIT::0"); this.server.putString("_PREINIT1", "_PREINIT::1"); this.server.putString("_PREINIT2", "_PREINIT::2"); /*LiveWindow.addActuator("Elevator", "Elevator Intake", Elevator_intake); LiveWindow.addActuator("Elevator", "Elevator Gearbox", Elevator_motor); LiveWindow.addActuator("Elevator", "Elevator Outtake", Elevator_outtake); LiveWindow.addActuator("Intake", "Intake", Elevator_motor);*/ log("Disabling RobotDrive Saftey... :D"); robotdrive.setSafetyEnabled(false); // autoChooser = new SendableChooser(); // autoChooser.addDefault("Default 3 Discs", this.auto_shoot); // SmartDashboard.putData("Autonomous mode chooser",autoChooser); }
/** * Returns value of a preference as a String * * @param key - The name of the preference * @return The value of the preference */ public static String getString(String key) { if (table.containsKey(key)) { return table.getString(key); } else { System.err.println("Preference not found: " + key); set(key, "0"); return "0"; } }
public static void setPort(int port) { if (_port == port) return; _port = port; try { NetworkTable.shutdown(); } catch (IllegalStateException ex) { } NetworkTable.setPort(port); NetworkTable.initialize(); }
public void testValue() { if (oi.getLJoystick().getTrigger()) { boolean distcheck = NetworkTable.getTable("camera").containsKey("distance"); NetworkTable.getTable("rob").putNumber("x", 8008135); System.out.println(distcheck); if (distcheck) { distance = NetworkTable.getTable("camera").getNumber("distance"); } System.out.println("Distance:" + " " + distance); } }
private void Constructor( String ptableName, String pbooleanKey, boolean pDefaultValue, String id) { pId = id; booleanKey = pbooleanKey; defaultValue = pDefaultValue; tableName = ptableName; defCommPrefix = bCommPrefix; if (tableName.startsWith("/")) { defCommPrefix = ""; tableName = tableName.substring(1); } table = NetworkTable.getTable(defCommPrefix + tableName); boolean temp = table.getBoolean(booleanKey, defaultValue); table.putBoolean(booleanKey, temp); // table.putString(booleanKey+".ID", id); table.addTableListener( booleanKey, new ITableListener() { public void valueChanged(ITable source, String key, Object pvalue, boolean isNew) { if (key.equals(Tables.Constants.IS_REFRESH_KEY)) {} if (isLocked && (oldValue != (Boolean) pvalue)) { table.putBoolean(booleanKey, value); oldValue = value; return; } value = (Boolean) pvalue; oldValue = value; } }, true); }
/** * This function is run when the robot is first started up and should be used for any * initialization code. */ public void robotInit() { RobotMap.init(); // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS elevator = new Elevator(); gripper = new Gripper(); drivetrain = new Drivetrain(); purpleSensor = new PurpleSensor(); camera = new Camera(); lights = new Lights(); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS // OI must be constructed after subsystems. If the OI creates Commands // (which it very likely will), subsystems are not guaranteed to be // constructed yet. Thus, their requires() statements may grab null // pointers. Bad news. Don't move it. oi = new OI(); // instantiate the command used for the autonomous period // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS autonomousCommand = new DoNothingAuto(); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS Robot.gripper.closedLoopControl(); table = NetworkTable.getTable("datatable"); drivetrain.smartDashboardInit(); purpleSensor.zeroHeading(); }
/** * Maps the specified key to the specified value in this table. The key can not be null. The value * can be retrieved by calling the get method with a key that is equal to the original key. * * @param key the key * @param data the value * @throws IllegalArgumentException if key is null */ @SuppressWarnings("unchecked") public static void putData(String key, Sendable data) { ITable dataTable = table.getSubTable(key); dataTable.putString("~TYPE~", data.getSmartDashboardType()); data.initTable(dataTable); tablesToData.put(data, key); }
/** * Returns the value at the specified key. * * @deprecated Use {@link #getNumber(java.lang.String, double) getNumber} instead * @param key the key * @param defaultValue the value returned if the key is undefined * @return the value * @throws TableKeyNotDefinedException if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not an int * @throws IllegalArgumentException if the key is null */ public static int getInt(String key, int defaultValue) throws TableKeyNotDefinedException { try { return (int) table.getNumber(key); } catch (NoSuchElementException ex) { return defaultValue; } }
public double getSpeed(int motorNumber) throws CANTimeoutException { double speed = -1; if (motorNumber == 1) { speed = firstShootingMotor.getSpeed(); table.putNumber("firstSpeed", speed); } if (motorNumber == 2) { speed = secondShootingMotor.getSpeed(); table.putNumber("secondSpeed", speed); } return speed; }
/** * Returns the value at the specified key. * * @param key the key * @return the value * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key * @throws IllegalArgumentException if the key is null */ public static Sendable getData(String key) { ITable subtable = table.getSubTable(key); Object data = tablesToData.get(subtable); if (data == null) { throw new IllegalArgumentException("SmartDashboard data does not exist: " + key); } else { return (Sendable) data; } }
public static void setHost(String host) { if (host != "") { // Use the given host } else if (_usemDNS) { host = "roboRIO-" + _team + "-frc.local"; } else { host = "10." + (_team / 100) + "." + (_team % 100) + ".2"; } if (_host.equals(host)) return; _host = host; System.out.println("Host: " + host); try { NetworkTable.shutdown(); } catch (IllegalStateException ex) { } NetworkTable.setIPAddress(host); NetworkTable.setNetworkIdentity(identity); NetworkTable.initialize(); }
public Robot() { server = CameraServer.getInstance(); server.setQuality(50); // the camera name (ex "cam0") can be found through the roborio web // interface server.startAutomaticCapture("cam0"); table = NetworkTable.getTable("SharkCV/contours/0"); autonomousCommand = new Auton(); }
/** Reads the preferences file and starts listening to the network table */ public static void init() { read(); table.addTableListener( new ITableListener() { @Override public void valueChanged(ITable source, String key, Object value, boolean isNew) { // Make sure the code knows all the keys if (!keys.contains(key)) keys.add(key); } }, true); }
/** Overwrites the file with current preferences */ public static void write() { BufferedWriter out; if (keys.isEmpty()) { // So we don't accidentally delete the preferences file return; } try { out = new BufferedWriter(new FileWriter("/home/lvuser/Preferences.txt")); for (int i = 0; i < keys.size(); i++) { if (!keys.get(i).equals("")) { // Empty String indicates a blank line String line = keys.get(i) + DIVIDER + table.getString(keys.get(i)); out.write(line); } out.newLine(); } out.flush(); out.close(); } catch (IOException e) { e.printStackTrace(); } }
/** * Maps the specified key to the specified value in this table. * * <p>The key can not be null. The value can be retrieved by calling the get method with a key * that is equal to the original key. * * @deprecated Use{@link #putNumber(java.lang.String, double) putNumber} instead * @param key the key * @param value the value * @throws IllegalArgumentException if key is null */ public static void putDouble(String key, double value) { table.putNumber(key, value); }
/** * The {@link SmartDashboard} class is the bridge between robot programs and the SmartDashboard on * the laptop. * * <p>When a value is put into the SmartDashboard here, it pops up on the SmartDashboard on the * laptop. Users can put values into and get values from the SmartDashboard * * @author Joe Grinstead */ @SuppressWarnings("deprecation") public class SmartDashboard { /** The {@link NetworkTable} used by {@link SmartDashboard} */ private static final NetworkTable table = NetworkTable.getTable("SmartDashboard"); /** * A table linking tables in the SmartDashboard to the {@link SmartDashboardData} objects they * came from. */ @SuppressWarnings("rawtypes") private static final Hashtable tablesToData = new Hashtable(); /** * Maps the specified key to the specified value in this table. The key can not be null. The value * can be retrieved by calling the get method with a key that is equal to the original key. * * @param key the key * @param data the value * @throws IllegalArgumentException if key is null */ @SuppressWarnings("unchecked") public static void putData(String key, Sendable data) { ITable dataTable = table.getSubTable(key); dataTable.putString("~TYPE~", data.getSmartDashboardType()); data.initTable(dataTable); tablesToData.put(data, key); } // TODO should we reimplement NamedSendable? /** * Maps the specified key (where the key is the name of the {@link NamedSendable} * SmartDashboardNamedData to the specified value in this table. The value can be retrieved by * calling the get method with a key that is equal to the original key. * * @param value the value * @throws IllegalArgumentException if key is null */ public static void putData(NamedSendable value) { putData(value.getName(), value); } /** * Returns the value at the specified key. * * @param key the key * @return the value * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key * @throws IllegalArgumentException if the key is null */ public static Sendable getData(String key) { ITable subtable = table.getSubTable(key); Object data = tablesToData.get(subtable); if (data == null) { throw new IllegalArgumentException("SmartDashboard data does not exist: " + key); } else { return (Sendable) data; } } /** * Maps the specified key to the specified value in this table. The key can not be null. The value * can be retrieved by calling the get method with a key that is equal to the original key. * * @param key the key * @param value the value * @throws IllegalArgumentException if key is null */ public static void putBoolean(String key, boolean value) { table.putBoolean(key, value); } /** * Returns the value at the specified key. * * @param key the key * @return the value * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a boolean * @throws IllegalArgumentException if the key is null */ public static boolean getBoolean(String key) throws TableKeyNotDefinedException { return table.getBoolean(key); } /** * Returns the value at the specified key. * * @param key the key * @param defaultValue returned if the key doesn't exist * @return the value * @throws IllegalArgumentException if the value mapped to by the key is not a boolean * @throws IllegalArgumentException if the key is null */ public static boolean getBoolean(String key, boolean defaultValue) { return table.getBoolean(key, defaultValue); } /** * Maps the specified key to the specified value in this table. The key can not be null. The value * can be retrieved by calling the get method with a key that is equal to the original key. * * @param key the key * @param value the value * @throws IllegalArgumentException if key is null */ public static void putNumber(String key, double value) { table.putNumber(key, value); } /** * Returns the value at the specified key. * * @param key the key * @return the value * @throws TableKeyNotDefinedException if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a double * @throws IllegalArgumentException if the key is null */ public static double getNumber(String key) throws TableKeyNotDefinedException { return table.getNumber(key); } /** * Returns the value at the specified key. * * @param key the key * @param defaultValue the value returned if the key is undefined * @return the value * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a double * @throws IllegalArgumentException if the key is null */ public static double getNumber(String key, double defaultValue) { return table.getNumber(key, defaultValue); } /** * Maps the specified key to the specified value in this table. Neither the key nor the value can * be null. The value can be retrieved by calling the get method with a key that is equal to the * original key. * * @param key the key * @param value the value * @throws IllegalArgumentException if key or value is null */ public static void putString(String key, String value) { table.putString(key, value); } /** * Returns the value at the specified key. * * @param key the key * @return the value * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a string * @throws IllegalArgumentException if the key is null */ public static String getString(String key) throws TableKeyNotDefinedException { return table.getString(key); } /** * Returns the value at the specified key. * * @param key the key * @param defaultValue The value returned if the key is undefined * @return the value * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a string * @throws IllegalArgumentException if the key is null */ public static String getString(String key, String defaultValue) { return table.getString(key, defaultValue); } /* * Deprecated Methods */ /** * Maps the specified key to the specified value in this table. * * <p>The key can not be null. The value can be retrieved by calling the get method with a key * that is equal to the original key. * * @deprecated Use {@link #putNumber(java.lang.String, double) putNumber method} instead * @param key the key * @param value the value * @throws IllegalArgumentException if key is null */ public static void putInt(String key, int value) { table.putNumber(key, value); } /** * Returns the value at the specified key. * * @deprecated Use {@link #getNumber(java.lang.String) getNumber} instead * @param key the key * @return the value * @throws TableKeyNotDefinedException if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not an int * @throws IllegalArgumentException if the key is null */ public static int getInt(String key) throws TableKeyNotDefinedException { return (int) table.getNumber(key); } /** * Returns the value at the specified key. * * @deprecated Use {@link #getNumber(java.lang.String, double) getNumber} instead * @param key the key * @param defaultValue the value returned if the key is undefined * @return the value * @throws TableKeyNotDefinedException if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not an int * @throws IllegalArgumentException if the key is null */ public static int getInt(String key, int defaultValue) throws TableKeyNotDefinedException { try { return (int) table.getNumber(key); } catch (NoSuchElementException ex) { return defaultValue; } } /** * Maps the specified key to the specified value in this table. * * <p>The key can not be null. The value can be retrieved by calling the get method with a key * that is equal to the original key. * * @deprecated Use{@link #putNumber(java.lang.String, double) putNumber} instead * @param key the key * @param value the value * @throws IllegalArgumentException if key is null */ public static void putDouble(String key, double value) { table.putNumber(key, value); } /** * Returns the value at the specified key. * * @deprecated Use {@link #getNumber(java.lang.String) getNumber} instead * @param key the key * @return the value * @throws TableKeyNotDefinedException if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a double * @throws IllegalArgumentException if the key is null */ public static double getDouble(String key) throws TableKeyNotDefinedException { return table.getNumber(key); } /** * Returns the value at the specified key. * * @deprecated Use {@link #getNumber(java.lang.String, double) getNumber} instead. * @param key the key * @param defaultValue the value returned if the key is undefined * @return the value * @throws TableKeyNotDefinedException if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a double * @throws IllegalArgumentException if the key is null */ public static double getDouble(String key, double defaultValue) { return table.getNumber(key, defaultValue); } }
/** * Returns the value at the specified key. * * @deprecated Use {@link #getNumber(java.lang.String) getNumber} instead * @param key the key * @return the value * @throws TableKeyNotDefinedException if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not an int * @throws IllegalArgumentException if the key is null */ public static int getInt(String key) throws TableKeyNotDefinedException { return (int) table.getNumber(key); }
public static void captureFrame() { // ---------These objects allow us to edit the variables used in the scalar polygon // recognition------ JLabel blueMaxValueLabel = new JLabel("Max Blue Value"); JTextField blueMaxValueField = new JTextField("255.0", 5); JLabel blueMinValueLabel = new JLabel("Min Blue Value"); JTextField blueMinValueField = new JTextField("100.0", 5); JLabel greenMaxValueLabel = new JLabel("Max Green Value"); JTextField greenMaxValueField = new JTextField("255.0", 5); JLabel greenMinValueLabel = new JLabel("Min Green Value"); JTextField greenMinValueField = new JTextField("215.0", 5); JLabel redMaxValueLabel = new JLabel("Max Red Value"); JTextField redMaxValueField = new JTextField("45.0", 5); JLabel redMinValueLabel = new JLabel("Min Red Value"); JTextField redMinValueField = new JTextField("0.0", 5); JLabel yLabel = new JLabel("Y"); JTextField yValue = new JTextField(5); boolean hotZone = false; // ---------------------------------End object lists------------------------------------- String source = "http://*****:*****@10.12.59.11/mjpg/video.mjpg"; FrameGrabber grabber = new OpenCVFrameGrabber(source); // new VideoInputFrameGrabber(0); try { Thread.sleep(1000); } catch (InterruptedException ex) { Logger.getLogger(CaptureImage.class.getName()).log(Level.SEVERE, null, ex); } CanvasFrame canvas = new CanvasFrame("WebCam"); canvas.setDefaultCloseOperation(javax.swing.JFrame.EXIT_ON_CLOSE); CanvasFrame before = new CanvasFrame("before"); before.setDefaultCloseOperation(javax.swing.JFrame.HIDE_ON_CLOSE); GridBagLayout gridBag = new GridBagLayout(); before.setLayout(gridBag); GridBagConstraints gbc = new GridBagConstraints(); gbc.fill = GridBagConstraints.VERTICAL; gridBag.setConstraints(before.getComponent(0), gbc); gbc.fill = GridBagConstraints.NONE; gbc.gridx = 1; gbc.gridy = 0; before.add(blueMaxValueLabel, gbc); gbc.gridx = 2; before.add(blueMaxValueField, gbc); gbc.gridx = 3; before.add(blueMinValueLabel, gbc); gbc.gridx = 4; before.add(blueMinValueField, gbc); // before.add(blueMinValueField); gbc.gridx = 1; gbc.gridy = 2; before.add(greenMaxValueLabel, gbc); gbc.gridx = 2; before.add(greenMaxValueField, gbc); gbc.gridx = 3; before.add(greenMinValueLabel, gbc); gbc.gridx = 4; before.add(greenMinValueField, gbc); // before.add(greenMinValueField); gbc.gridx = 1; gbc.gridy = 3; before.add(redMaxValueLabel, gbc); gbc.gridx = 2; before.add(redMaxValueField, gbc); gbc.gridx = 3; before.add(redMinValueLabel, gbc); gbc.gridx = 4; before.add(redMinValueField, gbc); before.add(yLabel); before.add(yValue); // before.add(redMinValueField); int numOfScreens = 39; // String loadingPic = "C:\\loadingScreen\\loadingScreen" // + (((int) (Math.random() * numOfScreens)) + 1) + ".bmp"; int failedGrabs = 0; NetworkTable.setTeam( 1259); // Capture image requires the setTeam method because it does not have use // Smartdashboard which already assigns a team number in the from of a network table NetworkTable.setIPAddress("10.12.59.2"); NetworkTable.setClientMode(); NetworkTable.getTable("SmartDashboard").putBoolean("TestTable", hotZone); while (true) { try { // try { // IplImage splashScreen = new IplImage(cvLoadImage(loadingPic)); // canvas.showImage(splashScreen); // } catch (Exception e) { // } grabber.start(); IplImage img; // IplImage hsv; // IplImage canny; IplImage displayImg; IplImage dst; PolygonFinder polyFind = new PolygonFinder(); // try { // NetworkTable.getTable("camera").putNumber("distance", 0); // NetworkTable.getTable("camera").putBoolean("hotZone", false); // } catch (Exception e) { // } while (true) { while (true) { try { // System.out.println("grabbing..."); img = new IplImage(grabber.grab()); displayImg = new IplImage(cvCreateImage(img.cvSize(), img.depth(), img.nChannels())); cvCopy(img, displayImg, null); // System.out.println("Frame GRABBED!"); break; } catch (Exception e) { failedGrabs++; System.out.println(failedGrabs); if (failedGrabs > 10) { grabber = new OpenCVFrameGrabber(source); grabber.start(); failedGrabs = 0; } continue; } } // PolygonFinder polyFind = new PolygonFinder(img); // ArrayList<PolygonStructure> polygons = polyFind.findPolygons(4); // for (int i = 0; i < polygons.size(); i++) { // polygons.get(i).drawShape(img, CvScalar.MAGENTA); // } // canvas.showImage(img); // return; if (img != null) { // cvSaveImage("originalcapture.jpg", img); } // IplImage gray = cvCreateImage(cvGetSize(img), img.depth(), 1 ); // hsv = new IplImage(cvCreateImage(cvGetSize(img), img.depth(), 3)); dst = new IplImage(cvCreateImage(cvGetSize(img), img.depth(), 1)); // cvCvtColor(img, gray, CV_RGB2GRAY); // cvCvtColor(img, hsv, CV_BGR2HSV); // if(hsv != null) { // cvSaveImage("hsv.jpg", hsv); // } // 30 20 0; 70 140 60 // 50 175 75 //// 100 255 225 // cvInRangeS(hsv, cvScalar(0, 200, 0, 0), cvScalar(150, 255, 255, 0), dst); // cvDrawLine(img, new CvPoint(0, 360), new CvPoint(639, 360), CvScalar.BLACK, 240, 8, 0); // cvInRangeS(img, cvScalar(100, 215, 0, 0), cvScalar(255, 255, 45, 0), dst); This is the // original // Code used to set max and min values for bgr scale in scalars VVV cvInRangeS( img, cvScalar( (new Double(blueMinValueField.getText())).doubleValue(), (new Double(greenMinValueField.getText())).doubleValue(), (new Double(redMinValueField.getText())).doubleValue(), 0), cvScalar( (new Double(blueMaxValueField.getText())).doubleValue(), (new Double(greenMaxValueField.getText())).doubleValue(), (new Double(redMaxValueField.getText())).doubleValue(), 0), dst); // NEED TO FLIP MAX IN MIN POSITION, MIN IS IN MAX POSITION // cvInRangeS(img, cvScalar(0, 0, 0, 0), cvScalar(255, 255, 255, 0), dst); // cvDilate( dst, dst, null, 1 ); cvSmooth(dst, dst, CV_MEDIAN, 1, 1, 0, 0); // cvCanny(gray, dst, 50, 100, 3); // cvCvtColor(hsv, gray, CV_RGB2GRAY); // canvas.showImage(img); // before.showImage(dst); IplImage newDst = new IplImage(cvCloneImage(img)); // cvCreateImage(cvGetSize(img), img.depth(), 3)); cvCvtColor(dst, newDst, CV_GRAY2BGR); // cvConvexHull2(newDst, null, CV_CLOCKWISE, 0); before.showImage(newDst); polyFind.setImage(newDst); ArrayList<PolygonStructure> polygons = new ArrayList<PolygonStructure>(); int i; // before.showImage(newDst); for (i = 4; i < 5; i++) { for (PolygonStructure ps : polyFind.findPolygons(i)) { polygons.add(ps); } } for (int c = 0; c < polygons.size(); c++) { for (int d = 0; d < polygons.size(); d++) { if (c == d) { break; } if (polygons .get(c) .getPolygon() .contains(polygons.get(d).getPolygon().getBounds2D())) { polygons.remove(d); if (d < c) { c--; } d--; } } } for (int c = 0; c < polygons.size(); c++) { for (int d = 0; d < polygons.size(); d++) { if (c == d) { break; } if (polygons .get(c) .getPolygon() .contains( polygons.get(d).getPolygon().getBounds().getCenterX(), polygons.get(d).getPolygon().getBounds().getCenterY())) { polygons.remove(d); if (d < c) { c--; } d--; } } } // if // (tempPoly.getVertex(0).x()<vertices[0].x()&&tempPoly.getVertex(1).x()>vertices[0].x() // // &&tempPoly.getVertex(1).y()<vertices[0].y()&&tempPoly.getVertex(2).y()>vertices[0].y()) // { // isInside = true; // break; // } for (i = 0; i < polygons.size(); i++) { if (polygons.size() < 2) { hotZone = false; } else { hotZone = true; } CvScalar polyColor = CvScalar.MAGENTA; switch (i) { case 0: { polyColor = CvScalar.RED; // System.out.println("Center X: " // + (320 - ((polygons.get(i).getVertex(3).x() // + polygons.get(i).getVertex(2).x()) / 2)) // + "\tCenter Y: " // + (240 - ((polygons.get(i).getVertex(3).y() // + (polygons.get(i).getVertex(2).y())) / 2))); double x = (320 - ((polygons.get(i).getVertex(3).x() + polygons.get(i).getVertex(2).x()) / 2)); double angle = (480 - ((polygons.get(i).getVertex(3).y() + (polygons.get(i).getVertex(2).y())) / 2)); // double distance = 5182.2043151825 * Math.pow(angle, -1); double distance = 514.7318 * Math.pow(angle - 220, -1.2); // double distance; if (angle < 317) { distance = -0.370786516853933 * angle + 133.977528089888; } else if (angle > 316 && angle < 325) { distance = -0.184697808038669 * angle + 74.9375184489134; } else if (angle > 324 && angle < 362) { distance = -0.140145789191636 * angle + 60.5198480748917; } else if (angle > 360) { distance = -0.0702258215380136 * angle + 35.3150512441271; } for (int c = 0; c < 4; c++) { System.out.println("Vertex " + c + ":" + polygons.get(i).getVertex(c).y()); } yValue.setText("" + angle); // hotZone = true; break; } case 1: { // Hot zone polyColor = CvScalar.BLUE; break; } case 2: { polyColor = CvScalar.GREEN; break; } case 3: { polyColor = CvScalar.YELLOW; break; } } // polygons.get(i).drawShape(img, polyColor); cvLine( displayImg, polygons.get(i).getVertices()[3], polygons.get(i).getVertices()[0], polyColor, 3, CV_AA, 0); cvLine( displayImg, polygons.get(i).getVertices()[0], polygons.get(i).getVertices()[1], polyColor, 3, CV_AA, 0); cvDrawCircle(displayImg, polygons.get(i).getVertices()[0], 3, CvScalar.GRAY, 1, 8, 0); cvLine( displayImg, polygons.get(i).getVertices()[1], polygons.get(i).getVertices()[2], polyColor, 3, CV_AA, 0); cvDrawCircle( displayImg, polygons.get(i).getVertices()[1], 3, CvScalar.MAGENTA, 1, 8, 0); cvLine( displayImg, polygons.get(i).getVertices()[2], polygons.get(i).getVertices()[3], polyColor, 3, CV_AA, 0); cvDrawCircle(displayImg, polygons.get(i).getVertices()[2], 3, CvScalar.BLACK, 1, 8, 0); cvDrawCircle(displayImg, polygons.get(i).getVertices()[3], 3, CvScalar.CYAN, 1, 8, 0); // System.out.println("Polygon " + i + "\t" + polygons.get(i).getVertices()[0]); } try { // NetworkTable.getTable("camera").beginTransaction(); // NetworkTable.getTable("camera").putNumber("distance", // distance); // NetworkTable.getTable("camera").putNumber("x", x); NetworkTable.getTable("camera").putBoolean("hotZone", hotZone); // NetworkTable.getTable("camera").endTransaction(); } catch (Exception e) { } if (displayImg != null) { // cvSaveImage("aftercapture.jpg", dst); cvDrawLine( displayImg, new CvPoint(300, 240), new CvPoint(340, 240), CvScalar.WHITE, 2, 8, 0); cvDrawLine( displayImg, new CvPoint(320, 220), new CvPoint(320, 260), CvScalar.WHITE, 2, 8, 0); canvas.showImage(displayImg); } else { // System.out.println("Null Image"); } // cvReleaseImage(gray); cvReleaseImage(newDst); // cvReleaseImage(img); // cvReleaseImage(hsv); cvReleaseImage(displayImg); cvReleaseImage(dst); // Thread.sleep(50); } // System.out.println("5"); // grabber.stop(); } catch (Exception e) { e.printStackTrace(); } grabber = new OpenCVFrameGrabber(source); } }
/** * Maps the specified key to the specified value in this table. * * <p>The key can not be null. The value can be retrieved by calling the get method with a key * that is equal to the original key. * * @deprecated Use {@link #putNumber(java.lang.String, double) putNumber method} instead * @param key the key * @param value the value * @throws IllegalArgumentException if key is null */ public static void putInt(String key, int value) { table.putNumber(key, value); }
public static void removeConnectionListener(IRemoteConnectionListener listener) { System.out.println("Removing connection listener"); NetworkTable.getTable(TABLE_NAME).removeConnectionListener(listener); }
/** * Maps the specified key to the specified value in this table. The key can not be null. The value * can be retrieved by calling the get method with a key that is equal to the original key. * * @param key the key * @param value the value * @throws IllegalArgumentException if key is null */ public static void putBoolean(String key, boolean value) { table.putBoolean(key, value); }
/** * Returns the value at the specified key. * * @param key the key * @return the value * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a boolean * @throws IllegalArgumentException if the key is null */ public static boolean getBoolean(String key) throws TableKeyNotDefinedException { return table.getBoolean(key); }
/** * Returns the value at the specified key. * * @deprecated Use {@link #getNumber(java.lang.String) getNumber} instead * @param key the key * @return the value * @throws TableKeyNotDefinedException if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a double * @throws IllegalArgumentException if the key is null */ public static double getDouble(String key) throws TableKeyNotDefinedException { return table.getNumber(key); }
/** * Returns the value at the specified key. * * @deprecated Use {@link #getNumber(java.lang.String, double) getNumber} instead. * @param key the key * @param defaultValue the value returned if the key is undefined * @return the value * @throws TableKeyNotDefinedException if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a double * @throws IllegalArgumentException if the key is null */ public static double getDouble(String key, double defaultValue) { return table.getNumber(key, defaultValue); }
/** * Maps the specified key to the specified value in this table. Neither the key nor the value can * be null. The value can be retrieved by calling the get method with a key that is equal to the * original key. * * @param key the key * @param value the value * @throws IllegalArgumentException if key or value is null */ public static void putString(String key, String value) { table.putString(key, value); }
/** * Returns the value at the specified key. * * @param key the key * @return the value * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a string * @throws IllegalArgumentException if the key is null */ public static String getString(String key) throws TableKeyNotDefinedException { return table.getString(key); }
/** * Returns the value at the specified key. * * @param key the key * @param defaultValue The value returned if the key is undefined * @return the value * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key * @throws IllegalArgumentException if the value mapped to by the key is not a string * @throws IllegalArgumentException if the key is null */ public static String getString(String key, String defaultValue) { return table.getString(key, defaultValue); }
/** * Returns the value at the specified key. * * @param key the key * @param defaultValue returned if the key doesn't exist * @return the value * @throws IllegalArgumentException if the value mapped to by the key is not a boolean * @throws IllegalArgumentException if the key is null */ public static boolean getBoolean(String key, boolean defaultValue) { return table.getBoolean(key, defaultValue); }
public static void addConnectionListener( IRemoteConnectionListener listener, boolean immediateNotify) { System.out.println("Adding connection listener"); NetworkTable.getTable(TABLE_NAME).addConnectionListener(listener, immediateNotify); }