FTCVuforiaDemo

This linear opmode demonstrates one way to use Vuforia to track target images. It has been provided as Technology Outreach by FTC Team 2818 G-FORCE from Accident MD.

Updated by Pattonville Robotics Teams 2866/2867/7856 to only require phones and no other hardware.

This Source Code:

• https://github.com/Pattonville-Robotics/FTCVuforiaDemo

Video Tutorial: Code Walk-Through

• https://www.youtube.com/watch?v=AxKrJEtfuaI

FTC Axis Geometry animation.

• https://www.youtube.com/watch?v=T3-F2xpaesg

This code was written to be compatible with FTC_SDK V 2.62 (Dec 2016). Also compatible with FTC_SDK V3.1 (Aug 2017)

Place any of the four 2016/17 images on the field perimeter.

To test the OpMode, do the following:

• Init the opmode
• Verify that the target information appears on the Driver Station, and is correct.

All navigation components are located in the Robot_Navigation class

A simplified tracking approach is used, whereby the robot can be made to approach to within a set distance of any visible target.
Target localization is converted into a set of 6 values which can be used directly to navigate to the target.

• robotX: Distance from target along X axis in in. (will be negative)
• robotY: Offset from target centerline along Y axis in in. (can be + or -)
• robotBearing: Direction Robot is pointing. (+ is CCW from x axis)
• targetRange: Distance from robot centroid to target center in in.
• targetBearing: Direction from robot centroid to target center (+ is CCW from x axis)
• relativeBearing: Angle from robot bearing to target bearing in degrees (+ is CCW)

Telemetry Display

Telemetry Data displays robot and target information whenever a target is "visible" A sample display is shown here:

• Visible : Blue Near
• Robot Range : -24 in
• Robot Offset : 2 in
• Robot Rel Angle to Picture : -7°
• Target Range : 24 in
• Target Bearing : 2°