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Merged
prawny-boy merged 8 commits into from
Sep 20, 2026
Merged

Feature/biobuzz teleop #3

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1e93d12
docs: design spec for BIOBUZZ teleop robot code
Hazzer890 Sep 20, 2026
aa9c039
docs: implementation plan for BIOBUZZ teleop
Hazzer890 Sep 20, 2026
78e4384
chore: move to FTC SDK v12.0, the BIOBUZZ season release
Hazzer890 Sep 20, 2026
c915797
docs: design spec for shoot on the move
Hazzer890 Sep 20, 2026
3c394e4
docs: spec wording
Hazzer890 Sep 20, 2026
19b5486
chore: ignore .worktrees
Hazzer890 Sep 20, 2026
caa0f9a
docs: implementation plan for shoot on the move, spec notes band-widt…
Hazzer890 Sep 20, 2026
e1dafee
Merge branch 'main' of https://github.com/Lebob-Robotics/Lebob-BioBuz…
Hazzer890 Sep 20, 2026
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4 changes: 3 additions & 1 deletion .gitignore
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Expand Up @@ -84,4 +84,6 @@ lint/intermediates/
lint/generated/
lint/outputs/
lint/tmp/
# lint/reports/
# lint/reports/
# Linked git worktrees for parallel sessions
.worktrees/
2 changes: 1 addition & 1 deletion FtcRobotController/src/main/AndroidManifest.xml
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Expand Up @@ -2,7 +2,7 @@
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:versionCode="63"
android:versionName="11.2.1">
android:versionName="12.0">

<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

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27 changes: 20 additions & 7 deletions ...src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java
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Expand Up @@ -38,8 +38,10 @@
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.internal.usb.UsbConstants;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagClusterDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;

import java.util.List;

Expand Down Expand Up @@ -150,12 +152,12 @@ private void initAprilTag() {
aprilTag = new AprilTagProcessor.Builder()

// The following default settings are available to un-comment and edit as needed.
//.setDrawAxes(false)
//.setDrawCubeProjection(false)
//.setDrawAxes(true) // Changed in V12.0
//.setDrawTagOutline(true)
//.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
//.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
//.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
//.setDrawCubeProjection(false)

// == CAMERA CALIBRATION ==
// If you do not manually specify calibration parameters, the SDK will attempt
Expand Down Expand Up @@ -220,14 +222,25 @@ private void telemetryAprilTag() {

// Step through the list of detections and display info for each one.
for (AprilTagDetection detection : currentDetections) {
if (detection.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
if (detection instanceof AprilTagSingleDetection) {
AprilTagSingleDetection singleDet = (AprilTagSingleDetection) detection;

if (singleDet.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", singleDet.id, singleDet.metadata.name));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", singleDet.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", singleDet.center.x, singleDet.center.y));
}
} else {
AprilTagClusterDetection clusterDet = (AprilTagClusterDetection) detection;
telemetry.addLine(String.format("\n==== Tag Cluster (%s)", clusterDet.metadata.name));
telemetry.addLine(String.format("Percent tags found: %d", clusterDet.percentClusterFound));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
}
} // end for() loop

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50 changes: 21 additions & 29 deletions ...main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java
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Expand Up @@ -36,15 +36,19 @@
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCompatibilityManager;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagClusterDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;

import java.util.List;

/*
* This OpMode illustrates the basics of AprilTag recognition and pose estimation, using
* the easy way.
*
* Note: See ConceptAprilTag.java for how to add a camera compatibility quirk
*
* For an introduction to AprilTags, see the FTC-DOCS link below:
* https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
*
Expand Down Expand Up @@ -78,33 +82,10 @@ public class ConceptAprilTagEasy extends LinearOpMode {
*/
private VisionPortal visionPortal;

// To find the VID/PID for a camera:
//
// Linux: open a terminal, run "lsusb", locate the line for your camera,
// and find the section that resembles "ID 1d6b:0002"; this is VID:PID
//
// OSX: open a terminal, run "system_profiler SPUSBDataType", locate the
// section for your camera, and find the "Product ID:" and "Vendor ID:"
// listings in the output
//
// Windows: open a PowerShell, run:
// Get-PnpDevice -PresentOnly | Where-Object { $_.InstanceId -like 'USB*' } | Select-Object FriendlyName, InstanceId
// and locate the line for your camera. The VID and PID is listed directly in the line.
static final int VENDOR_ID_SUNPLUS_INNOVATION_TECHNOLOGY = 0x1BCF;
static final int PRODUCT_ID_ARDUCAM_OV5648 = 0x284C;

@Override
public void runOpMode() {

// Demonstrate how to add a camera compatibility quirk
// these can sometimes be needed if a camera behaves poorly.
// Quirks have no effect unless the camera you are using matches the specified VID/PID
CameraCompatibilityManager.getInstance()
.addQuirk(
VENDOR_ID_SUNPLUS_INNOVATION_TECHNOLOGY,
PRODUCT_ID_ARDUCAM_OV5648,
CameraCompatibilityManager.Quirk.AVOID_LIB_USB_RESET_DEVICE);

// See ConceptAprilTag.java for how to add a camera compatibility quirk
initAprilTag();

// Wait for the DS start button to be touched.
Expand Down Expand Up @@ -165,14 +146,25 @@ private void telemetryAprilTag() {

// Step through the list of detections and display info for each one.
for (AprilTagDetection detection : currentDetections) {
if (detection.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
if (detection instanceof AprilTagSingleDetection) {
AprilTagSingleDetection singleDet = (AprilTagSingleDetection) detection;

if (singleDet.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", singleDet.id, singleDet.metadata.name));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", singleDet.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", singleDet.center.x, singleDet.center.y));
}
} else {
AprilTagClusterDetection clusterDet = (AprilTagClusterDetection) detection;
telemetry.addLine(String.format("\n==== Tag Cluster (%s)", clusterDet.metadata.name));
telemetry.addLine(String.format("Percent tags found: %d", clusterDet.percentClusterFound));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
}
} // end for() loop

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22 changes: 12 additions & 10 deletions ...a/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagLocalization.java
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Expand Up @@ -43,6 +43,7 @@
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;

import java.util.List;

Expand Down Expand Up @@ -177,7 +178,7 @@ private void initAprilTag() {
aprilTag = new AprilTagProcessor.Builder()

// The following default settings are available to un-comment and edit as needed.
//.setDrawAxes(false)
//.setDrawAxes(true) // changed in V12.0
//.setDrawCubeProjection(false)
//.setDrawTagOutline(true)
//.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
Expand Down Expand Up @@ -247,22 +248,23 @@ private void telemetryAprilTag() {

// Step through the list of detections and display info for each one.
for (AprilTagDetection detection : currentDetections) {
if (detection.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
// Only use tags that don't have Obelisk in them
if (!detection.metadata.name.contains("Obelisk")) {
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)",
if (detection instanceof AprilTagSingleDetection) {
AprilTagSingleDetection singleDet = (AprilTagSingleDetection) detection;

if (singleDet.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", singleDet.id, singleDet.metadata.name));
telemetry.addLine(String.format("Robot XYZ %6.1f %6.1f %6.1f (inch)",
detection.robotPose.getPosition().x,
detection.robotPose.getPosition().y,
detection.robotPose.getPosition().z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)",
telemetry.addLine(String.format("Robot PRY %6.1f %6.1f %6.1f (deg)",
detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES),
detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES),
detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES)));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", singleDet.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", singleDet.center.x, singleDet.center.y));
}
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
}
} // end for() loop

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23 changes: 18 additions & 5 deletions .../firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagSwitchableCameras.java
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Expand Up @@ -37,8 +37,10 @@
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.VisionPortal.CameraState;
import org.firstinspires.ftc.vision.apriltag.AprilTagClusterDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;

import java.util.List;

Expand Down Expand Up @@ -153,14 +155,25 @@ private void telemetryAprilTag() {

// Step through the list of detections and display info for each one.
for (AprilTagDetection detection : currentDetections) {
if (detection.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
if (detection instanceof AprilTagSingleDetection) {
AprilTagSingleDetection singleDet = (AprilTagSingleDetection) detection;

if (singleDet.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", singleDet.id, singleDet.metadata.name));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", singleDet.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", singleDet.center.x, singleDet.center.y));
}
} else {
AprilTagClusterDetection clusterDet = (AprilTagClusterDetection) detection;
telemetry.addLine(String.format("\n==== Tag Cluster (%s)", clusterDet.metadata.name));
telemetry.addLine(String.format("Percent tags found: %d", clusterDet.percentClusterFound));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
}
} // end for() loop

Expand Down
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