codeNinjaDev

package frc.robot.hardware;

import com.kauailabs.navx.frc.AHRS;

import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.PIDSourceType;

/*** Encoder Class that keeps track of total angle even when reset unless hard reset*/
public class SuperGyro extends AHRS {
    private double offsetAngle;

codeNinjaDev

#!/usr/bin/env python3
#----------------------------------------------------------------------------
# Copyright (c) 2018 FIRST. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.

# My 2019 license: use it as much as you want. Crediting is recommended because it lets me know that I am being useful.
# Credit to Screaming Chickens 3997

codeNinjaDev

package frc.robot;

import frc.robot.controllers.DriveController;
import edu.wpi.first.wpilibj.drive.Vector2d;
import java.lang.Math;
public class Odometry {
    DriveController driveController;
    private double prevX, prevY, prevDistance;
    private double currX, currY, currDistance;

codeNinjaDev

#!/usr/bin/env python3
#----------------------------------------------------------------------------
# Copyright (c) 2018 FIRST. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.

# My 2019 license: use it as much as you want. Crediting is recommended because it lets me know that I am being useful.
# Credit to Screaming Chickens 3997

codeNinjaDev

#!/usr/bin/env python3
#----------------------------------------------------------------------------
# Copyright (c) 2018 FIRST. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.

# My 2019 license: use it as much as you want. Crediting is recommended because it lets me know that I am being useful.
# Credit to Screaming Chickens 3997

codeNinjaDev

package frc.robot.controllers;

import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.hardware.*;
public class VisionController extends Subsystem {
	private boolean is_enabled, driverVision, tapeVision, cargoVision;

codeNinjaDev

package frc.robot.controllers;

import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.hardware.*;
public class VisionController extends Subsystem {
	private boolean is_enabled, driverVision, tapeVision, cargoVision;

codeNinjaDev

#!/usr/bin/env python3
#----------------------------------------------------------------------------
# Copyright (c) 2018 FIRST. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.

# My 2019 license: use it as much as you want. Crediting is recommended because it lets me know that I am being useful.
# Credit to Screaming Chickens 3997

codeNinjaDev

package frc.robot;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot

codeNinjaDev

# Draws Contours and finds center and yaw of ball
# centerX is center x coordinate of image
# centerY is center y coordinate of image
def findBall(contours, image, centerX, centerY):
    screenHeight, screenWidth, channels = image.shape;
    #Seen vision targets (correct angle, adjacent to each other)
    ball = []

    if len(contours) > 0:
        #Sort contours by area size (biggest to smallest)