Merge branch 'master' into new-shtik-for-wrist

GreenBlitz · Jun 23, 2024 · a55024b · a55024b
2 parents 4ccb659 + 37495ac
commit a55024b
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Showing 2 changed files with 17 additions and 18 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/vision/PropProcessor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/vision/PropProcessor.java
@@ -22,43 +22,43 @@ public void init(int width, int height, CameraCalibration calibration) {
 
     @Override
     public Object processFrame(Mat frame, long captureTimeNanos) {
-        Mat leftZone = getLeftZoneMatrix(frame);
+        Mat rightZone = getRightZoneMatrix(frame);
         Mat centerZone = getCenterZoneMatrix(frame);
 
-        Scalar left = getAvgColor(leftZone);
-        Scalar center = getAvgColor(centerZone);
+        Scalar avgRightColor = getAvgColor(rightZone);
+        Scalar avgCenterColor = getAvgColor(centerZone);
 
-        if (isPropPartOfAvgColor(left)) {
-            this.location = PropLocation.LEFT;
+        if (isPropPartOfAvgColor(avgRightColor)) {
+            this.location = PropLocation.RIGHT;
         }
-        else if (isPropPartOfAvgColor(center)) {
+        else if (isPropPartOfAvgColor(avgCenterColor)) {
             this.location = PropLocation.CENTER;
         }
         else {
-            this.location = PropLocation.RIGHT;
+            this.location = PropLocation.LEFT;
         }
 
-        leftZone.release();
+        rightZone.release();
         centerZone.release();
 
         return null;
     }
 
-    public Mat getLeftZoneMatrix(Mat frame) {
+    public Mat getRightZoneMatrix(Mat frame) {
         if (Robot.getInstance().getAlliance() == Alliance.RED) {
-            return frame.submat(VisionConstant.RED_LEFT_ZONE_AREA);
+            return frame.submat(VisionConstant.RED_RIGHT_ZONE);
         }
         else {
-            return frame.submat(VisionConstant.BLUE_LEFT_ZONE_AREA);
+            return frame.submat(VisionConstant.BLUE_RIGHT_ZONE);
         }
     }
 
     public Mat getCenterZoneMatrix(Mat frame) {
         if (Robot.getInstance().getAlliance() == Alliance.RED) {
-            return frame.submat(VisionConstant.RED_CENTER_ZONE_AREA);
+            return frame.submat(VisionConstant.RED_CENTER_ZONE);
         }
         else {
-            return frame.submat(VisionConstant.BLUE_CENTER_ZONE_AREA);
+            return frame.submat(VisionConstant.BLUE_CENTER_ZONE);
         }
     }
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/vision/VisionConstant.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/vision/VisionConstant.java
@@ -2,7 +2,6 @@
 
 import org.firstinspires.ftc.vision.VisionPortal;
 import org.opencv.core.Rect;
-import org.opencv.core.Scalar;
 import org.opencv.core.Size;
 
 class VisionConstant {
@@ -22,10 +21,10 @@ class VisionConstant {
     protected static final double RED_THRESHOLD = 100;
     protected static final double AMOUNT_OF_COLOR = 2.8;
 
-    protected static final Rect RED_LEFT_ZONE_AREA = new Rect(0, 330, 100, 150);
-    protected static final Rect RED_CENTER_ZONE_AREA = new Rect(320, 330, 320, 150);
-    protected static final Rect BLUE_LEFT_ZONE_AREA = new Rect(0, 330, 320, 150);
-    protected static final Rect BLUE_CENTER_ZONE_AREA = new Rect(380, 330, 100, 150);
+    protected static final Rect RED_RIGHT_ZONE = new Rect(400, 400, 100, 80);
+    protected static final Rect RED_CENTER_ZONE = new Rect(20, 330, 80, 150);
+    protected static final Rect BLUE_RIGHT_ZONE = new Rect(400, 400, 100, 80);
+    protected static final Rect BLUE_CENTER_ZONE = new Rect(20, 330, 80, 150);
 
     protected static final Size BLUR_SIZE = new Size(5, 5);