Webcam Teleop- Driving

How this code works: This code acts as an ad-on to the HiveVisionOpmode.java that was created at the end of Webcam installation. It simply tracks the desired entities in your Webcam’s FOV and will drive towards it. This OpMode is likely not to use during a match but can be taken for inspiration on use cases for your team. In order to leave manual mode, and force your robot to detect entities and move towards them, you must enable Auto-Chase as shown below.

During Teleop:
• Right Bumper (RB): Toggles Auto-Chase mode ON or OFF

Tip

During Auto-Chase, your robot will spin and go to balls on its own, do not use your joystick during this state.

• Left Stick (Y-axis): Drives Forward / Backward.
• Left Stick (X-axis): Strafes Left / Right (Mecanum functionality).
• Right Stick (X-axis): Turns Left / Right in place.

Note

This code will ONLY work on a Webcam, please look at the usages menu for your camera.

Quickstart:

Since Webcam Installation has been completed, you should be left with a HiveVisionOpmode.java in your teamcode, replace that code with this

To confirm, your file structure should now look like this

• DirectoryTeamCode

  • Directoryjava

    • Directoryorg.firstinspires.ftc.teamcode

      • BallBlobDetectorPipeline.java
      • BallDetectorPipeline.java
      • HiveVisionOpmode.java //This code

Adapt to your robot:

Change the following code

1. Change the webcam name so that it matches the name in your driver station, on line 23
2. Similarly, change your drivetrain motor names from lines 47-50 as shown in your driver station

You are all set! Please refer to the top of the page to learn how to operate the HiveVisionOpmode