TeamCode/org.firstinspires.ftc.teamcode.features/AprilTagDetector

AprilTagDetector

public final class AprilTagDetector extends Feature implements Buildable

This detects AprilTags and shows them on the FTC dashboard.

Connections: A camera and a computer connected to the dashboard.

Controls: Uses the dashboard.

Constructors

AprilTagDetector

public AprilTagDetector AprilTagDetector(CameraName cameraName)

Properties

aprilTag

private AprilTagProcessor aprilTag

cameraName

private CameraName cameraName

currentDetections

private List<AprilTagDetection> currentDetections

environment

private ScriptParameters environment

name

public final String name

needsInit

public final Boolean needsInit

vision

private VisionPortal vision

Functions

build

public Unit build()

The method to run when a feature is being built.

getAprilTag

public final AprilTagProcessor getAprilTag()

getCameraName

public final CameraName getCameraName()

getCurrentDetections

public final List<AprilTagDetection> getCurrentDetections()

getEnvironment

public final ScriptParameters getEnvironment()

getVision

public final VisionPortal getVision()

init

public Unit init(ScriptParameters parameters)

loop

public Unit loop()

The method to run on every loop of this feature. If this feature is conditional, this will only run if Conditional.when returns true.

resumeStreaming

public final Unit resumeStreaming()

run

public Unit run(ScriptParameters parameters)

setAprilTag

public final Unit setAprilTag(AprilTagProcessor aprilTag)

setCameraName

public final Unit setCameraName(CameraName cameraName)

setCurrentDetections

public final Unit setCurrentDetections(List<AprilTagDetection> currentDetections)

setEnvironment

public final Unit setEnvironment(ScriptParameters environment)

setVision

public final Unit setVision(VisionPortal vision)

start

public final Unit start()

stop

public final Unit stop()

stopStreaming

public final Unit stopStreaming()