Merge branch 'ImageAction_optimization' into RPMCalculations

Author: jlbabilino

src/main/java/frc/robot/Robot.java

@@ -4,6 +4,13 @@
 
 package frc.robot;
 
+import java.awt.image.BufferedImage;
+import java.io.File;
+import java.io.IOException;
+
+import javax.imageio.ImageIO;
+
+import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.Preferences;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.util.Color;
@@ -40,6 +47,12 @@ public class Robot extends TimedRobot {
   private static final int NUM_LOOPS = 40;
   private int delay = NUM_LOOPS;
 
+  public static BufferedImage fiveBallAutoImage;
+  public static BufferedImage fourBallAutoImage;
+  
+  public static BufferedImage twentySecondImage;
+  public static BufferedImage tenSecondImage;
+
   /**
    * This function is run when the robot is first started up and should be used
    * for any
@@ -67,9 +80,28 @@ public void robotInit() {
     Preferences.initDouble("BLP.Velocity", 500.0);
     Preferences.initDouble("BLP.Angle", 60.0);
 
+    String pathname = "None";
+    try {
+      File deployDir = Filesystem.getDeployDirectory();
+      String pathPrefix = deployDir.getAbsolutePath() + "/images/";
+
+      pathname = "THfade.png";
+      Robot.fiveBallAutoImage = ImageIO.read(new File( pathPrefix+ pathname));
+      pathname = "yellow_stripes.png";
+      Robot.twentySecondImage = ImageIO.read(new File( pathPrefix+ pathname));
+      pathname = "noise.png";
+      Robot.tenSecondImage = ImageIO.read(new File( pathPrefix+ pathname));
+      pathname = "fade.png";
+      Robot.fourBallAutoImage = ImageIO.read(new File( pathPrefix+ pathname));
+
+  } catch (IOException e) {
+      e.printStackTrace();
+      System.out.println("Problem opening image. Check the path.\nImage path = " + pathname);
+  }
+
+
     // Instantiate our RobotContainer. This will perform all our button bindings,
-    // and put our
-    // autonomous chooser on the dashboard.
+    // and put our autonomous chooser on the dashboard.
     mRobotContainer = new RobotContainer();
   }
 

src/main/java/frc/robot/RobotContainer.java

@@ -155,10 +155,12 @@ public Command getAutonomousCommand() {
         autoCommand = new FourBallAuto(mDrive, mIntake, mShooter);
       }
     } finally {
+      /*
       fiveBallAuto.close();
       twoBallSouthAuto.close();
       twoBallEastAuto.close();
       fourBallAuto.close();
+      */
     }
     return autoCommand;
   }

src/main/java/frc/robot/auto/groups/FiveBallAuto.java

@@ -16,6 +16,7 @@
 import frc.paths.FiveBallPartThree;
 import frc.paths.FiveBallPartTwo;
 import frc.paths.Spinnnn;
+import frc.robot.Robot;
 import frc.robot.drive.Drivetrain;
 import frc.robot.drive.commands.ResetOdometry;
 import frc.robot.drive.commands.TrajectoryFollower;
@@ -45,7 +46,7 @@ public FiveBallAuto(Drivetrain drive, Intake intake, Shooter shooter) {
             new WaitCommand(0.8), // Give shooter time to spin up & hood to move
             new PullTrigger(shooter),
             new WaitCommand(0.5)),
-        // new ActionCommand(new ImageAction("THfade.png", 0.01).brightness(0.7)),
+        new ActionCommand(new ImageAction(Robot.fiveBallAutoImage, 0.02, ImageAction.FOREVER).brightness(0.7).oscillate()),
         new TrajectoryFollower(drive, new FiveBallPartOne()), // Turn to point at center
         new FlywheelController(shooter, 1810, 77.90)),
     new ParallelDeadlineGroup(

src/main/java/frc/robot/auto/groups/FourBallAuto.java

@@ -13,6 +13,7 @@
 import frc.paths.GoHome;
 import frc.paths.OnePointEightMetersForward;
 import frc.paths.WeirdAutoPartOne;
+import frc.robot.Robot;
 import frc.robot.drive.Drivetrain;
 import frc.robot.drive.commands.ResetOdometry;
 import frc.robot.drive.commands.TrajectoryFollower;
@@ -36,7 +37,7 @@ public class FourBallAuto extends SequentialCommandGroup{
 
     public FourBallAuto(Drivetrain drive, Intake intake, Shooter shooter) {
         addCommands(
-            // new ActionCommand(new ImageAction("fade.png",0.02).oscillate().brightness(0.7)),
+            new ActionCommand(new ImageAction(Robot.fourBallAutoImage,0.02, ImageAction.FOREVER).oscillate().brightness(0.7)),
             new ResetOdometry(drive, new Pose2d(new Translation2d(0,0),Rotation2d.fromDegrees(-90))),
             new ResetEncoder(shooter),
             new ParallelDeadlineGroup(

src/main/java/frc/robot/status/actions/ImageAction.java

@@ -70,6 +70,19 @@ public ImageAction(String pathname, double interval, int count) {
 
             imageFile = new File( pathPrefix+ pathname);
             readImage = ImageIO.read(imageFile);
+            scaledImage = readImage;
+
+        } catch (IOException e) {
+            e.printStackTrace();
+            System.out.println("Problem opening image. Check the path.\nImage path = " + pathname);
+        }
+        intervalCount = count * scaledImage.getWidth();
+
+        curIntCount = intervalCount;
+
+    }
+
+    public ImageAction(final BufferedImage readImage, final double interval, final int count) {
 
             /**
              * The below is very frustrating.
@@ -84,21 +97,19 @@ public ImageAction(String pathname, double interval, int count) {
             // scaledImage = imageToBufferedImage(si);
             scaledImage = readImage;
 
+            intervalTime = interval;
+
             intervalCount = count * scaledImage.getWidth();
 
             curIntCount = intervalCount;
-        } catch (IOException e) {
-            e.printStackTrace();
-            System.out.println("Problem opening image. Check the path.\nImage path = " + pathname);
-        }
     }
 
     public void reset() {
         super.reset();
         this.currentColumn = 0;
     }
 
-    public ImageAction brightness(double brightness) {
+    public ImageAction brightness(final double brightness) {
         setBrightness(brightness);
         return this;
     }
@@ -114,7 +125,7 @@ public ImageAction oscillate() {
         return this;
     }
 
-    public void setOscillate(boolean b) {
+    public void setOscillate(final boolean b) {
         oscillate = b;
     }
 

src/main/java/frc/robot/status/commands/IdleCommand.java

@@ -7,6 +7,7 @@
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
+import frc.robot.Robot;
 import frc.robot.status.Status;
 import frc.robot.status.actions.Action;
 import frc.robot.status.actions.ChaseAction;
@@ -28,6 +29,8 @@ public class IdleCommand extends CommandBase {
     private Status status;
     private boolean actionSet;
     private int phase = 0;
+    private Action twentySecondsAction = new ImageAction(Robot.twentySecondImage,0.05, ImageAction.FOREVER);
+    private Action tenSecondsAction = new ImageAction(Robot.tenSecondImage, 0.15, ImageAction.FOREVER);
 
     public IdleCommand() {
         this.status = Status.getInstance();
@@ -63,13 +66,13 @@ Do some gymnastics to try to generate an elapsed time from getMatchTime().
         Action action = scannerAction;
         // new PrintCommand("Time Left = " + String.valueOf(timeElapsed)).schedule();
         if ( 115.0 < timeElapsed && (0 == phase)) { // 20 Seconds left
-            action = new ImageAction("yellow_stripes.png",0.05);
+            action = twentySecondsAction;
             phase = 1;
             actionSet = false;
         }
 
         if (125.0 < timeElapsed && 1 == phase) { // Last 10 seconds
-            action = new ImageAction("noise.png",0.15);
+            action = tenSecondsAction;
             phase = 2;
             actionSet = false;
         }