Autonomous Configuration UI

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Alberta Johnston
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Autonomous Configuration UI The Autonomous Configuration tool is an Android app developed by Team 4106 to configure the robot s autonomous settings on the fly.

1 Autonomous Configuration UI The Autonomous Configuration tool is an Android app developed by Team 4106 to configure the robot s autonomous settings on the fly. Using the apps removes the need to recompile your application to switch autonomous programs or to change delay time and also removes the need for dozens of Autonomous OpModes that clutter up the driver selection screen. This app must be installed on the robot phone and a drive team member will launch this app and configure the robot for autonomous before each match. This application is a separate application that runs on the robot phone. It writes a XML configuration file to the phone s file system with the chosen settings. When the robot phone application runs, it opens up this file, reads the settings and configures autonomous mode accordingly. This simplifies driver logistics by only having two opmode show up on the driver phone. Driver Configures Autonomous using Config Application & Saves Driver Selects AutonomousOpMode from Driver phone Driver Selects AutonomousOpMode from Driver phone Autonomous OpMode reads file to configure autonomous actions Driver presses start to run autonomous program Page 1 of 9 8/31

2 Using the Application The app has six fields that are used to determine the robot s autonomous activities. The fields consist of: Match Description, Alliance Color, Program, End Action, Start Position, and Delay. Match Description: A description of the match. This is used as part of our logging system during autonomous, making it easy to filter the logs for results of specific matches. The log allows us to quickly debug and correct our code during practice or if we see an anomaly during competition. Alliance Color: The alliance color of our current match. Toggle the switch will change the color and the and text of the switch. Various autonomous routines may take different action depending on red or blue color. For instance, turn left vs. right. Program: List of autonomous programs we can run. For the FTC season our programs consist of: Score Climbers, Score Mountain, Collect Debris, Deploy Arm, and Push Debris. The list of autonomous programs is as big or as small as your team decides, depending on how many programs you create for robot for a given season. End Action: List of actions the robot can do after its main autonomous task is completed but there is still time remaining in autonomous period. For the FTC season our end actions consists of: Deploy Arm, Clear Path for Partner, and Press Beacon. Some teams may choose to do no secondary action. An end action can be anything your team decides to program and add to this list. Start Position: List of predefined start position for the robot. List of start positions: Position1, Position2, Position3, etc. What each position means is up to your team. Delay: The number of seconds to delay autonomous run after the start of autonomous period. One of the most basic, yet important, autonomous skills for advanced play is to be able to delay to let your partner do their thing first. We ve found most teams last year had to recompile to do this and that some were unwilling to risk it (even at Supers) and would rather just not move in autonomous or insist on going first. Page 2 of 9 8/31

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4 The app contains two buttons: Clear and Save. Clear: Clears all fields and set them to their default values Save: Save the settings to the configuration file on the phone connected to the robot. The configuration files are saved to a folder 4106Thumbs in the phone file system. This could be changed to your folder if you modify the example code. Page 4 of 9 8/31

Our app uses the default TableLayout of TableRows for each field and two columns for each row.

5 Autonomous Configuration Code Making the User Interface The UI was created by editing the app.res.layout.content_main.xml file within Android Studio. UI objects can be dragged-dropped onto the designer or the xml files can be edited directly. Our app uses the default TableLayout of TableRows for each field and two columns for each row. The first column in each row is the field description, and the second column in each row is the UI object itself (Button, TextField, Switch, ect ) Page 5 of 9 8/31

6 Create an Autonomous Configuration Folder In the app main activity (app.java.com.ftc4106.autonomoussettings.mainactivity.java), the following code is used to create the configuration folder on the robot phone file system. private static final String programchooserdirectory = Environment.getExternalStorageDirectory() + File.separator + "Thumbs4106"; private void createdirectory() File dir = new File(programChooserDirectory); try if (!dir.isdirectory()) dir.mkdir(); //DisplayMessage("CreateDirectory Success"); catch(exception e) //DisplayMessage("CreateDirectoryFailed: " + e.getmessage()); Creating Autonomous Settings From App In the app main activity (app.java.com.ftc4106.autonomoussettings.mainactivity.java), the following code collects autonomous settings information from the app. private StringBuffer collectinfo() StringBuffer sb = new StringBuffer(); EditText txtmatchdesc = (EditText) findviewbyid(r.id.txtmatchdescription); Switch swteamclr = (Switch) findviewbyid(r.id.swteamcolor); Spinner spprog = (Spinner) findviewbyid(r.id.spprogram); Spinner spstarpos = (Spinner) findviewbyid(r.id.spstartpos); Spinner spendact = (Spinner) findviewbyid(r.id.spendact); EditText txtdelay = (EditText) findviewbyid(r.id.txtdelay); String ln = "\r\n"; sb.append(txtmatchdesc.gettext()); sb.append(swteamclr.ischecked()? TeamColorBlue : TeamColorRed); sb.append( String.valueOf(spProg.getSelectedItem().toString())); sb.append( String.valueOf(spEndAct.getSelectedItemPosition())); sb.append( String.valueOf(spStarPos.getSelectedItemPosition())); sb.append( txtdelay.gettext()); return sb; Page 6 of 9 8/31

7 The following code is used to save the autonomous settings to a file on the phone: private static final String programchooserfile = "Settings.txt"; public void savesettings(view view) String settings = collectinfo().tostring(); FileOutputStream outputstream; String message; if(!validatefields()) return; try File f = new File(programChooserDirectory, programchooserfile); createdirectory(); outputstream = new FileOutputStream(f); outputstream.write(settings.getbytes()); outputstream.close(); message = "Configuration Saved!"; catch (Exception e) message = "Failed: " + e.getmessage(); e.printstacktrace(); DisplayMessage(message); Opmode Reading Autonomous Configuration In the autonomous opmode, we read the autonomous configuration file after initialize the robot with motors/servos/sensors declaration. We created a ProgramChooser class which we import onto the opmode class. package com.qualcomm.ftcrobotcontroller.core4106; import android.os.environment; import java.io.bufferedreader; import java.io.fileinputstream; import java.io.filenotfoundexception; import java.io.ioexception; import java.io.inputstreamreader; import java.io.unsupportedencodingexception; /** * Created by 4106 on 12/19/2015. */ public class ProgramChooser public static final int MatchDescription = 0; public String MyMatchDescription; public static final int TeamColor = 1; public String MyTeamColor; Page 7 of 9 8/31

8 public static final int ProgramNumber = 2; public String MyProgramToRun; public static final int EndAction = 3; public int MyEndAction; public static final int StartPosition = 4; public int MyStartPosition; public static final int DelayTime = 5; public int MyDelayTime; public ProgramChooser() MyProgramToRun = ""; //if this is not set, don't run autonomous ReadSettingsFile(); public void ReadSettingsFile() String filename = Environment.getExternalStorageDirectory()+"/Thumbs4106/Settings.txt"; try FileInputStream fis = new FileInputStream(filename); InputStreamReader isr = new InputStreamReader(fis, "UTF-8"); BufferedReader bufferedreader = new BufferedReader(isr); StringBuilder sb = new StringBuilder(); String line; int index = -1; while ((line = bufferedreader.readline())!= null) line = line.trim(); switch(++index) case MatchDescription: MyMatchDescription = line; case TeamColor: MyTeamColor = line; case ProgramNumber: MyProgramToRun = line; case EndAction: MyEndAction = Integer.parseInt(line); case StartPosition: MyStartPosition = Integer.parseInt(line); case DelayTime: MyDelayTime = Integer.parseInt(line); catch (FileNotFoundException e) catch (UnsupportedEncodingException e) catch (IOException e) Page 8 of 9 8/31

9 Using the Autonomous Settinsg in Opmode Import ProgramChooser onto the opmode class: import com.qualcomm.ftcrobotcontroller.core4106.programchooser; Variables containing autonomous settings in opmode: private String MatchDescription = "Practice"; private String LoggingTag = ""; private String MyTeamColor = TeamColorRed; private String MyProgramToRun = ""; private int MyStartPosition = 1; private int MyDelay = 0; private int MyEndAction = END_ACTION_DEPLOY_ARM; Settings automous settings variables in opmode: ProgramChooser programchooser = new ProgramChooser(); MatchDescription = programchooser.mymatchdescription; MyProgramToRun = programchooser.myprogramtorun; MyStartPosition = programchooser.mystartposition; MyTeamColor = programchooser.myteamcolor; MyDelay = programchooser.mydelaytime; MyEndAction = programchooser.myendaction; if(myprogramtorun.equals(prog_score_climbers)) ScoreClimbers(); else if(myprogramtorun.equals(prog_score_mtn)) ScoreOnMountain(); Page 9 of 9 8/31

I/O STREAM (REQUIRED IN THE FINAL)

I/O STREAM (REQUIRED IN THE FINAL) STREAM A stream is a communication channel that a program has with the outside world. It is used to transfer data items in succession. An Input/Output (I/O) Stream represents