Receive real-time robotic telemetry data using Google Firebase pub/sub.
Add a repository to your root build.gradle (The one called ftc-app):
allprojects {
repositories {
jcenter()
flatDir {
dirs 'out'
mavenCentral()
maven { url "https://jitpack.io" }
}
}
}
Add a dependency and exclude duplicate files to the FtcRobotController build.gradle file:
android {
...
packagingOptions {
exclude 'META-INF/LICENSE'
exclude 'META-INF/LICENSE-FIREBASE.txt'
exclude 'META-INF/NOTICE'
}
}
(At the bottom of the file)
dependencies {
...
compile 'com.github.Jacobvs:ftc-firebase-robotics:1.0.1'
}
For more detail check out the FirebaseExample.java file
import com.firebase.client.Firebase;
import org.athenian.ftc.ListenerAction;
import org.athenian.ftc.RobotValues;
import org.athenian.ftc.ValueListener;
import org.athenian.ftc.ValueSource;
import org.athenian.ftc.ValueWriter;
public class FirebaseTest extends OpMode {
RobotValues robotValues = null;
public FirebaseTest() {
}
@Override
public void init() {
firebaseInit();
}
@Override
public void stop() {
// Stop
this.robotValues.stop();
}
public void firebaseInit(){
final Firebase fb = new Firebase("https://9523-2015.firebaseio.com/");
this.robotValues = new RobotValues(fb, 0.5);
this.robotValues
.add(new ValueWriter("motor.a",
new ValueSource() {
@Override
public Object getValue() {
return motor.getCurrentPosition();
}}))
.add(new ValueWriter("servo.a",
new ValueSource() {
@Override
public Object getValue() {
return servo.getPosition();
}
}))
.add(new ValueWriter("sensor.distance.a",
new ValueSource() {
@Override
public Object getValue() {
return distance.getLightDetected();
}}))
.add(new ValueWriter("sensor.gyro.a",
new ValueSource() {
@Override
public Object getValue() {
return String.format("The values are- Heading: %s, Rotation: %s, Raw x: %s, Raw y: %s, Raw z: %s",
gyro.getHeading(), gyro.getRotation(), gyro.rawX(), gyro.rawY(), gyro.rawZ());
}}))
.add(new ValueWriter("sensor.color.a",
new ValueSource() {
@Override
public Object getValue() {
return String.format("The values are- ARGB: %s, Alpha: %s, Red: %s, Green: %s, Blue: %s",
color.argb(), color.alpha(), color.red(), color.green(), color.blue());
}}))
.add(new ValueListener("motor.a",
new ListenerAction() {
@Override
public void onValueChanged(Object val) {
if (val != null) {
if (val instanceof Long) {
motor.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
motor.setTargetPosition((Integer) val);
motor.setPower(0.5);
while(motor.isBusy()){
}
motor.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
} else {
telemetry.addData("IntegerException", val + " is not an Integer");
}
} else {
telemetry.addData("NullException", val + " is Null");
}
}
}))
.add(new ValueListener("servo.a",
new ListenerAction() {
@Override
public void onValueChanged(Object val) {
if (val != null) {
if(val instanceof Long){
long lVal = (Long) val;
if (lVal == 0 || lVal == 1 ){
servo.setPosition(lVal);
}
}
if(val instanceof Double){
double dVal = (Double) val;
if(dVal <= 0 && dVal >= 1){
servo.setPosition(dVal);
}
} else {
telemetry.addData("ValueException", val + " is not a Double or a Long");
}
} else {
telemetry.addData("NullException", val + " is Null");
}
}
}))
;
// Start
this.robotValues.start();
}
}
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