AlphaBit - OpenML

AprilTag Implementation - Code Samples

Implementation Template

Use this page while coding. It shows the exact order most teams should follow: build camera class, connect autonomous pattern logic, then add pose correction safely.

Step 1

Create a Dedicated Vision Class

Keep camera logic isolated so OpModes stay readable:

public class AprilTagIdentification {
    AprilTagProcessor aprilTagProcessor;
    VisionPortal visionPortal;
    public int detectionId = 0;
    public double robotPose_x = 0.0;
    public double robotPose_y = 0.0;
    public double bearingAngle = 0.0;
    public boolean locTagFound = false;

    public void init(HardwareMap hwdmap, MultipleTelemetry telemetrys) {
        // build processor and portal here
    }
}

Step 2

Wire Pattern IDs Into Autonomous Init

Use tags in init to decide your route before match starts:

if (!nearBasket) {
    currentId = artifactControl.getCurrentTag();
    if (currentId != 0) {
        switch (currentId) {
            case 21: currentPattern = ObeliskPattern.GPP; break;
            case 22: currentPattern = ObeliskPattern.PGP; break;
            case 23: currentPattern = ObeliskPattern.PPG; break;
        }
        patternFound = true;
    }
}

Step 3

Add Pose Refresh Gate in Control Layer

In ArtifactControl, read tag pose only in trusted windows:

if (aprilTagIdentification.locTagFound) {
    calculatedRobotPose_X = aprilTagIdentification.robotPose_x;
    calculatedRobotPose_Y = aprilTagIdentification.robotPose_y;
    robotAngleAprilTag = aprilTagIdentification.bearingAngle;

    gyroscope.resetHeading();
    gyroscope.setAngleOffset(36.5 - robotAngleAprilTag);
    drive.setPose(new Pose(
        calculatedRobotPose_X,
        calculatedRobotPose_Y,
        Math.toRadians(126.5 - robotAngleAprilTag)
    ));
}

Add your own stationary and area checks around this block before using it in matches.

Step 4

Add Validation Telemetry

Always expose tag and pose information while tuning:

telemetrys.addData("[Artifact] AprilTag Robot Pose X", artifactControl.calculatedRobotPose_X);
telemetrys.addData("[Artifact] AprilTag Robot Pose Y", artifactControl.calculatedRobotPose_Y);
telemetrys.addData("[Artifact] AprilTag Robot Angle", artifactControl.robotAngleAprilTag);
telemetrys.addData("[->] Pattern", artifactControl.artifactPattern);

Checklist

Tag IDs split correctly (pattern vs localization).

Telemetry confirms stable X/Y/bearing when parked.

No pose hard-reset during rapid acceleration.

Continue to Autonomous Control - Getting Started to connect this vision layer with route execution.

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