Added at

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/AprilTag.java

@@ -0,0 +1,238 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.subsystems.Subsystem;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+public class AprilTag implements Subsystem {
+
+    private AprilTagProcessor aprilTag;
+    private VisionPortal visionPortal;
+
+    private MultipleTelemetry TELE;
+
+    private boolean teleOn = false;
+
+    private int detections = 0;
+
+    List<AprilTagDetection> currentDetections;
+
+    ArrayList<ArrayList<Double>> Data = new ArrayList<>();
+
+
+
+    public AprilTag(Robot robot, MultipleTelemetry tele) {
+
+
+
+        this.aprilTag = robot.aprilTagProcessor;
+
+
+        this.TELE = tele;
+
+
+
+
+    }
+
+    @Override
+    public void update() {
+
+        currentDetections = aprilTag.getDetections();
+
+        UpdateData();
+
+        if(teleOn){
+            tagTELE();
+            initTelemetry();
+        }
+
+
+
+
+    }
+
+    public void initTelemetry (){
+
+        TELE.addData("Camera Preview", "Check Driver Station for stream");
+        TELE.addData("Status", "Initialized - Press START");
+
+
+
+    }
+
+    public void tagTELE () {
+
+        TELE.addData("# AprilTags Detected", detections);
+
+        // Display info for each detected tag
+        for (ArrayList<Double> detection : Data) {
+            if (detection.get(0) ==1) {
+                // Known AprilTag with metadata
+                TELE.addLine(String.format("\n==== (ID %d) %s ====",
+                        detection.get(1).intValue(), ""));
+
+                TELE.addLine(String.format("XYZ: %6.1f %6.1f %6.1f  (inch)",
+                        detection.get(2),
+                        detection.get(3),
+                        detection.get(4)));
+
+                TELE.addData("Distance", getDistance(detection.get(1).intValue()));
+
+                TELE.addLine(String.format("PRY: %6.1f %6.1f %6.1f  (deg)",
+                        detection.get(5),
+                        detection.get(6),
+                        detection.get(7)));
+
+                TELE.addLine(String.format("RBE: %6.1f %6.1f %6.1f  (inch, deg, deg)",
+                        detection.get(8),
+                        detection.get(9),
+                        detection.get(10)));
+            }
+        }
+    }
+
+
+    public void turnTelemetryOn(boolean bool) {
+
+        teleOn = bool;
+
+    }
+
+
+
+    public void UpdateData () {
+
+        Data.clear();  // <--- THIS FIXES YOUR ISSUE
+
+
+        detections = currentDetections.size();
+
+
+        for (AprilTagDetection detection : currentDetections) {
+
+            ArrayList<Double> detectionData = new ArrayList<Double>();
+
+
+
+            if (detection.metadata != null) {
+
+                detectionData.add(1.0);
+                // Known AprilTag with metadata
+
+                detectionData.add( (double) detection.id);
+
+
+
+                detectionData.add(detection.ftcPose.x);
+                detectionData.add(detection.ftcPose.y);
+                detectionData.add(detection.ftcPose.z);
+
+
+
+                detectionData.add(detection.ftcPose.pitch);
+                detectionData.add(detection.ftcPose.roll);
+                detectionData.add(detection.ftcPose.yaw);
+
+                detectionData.add(detection.ftcPose.range);
+                detectionData.add(detection.ftcPose.bearing);
+                detectionData.add(detection.ftcPose.elevation);
+
+            } else {
+
+                detectionData.add(0, 0.0);
+
+            }
+
+            Data.add(detectionData);
+        }
+
+    }
+
+    public int getDetectionCount() {
+
+        return detections;
+
+    }
+
+    public boolean isDetected (int id){
+        return (!filterID(Data, (double) id ).isEmpty());
+    }
+
+
+
+    public double getDistance(int id) {
+        ArrayList<Double> d = filterID(Data, (double) id);
+        if (d.size() >= 5) {
+            double x = d.get(2);
+            double y = d.get(3);
+            double z = d.get(4);
+            return Math.sqrt(x*x + y*y + z*z);
+        }
+        return -1; // tag not found
+    }
+
+    // Returns the position as [x, y, z]
+    public List<Double> getPosition(int id) {
+        ArrayList<Double> d = filterID(Data, (double) id);
+        if (d.size() >= 5) {
+            List<Double> pos = new ArrayList<>();
+            pos.add(d.get(2));
+            pos.add(d.get(3));
+            pos.add(d.get(4));
+            return pos;
+        }
+        return Collections.emptyList();
+    }
+
+    // Returns orientation as [pitch, roll, yaw]
+    public List<Double> getOrientation(int id) {
+        ArrayList<Double> d = filterID(Data, (double) id);
+        if (d.size() >= 8) {
+            List<Double> ori = new ArrayList<>();
+            ori.add(d.get(5));
+            ori.add(d.get(6));
+            ori.add(d.get(7));
+            return ori;
+        }
+        return Collections.emptyList();
+    }
+
+    // Returns range, bearing, elevation as [range, bearing, elevation]
+    public List<Double> getRBE(int id) {
+        ArrayList<Double> d = filterID(Data, (double) id);
+        if (d.size() >= 11) {
+            List<Double> rbe = new ArrayList<>();
+            rbe.add(d.get(8));
+            rbe.add(d.get(9));
+            rbe.add(d.get(10));
+            return rbe;
+        }
+        return Collections.emptyList();
+    }
+
+    // Returns full raw data for debugging or custom processing
+    public ArrayList<Double> getRawData(int id) {
+        return filterID(Data, (double) id);
+    }
+
+    public static ArrayList<Double> filterID(ArrayList<ArrayList<Double>> data, double x) {
+        for (ArrayList<Double> innerList : data) {
+            // Ensure it has a second element
+            if (innerList.size() > 1 && Math.abs(innerList.get(1) - x) < 1e-9) {
+                return innerList; // Return the first match
+            }
+        }
+        // Return an empty ArrayList if no match found
+        return new ArrayList<>();
+    }
+
+}