Gradle not synced?!

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/imageprocessing/OpenCVDetection.java

@@ -15,20 +15,18 @@
 
     Enjoy!
 
-    Below is the code to display to the RC; thanks DogeCV! I tried easyOpenCV, but it was lagging and stuttering. (??)
-	If it crashes after about a minute, it's probably because OpenCV is using too much native memory. My solution
-	is to call System.gc() whenever it reaches 70% (works on my g4 play) , but if someone knows more please contact me.
+    Below is the code to display to the RC; Thanks, EasyOpenCV!
+	If it crashes after about a minute, it's probably because OpenCV is using too much native memory.
+	That should not happen much because the MatAllocator recycles all Mats (but not MatofInt)
  */
 
-@TeleOp(name = "CV Simulator", group = "Auto")
+@TeleOp(name = "CV test", group = "Auto")
 public class OpenCVDetection extends OpMode {
 
 	OpenCvDetector fieldElementDetector;
 
 	@Override
 	public void init() {
-
-		telemetry.setAutoClear(true);
 		fieldElementDetector = new OpenCvDetector(this);
 	}
 
@@ -52,7 +50,7 @@ public void start() {
 	 */
 	@Override
 	public void loop() {
-		telemetry.update();
+
 	}
 
 	/*

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/imageprocessing/SimpleAlign.java

@@ -19,7 +19,7 @@
     Enjoy!
 */
 
-@TeleOp(name = "CV Simulator", group = "Auto")
+@TeleOp(name = "CV Align", group = "Auto")
 public class SimpleAlign extends OpMode {
 
 	OpenCvDetector fieldElementDetector;

bluejay/build.gradle

@@ -0,0 +1,36 @@
+apply plugin: 'com.android.library'
+
+apply from: '../moduleFlavors.gradle'
+android {
+    compileSdkVersion 28
+    buildToolsVersion '28.0.3'
+
+    defaultConfig {
+        minSdkVersion 19
+        targetSdkVersion 28
+        versionCode 1
+        versionName "1.0"
+    }
+
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+}
+repositories {
+    flatDir {
+        dirs '../libs'
+    }
+}
+dependencies {
+//    implementation project(path: ':openCVLibrary3')
+//    implementation (name: 'RobotCore-release', ext: 'aar')
+
+    implementation project(':FtcRobotController')
+
+
+    //THESE 2
+    api 'org.openftc:easyopencv:1.3.2'
+    api 'org.openftc:opencv-repackaged:4.1.0-B'
+
+}

bluejay/src/main/AndroidManifest.xml

@@ -0,0 +1,10 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+
+    package="org.futurerobotics.bluejay">
+
+    <application android:allowBackup="true" android:label="@string/app_name"
+        android:supportsRtl="true">
+
+    </application>
+
+</manifest>

bluejay/src/main/java/detectors/OpenCvDetector.java

@@ -13,6 +13,7 @@
 import org.openftc.easyopencv.OpenCvCameraRotation;
 import org.openftc.easyopencv.OpenCvInternalCamera;
 import org.openftc.easyopencv.OpenCvPipeline;
+import org.openftc.opencvrepackaged.DynamicOpenCvNativeLibLoader;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -26,7 +27,7 @@ public class OpenCvDetector extends StartStoppable {
 
 	//Originally in RobotControllerActivity, but caused the camera shutter to make weird noises, so now it lives here
 	static {
-		//OpenCVLoader.initDebug();
+		//DynamicOpenCvNativeLibLoader.loadNativeLibOnStartRobot();
 		System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
 	}
 

bluejay/src/main/java/localizers/IMU.java

@@ -0,0 +1,122 @@
+//package localizers;
+//
+//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+//import org.firstinspires.ftc.robotcore.external.navigation.*;
+//
+//public class IMU implements deltaLocalizer {
+//	BNO055IMU imu;
+//	OpMode opmode;
+//
+//	Orientation lastAngle = new Orientation();
+//	Position lastPos = new Position();
+//
+//	double deltaAngle;
+//	Position deltaPos;
+//
+//	volatile boolean activated = false;
+//
+//	public IMU(OpMode opMode) {
+//
+//		this.opmode = opMode;
+//
+//		BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
+//
+//		parameters.mode = BNO055IMU.SensorMode.IMU;
+//		parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
+//		parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
+//		parameters.loggingEnabled = false;
+//
+//		//TODO assumption that that thing is named "imu"
+//		imu = opmode.hardwareMap.get(BNO055IMU.class, "imu");
+//
+//		imu.initialize(parameters);
+//
+//		//watchdog
+//		long start = System.currentTimeMillis();
+//		//make sure the imu gyro is calibrated before continuing.
+//		while (!imu.isGyroCalibrated()) {
+//			if (System.currentTimeMillis() - start > 500) {
+//				opmode.telemetry.addData("IMU", "watchdig quit");
+//				opmode.telemetry.update();
+//
+//				break;
+//			}
+//
+//			//wait
+//			opmode.telemetry.addData("IMU", ("Loading" + Math.random()));
+//			opmode.telemetry.update();
+//		}
+//
+//		opmode.telemetry.addData("IMU", "startup done");
+//		opmode.telemetry.update();
+//	}
+//
+//	public void start() {
+//		resetAngle();
+//	}
+//
+//	/**
+//	 * Resets the cumulative angle tracking to zero.
+//	 */
+//	private void resetAngle() {
+//		lastAngle = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
+//		lastPos = imu.getPosition();
+//
+//		deltaAngle = 0;
+//		deltaPos = new Position();
+//	}
+//
+//	public void stop() {
+//	}
+//
+//	/**
+//	 * call this as fast as you can!
+//	 * return difference in orientation to  when you last called it
+//	 * (x,y) is currently broken. But it isn't accurate so you should never use it
+//	 *
+//	 * @return defaults to mm for position x and y
+//	 */
+//	public PoseOrientation getDeltaPosition() {
+//		updatePos();
+//		return new PoseOrientation(deltaPos.x, deltaPos.y, deltaAngle);
+//	}
+//
+//	/**
+//	 * Based on the last time we called get angle, take the smallest possible rotation difference
+//	 * trig angles
+//	 */
+//	private void updatePos() {
+//		//z axis is the one we want
+//
+//		Orientation angle = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
+//		Position pos = imu.getPosition();
+//
+//		//=========ANGLE=============
+//		double deltaAngle = angle.firstAngle - lastAngle.firstAngle;
+//
+//		if (deltaAngle < -180)
+//			deltaAngle += 360;
+//
+//		else if (deltaAngle > 180)
+//			deltaAngle -= 360;
+//
+//		this.deltaAngle = deltaAngle;
+//
+//		lastAngle = angle;
+//		//========POSITION==========
+//		opmode.telemetry.addData("imu raw read", pos.x);
+//
+//		deltaPos.x = pos.x - lastPos.x;
+//		deltaPos.y = pos.y - lastPos.y;
+//
+//		lastPos = pos;
+//	}
+//
+//	public void printposition(PoseOrientation toprint) {
+//		if (toprint != null) {
+//			opmode.telemetry.addData("IMU-Position (mm) (rot)", toprint.x + " " + toprint.y + " " + toprint.rot);
+//		} else {
+//			opmode.telemetry.addData("IMU", "offline");
+//		}
+//	}
+//}

bluejay/src/main/java/localizers/LocalizationManager.java

@@ -0,0 +1,68 @@
+package localizers;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class LocalizationManager {
+	List<deltaLocalizer> delta = new ArrayList<>();
+	List<Localizer> absolute = new ArrayList<>();
+
+	PoseOrientation lastknowpos = new PoseOrientation(0, 0, 0);
+
+	volatile boolean activated = false;
+
+	Thread run = new Thread() {
+		@Override
+		public void run() {
+			while (activated) {
+				lastknowpos = getPosition();
+			}
+		}
+	};
+
+	/**
+	 * Gives a position based on the best combined guess of all localizers given to this class
+	 * Priority is as follows: absolute localizers first, first added to last added
+	 * relative localizers next, first added to last added
+	 */
+	public PoseOrientation getPosition() {
+
+		for (Localizer loc : absolute) {
+			PoseOrientation o;
+			if ((o = loc.getPosition()) != null) {
+				lastknowpos = o;
+				return o;
+			}
+		}
+
+		for (deltaLocalizer loc : delta) {
+			PoseOrientation o;
+			if ((o = loc.getDeltaPosition()) != null) {
+				lastknowpos.x += o.x;
+				lastknowpos.y += o.y;
+				lastknowpos.rot += o.rot;
+				return o;
+			}
+		}
+
+		return null;
+	}
+
+	public void start() {
+		activated = true;
+		run.start();
+	}
+
+	public void stop() {
+		activated = false;
+	}
+
+	public void addLocalizer(deltaLocalizer l) {
+		delta.add(l);
+	}
+
+	public void addLocalizer(Localizer l) {
+		absolute.add(l);
+	}
+}
+

bluejay/src/main/java/localizers/Localizer.java

@@ -0,0 +1,6 @@
+package localizers;
+
+
+public interface Localizer {
+	PoseOrientation getPosition();
+}

bluejay/src/main/java/localizers/PoseOrientation.java

@@ -0,0 +1,16 @@
+package localizers;
+
+/**
+ * Units in mm and degrees.
+ */
+public class PoseOrientation {
+	public double x;
+	public double y;
+	public double rot;
+
+	public PoseOrientation(double x, double y, double rot) {
+		this.x = x;
+		this.y = y;
+		this.rot = rot;
+	}
+}

bluejay/src/main/java/localizers/deltaLocalizer.java

@@ -0,0 +1,5 @@
+package localizers;
+
+public interface deltaLocalizer {
+	PoseOrientation getDeltaPosition();
+}

bluejay/src/main/java/util/FileReadUtil.java

@@ -0,0 +1,36 @@
+package util;
+
+import android.os.Environment;
+
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.FileReader;
+import java.io.IOException;
+
+public class FileReadUtil {
+	public static String readFromSD(){
+		File sdcard = Environment.getExternalStorageDirectory();
+
+		//Get the text file
+		File file= new File(sdcard,"Vuforia Key.txt");
+
+		//Read text from file
+		StringBuilder text = new StringBuilder();
+
+		try {
+			BufferedReader br = new BufferedReader(new FileReader(file));
+			String line;
+
+			while ((line = br.readLine()) != null) {
+				text.append(line);
+				text.append('\n');
+			}
+			br.close();
+		}
+		catch (IOException e) {
+		}
+
+		return text.toString();
+	}
+
+}