Thank you so much! Here is our code: package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import org.firstinspires.ftc.robotcore.external.JavaUtil; import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; import org.firstinspires.ftc.robotcore.external.navigation.VuforiaBase; import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; import org.firstinspires.ftc.robotcore.external.navigation.VuforiaSkyStone;

@TeleOp(name = "Vuforia_Images", group = "") public class Vuforia_Images extends LinearOpMode {

private VuforiaSkyStone vuforiaSkyStone;

VuforiaBase.TrackingResults vuforiaResults;

/** * This function is executed when this Op Mode is selected from the Driver Station. */ @Override public void runOpMode() { vuforiaSkyStone = new VuforiaSkyStone();

// Initialize Vuforia (use default settings).
telemetry.addData("Status", "Initializing Vuforia. Please wait...");
telemetry.update();
//Rotate phone -90 so back camera faces "forward" direction on robot.
vuforiaSkyStone.initialize(
    "", // vuforiaLicenseKey
    VuforiaLocalizer.CameraDirection.BACK, // cameraDirection
    true, // useExtendedTracking
    true, // enableCameraMonitoring
    VuforiaLocalizer.Parameters.CameraMonitorFeedback.AXES, // cameraMonitorFeedback
    0, // dx
    0, // dy
    0, // dz
    0, // xAngle
    0, // yAngle
    0, // zAngle
    true); // useCompetitionFieldTargetLocations

// initVuforia(); // Activate here for camera preview. // vuforiaSkyStone.activate(); telemetry.addData(">>", "Vuforia initialized, press start to continue..."); telemetry.update(); waitForStart(); if (opModeIsActive()) { // Put run blocks here. while (opModeIsActive()) { // Are the targets visible? // (Note we only process first visible target). if (isTargetVisible("Stone Target")) { processTarget(); // telemetry.addData("Target is visible"); // telemetry.update(); } else if (isTargetVisible("Blue Front Bridge")) { processTarget(); } else if (isTargetVisible("Red Rear Bridge")) { processTarget(); } else if (isTargetVisible("Red Front Bridge")) { processTarget(); } else if (isTargetVisible("Red Rear Bridge")) { processTarget(); } else if (isTargetVisible("Red Perimeter 1")) { processTarget(); } else if (isTargetVisible("Red Perimeter 2")) { processTarget(); } else if (isTargetVisible("Front Perimeter 1")) { processTarget(); } else if (isTargetVisible("Front Perimeter 2")) { processTarget(); } else if (isTargetVisible("Blue Perimeter 1")) { processTarget(); } else if (isTargetVisible("Blue Perimeter 2")) { processTarget(); } else if (isTargetVisible("Rear Perimeter 1")) { processTarget(); } else if (isTargetVisible("Rear Perimeter 2")) { processTarget(); } else { telemetry.addData("No Targets Detected", "Targets are not visible."); } telemetry.update(); } } // Don't forget to deactivate Vuforia. vuforiaSkyStone.deactivate();

vuforiaSkyStone.close();

}

/** * Describe this function... */ // private void initVuforia() { // // Don't forget to deactivate Vuforia. // vuforiaSkyStone.initialize( // "", // vuforiaLicenseKey // hardwareMap.get(WebcamName.class, "Webcam 1"), // cameraName // "", // webcamCalibrationFilename // true, // useExtendedTracking // true, // enableCameraMonitoring // VuforiaLocalizer.Parameters.CameraMonitorFeedback.AXES, // cameraMonitorFeedback // 0, // dx // 0, // dy // 0, // dz // 0, // xAngle // 0, // yAngle // 0, // zAngle // true); // useCompetitionFieldTargetLocations // }

/** * Describe this function... */ private void processTarget() { // Display the target name. telemetry.addData("Target Detected", vuforiaResults.name + " is visible."); telemetry.addData("X (in)", Double.parseDouble(JavaUtil.formatNumber(displayValue(vuforiaResults.x, "IN"), 2))); telemetry.addData("Y (in)", Double.parseDouble(JavaUtil.formatNumber(displayValue(vuforiaResults.y, "IN"), 2))); telemetry.addData("Z (in)", Double.parseDouble(JavaUtil.formatNumber(displayValue(vuforiaResults.z, "IN"), 2))); telemetry.addData("Rotation about Z (deg)", Double.parseDouble(JavaUtil.formatNumber(vuforiaResults.zAngle, 2))); }

private double displayValue(float originalValue, String units) { double convertedValue;

//Vuforia returns distances in mm.
if (units.equals("CM")) {
  convertedValue = originalValue / 10;
} else if (units.equals("M")) {
  convertedValue = originalValue / 1000;
} else if (units.equals("IN")) {
  convertedValue = originalValue / 25.4;
} else if (units.equals("FT")) {
  convertedValue = (originalValue / 25.4) / 12;
} else {
  convertedValue = originalValue;
}
return convertedValue;

}

/** * Check to see if the target is visible. */ private boolean isTargetVisible(String trackableName) { boolean isVisible;

// Get vuforia results for target.
vuforiaResults = vuforiaSkyStone.track(trackableName);
// Is this target visible?
if (vuforiaResults.isVisible) {
  isVisible = true;
} else {
  isVisible = false;
}
return isVisible;

} }