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Handle robot on edge of Neutral Zone but really in Alliance Zone #548

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Handle robot on edge of Neutral Zone but really in Alliance Zone #548

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1b1e245
fix bug
Jeff-Stammler Jan 30, 2026
5a5c1c4
fixes
Jeff-Stammler Jan 30, 2026
13c392a
small fix
Jeff-Stammler Jan 30, 2026
d3ca654
fixes #530
Jeff-Stammler Jan 30, 2026
2e26e0a
need to use %age values for HUB to account for scaling issues
Jeff-Stammler Jan 30, 2026
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2 changes: 1 addition & 1 deletion app/build.gradle.kts
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ plugins {

var versionMajor = 3
var versionMinor = 0
var versionPatch = 7
var versionPatch = 9

android {
namespace = "com.team3663.scouting_app"
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57 changes: 43 additions & 14 deletions app/src/main/java/com/team3663/scouting_app/activities/MatchTally.java
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Original file line number Diff line number Diff line change
Expand Up @@ -225,8 +225,8 @@ else if (current_X_Absolute < matchBinding.butRightZone.getX())
matchBinding.butPickup.setVisibility(View.INVISIBLE);

// Enable the climb button
matchBinding.butClimb.setEnabled(true);
matchBinding.butClimb.setClickable(true);
matchBinding.butClimb.setEnabled(in_alliance_zone);
matchBinding.butClimb.setClickable(in_alliance_zone);
climb_button_pressed = false;

// Certain actions can't be set from a non-UI thread (like within a TimerTask that runs on a
Expand Down Expand Up @@ -785,6 +785,15 @@ private void setRobotLocation(float in_X, float in_Y) {
starting_X_Absolute = Math.min(Math.max(in_X, matchBinding.FieldTouch.getWidth() * (100.0f - Constants.Match.START_LINE_X) / 100.0f - offset), matchBinding.FieldTouch.getWidth() * (100.0f - Constants.Match.START_LINE_X) / 100.0f + offset);
}

// Ensure we aren't placing a robot where it can't be located - 2026 Season
if ((starting_Y_Absolute > (Constants.Match.HUB_TOP_Y_PERCENT * matchBinding.FieldTouch.getHeight())) && (starting_Y_Absolute < (Constants.Match.HUB_BOTTOM_Y_PERCENT * matchBinding.FieldTouch.getHeight()))) {
if ((blue_alliance && currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_BLUE_ON_LEFT)) ||
(!blue_alliance && currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_RED_ON_LEFT)))
starting_X_Absolute = matchBinding.FieldTouch.getWidth() * Constants.Match.START_LINE_X / 100.0f - offset;
else
starting_X_Absolute = matchBinding.FieldTouch.getWidth() * (100.0f - Constants.Match.START_LINE_X) / 100.0f + offset;
}

// Save off the correct relative values based on the orientation
if (currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_RED_ON_LEFT)) {
starting_X_Relative = starting_X_Absolute;
Expand Down Expand Up @@ -916,11 +925,6 @@ public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
private void initZoneButtons() {
// Set up an OnClick listener per button
matchBinding.butLeftZone.setOnClickListener(view -> {
// We'll use the button click to determine if we should allow or disallow shooting / climbing but won't process
// anything else if we're not in Tele mode.
in_alliance_zone = ((currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_RED_ON_LEFT)) && team_alliance.substring(0, 1).equalsIgnoreCase("R")) ||
((currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_BLUE_ON_LEFT)) && team_alliance.substring(0, 1).equalsIgnoreCase("B"));

// If the match hasn't even started yet, just return
if (Globals.CurrentMatchPhase.equals(Constants.Phases.NONE)) return;

Expand All @@ -943,8 +947,6 @@ private void initZoneButtons() {
});

matchBinding.butCenterZone.setOnClickListener(view -> {
in_alliance_zone = false;

// If the match hasn't even started yet, just return
if (Globals.CurrentMatchPhase.equals(Constants.Phases.NONE)) return;

Expand All @@ -968,11 +970,6 @@ private void initZoneButtons() {
});

matchBinding.butRightZone.setOnClickListener(view -> {
// We'll use the button click to determine if we should allow or disallow shooting / climbing but won't process
// anything else if we're not in Tele mode.
in_alliance_zone = ((!currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_RED_ON_LEFT)) || !team_alliance.substring(0, 1).equalsIgnoreCase("R")) &&
((!currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_BLUE_ON_LEFT)) || !team_alliance.substring(0, 1).equalsIgnoreCase("B"));

// If the match hasn't even started yet, just return
if (Globals.CurrentMatchPhase.equals(Constants.Phases.NONE)) return;

Expand All @@ -995,16 +992,48 @@ private void initZoneButtons() {
});

matchBinding.butLeftZone.setOnTouchListener((view, motionEvent) -> {
// only handle DOWN actions
if (motionEvent.getAction() == MotionEvent.ACTION_UP) return false;

// We'll use the button click to determine if we should allow or disallow shooting / climbing but won't process
// anything else if we're not in Tele mode.
in_alliance_zone = ((currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_RED_ON_LEFT)) && team_alliance.substring(0, 1).equalsIgnoreCase("R")) ||
((currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_BLUE_ON_LEFT)) && team_alliance.substring(0, 1).equalsIgnoreCase("B"));

tele_button_position_x = matchBinding.butLeftZone.getX();
tele_button_position_y = matchBinding.butLeftZone.getY();
matchBinding.FieldTouch.dispatchTouchEvent(motionEvent);
return false; });
matchBinding.butCenterZone.setOnTouchListener((view, motionEvent) -> {
// only handle DOWN actions
if (motionEvent.getAction() == MotionEvent.ACTION_UP) return false;

// if the alliance zone is on the LEFT, check the left edge of the robot
in_alliance_zone = false;
if (((currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_RED_ON_LEFT))
&& team_alliance.substring(0, 1).equalsIgnoreCase("R"))
|| ((currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_BLUE_ON_LEFT))
&& team_alliance.substring(0, 1).equalsIgnoreCase("B"))) {
if (motionEvent.getX() <= (matchBinding.textRobot.getWidth() / 2f))
in_alliance_zone = true;
// otherwise the alliance zone is on the RIGHT, check the right edge of the robot
} else
if (motionEvent.getX() >= (matchBinding.butCenterZone.getWidth() - matchBinding.textRobot.getWidth() / 2f))
in_alliance_zone = true;

tele_button_position_x = matchBinding.butCenterZone.getX();
tele_button_position_y = matchBinding.butCenterZone.getY();
matchBinding.FieldTouch.dispatchTouchEvent(motionEvent);
return false; });
matchBinding.butRightZone.setOnTouchListener((view, motionEvent) -> {
// only handle DOWN actions
if (motionEvent.getAction() == MotionEvent.ACTION_UP) return false;

// We'll use the button click to determine if we should allow or disallow shooting / climbing but won't process
// anything else if we're not in Tele mode.
in_alliance_zone = ((!currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_RED_ON_LEFT)) || !team_alliance.substring(0, 1).equalsIgnoreCase("R")) &&
((!currentAllianceOnLeft.equals(Constants.Match.ORIENTATION_BLUE_ON_LEFT)) || !team_alliance.substring(0, 1).equalsIgnoreCase("B"));

tele_button_position_x = matchBinding.butRightZone.getX();
tele_button_position_y = matchBinding.butRightZone.getY();
matchBinding.FieldTouch.dispatchTouchEvent(motionEvent);
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2 changes: 2 additions & 0 deletions app/src/main/java/com/team3663/scouting_app/config/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,8 @@ public static class Match {
public static float START_LINE_X = 24.17f;
public static final int TRANSITION_EVENT_DNE = -1;
public static final int SEEKBAR_MAX = 60;
public static final float HUB_TOP_Y_PERCENT = 129f / 337f;
public static final float HUB_BOTTOM_Y_PERCENT = 208f / 337f;
}

public static class Data {
Expand Down
4 changes: 2 additions & 2 deletions app/src/main/res/layout/match_tally.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -184,7 +184,7 @@
android:text="@string/button_climb"
android:textSize="22sp"
android:layout_gravity="center_vertical"
android:backgroundTint="@color/light_blue"
android:backgroundTint="@color/dark_green"
app:cornerRadius="20dp"/>

<TextView
Expand All @@ -198,7 +198,7 @@
android:text="@string/button_pickup"
android:textSize="22sp"
android:layout_gravity="center_vertical"
android:backgroundTint="@color/light_blue"
android:backgroundTint="@color/dark_yellow"
app:cornerRadius="20dp"/>
</LinearLayout>

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