Merge pull request #1038 from FIRST-Tech-Challenge/20240828-111152-release-candidate

FtcRobotController v10.0

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="54"
+    android:versionCode="55"
-          android:versionName="9.2">
+          android:versionName="10.0">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java

@@ -99,7 +99,7 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
         rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
         rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         telemetry.addData("Status", "Initialized");
         telemetry.update();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java

@@ -83,14 +83,14 @@ public class BasicOpMode_Iterative extends OpMode
     }
 
     /*
-     * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
+     * Code to run REPEATEDLY after the driver hits INIT, but before they hit START
      */
     @Override
     public void init_loop() {
     }
 
     /*
-     * Code to run ONCE when the driver hits PLAY
+     * Code to run ONCE when the driver hits START
      */
     @Override
     public void start() {
@@ -98,7 +98,7 @@ public class BasicOpMode_Iterative extends OpMode
     }
 
     /*
-     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
+     * Code to run REPEATEDLY after the driver hits START but before they hit STOP
      */
     @Override
     public void loop() {

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java

@@ -76,7 +76,7 @@ public class BasicOpMode_Linear extends LinearOpMode {
         leftDrive.setDirection(DcMotor.Direction.REVERSE);
         rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
         runtime.reset();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java

@@ -88,7 +88,7 @@ public class ConceptAprilTag extends LinearOpMode {
 
         // Wait for the DS start button to be touched.
         telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java

@@ -84,7 +84,7 @@ public class ConceptAprilTagEasy extends LinearOpMode {
 
         // Wait for the DS start button to be touched.
         telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagLocalization.java

@@ -0,0 +1,244 @@
+/* Copyright (c) 2024 Dryw Wade. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+package org.firstinspires.ftc.robotcontroller.external.samples;
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.Position;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of AprilTag based localization.
+ *
+ * For an introduction to AprilTags, see the FTC-DOCS link below:
+ * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
+ *
+ * In this sample, any visible tag ID will be detected and displayed, but only tags that are included in the default
+ * "TagLibrary" will be used to compute the robot's location and orientation.  This default TagLibrary contains
+ * the current Season's AprilTags and a small set of "test Tags" in the high number range.
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the robot, relative to the field origin.
+ * This information is provided in the "robotPose" member of the returned "detection".
+ *
+ * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
+ */
+@TeleOp(name = "Concept: AprilTag Localization", group = "Concept")
+@Disabled
+public class ConceptAprilTagLocalization extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    /**
+     * Variables to store the position and orientation of the camera on the robot. Setting these
+     * values requires a definition of the axes of the camera and robot:
+     *
+     * Camera axes:
+     * Origin location: Center of the lens
+     * Axes orientation: +x right, +y down, +z forward (from camera's perspective)
+     *
+     * Robot axes (this is typical, but you can define this however you want):
+     * Origin location: Center of the robot at field height
+     * Axes orientation: +x right, +y forward, +z upward
+     *
+     * Position:
+     * If all values are zero (no translation), that implies the camera is at the center of the
+     * robot. Suppose your camera is positioned 5 inches to the left, 7 inches forward, and 12
+     * inches above the ground - you would need to set the position to (-5, 7, 12).
+     *
+     * Orientation:
+     * If all values are zero (no rotation), that implies the camera is pointing straight up. In
+     * most cases, you'll need to set the pitch to -90 degrees (rotation about the x-axis), meaning
+     * the camera is horizontal. Use a yaw of 0 if the camera is pointing forwards, +90 degrees if
+     * it's pointing straight left, -90 degrees for straight right, etc. You can also set the roll
+     * to +/-90 degrees if it's vertical, or 180 degrees if it's upside-down.
+     */
+    private Position cameraPosition = new Position(DistanceUnit.INCH,
+            0, 0, 0, 0);
+    private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES,
+            0, -90, 0, 0);
+
+    /**
+     * The variable to store our instance of the AprilTag processor.
+     */
+    private AprilTagProcessor aprilTag;
+
+    /**
+     * The variable to store our instance of the vision portal.
+     */
+    private VisionPortal visionPortal;
+
+    @Override
+    public void runOpMode() {
+
+        initAprilTag();
+
+        // Wait for the DS start button to be touched.
+        telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
+        telemetry.addData(">", "Touch START to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        while (opModeIsActive()) {
+
+            telemetryAprilTag();
+
+            // Push telemetry to the Driver Station.
+            telemetry.update();
+
+            // Save CPU resources; can resume streaming when needed.
+            if (gamepad1.dpad_down) {
+                visionPortal.stopStreaming();
+            } else if (gamepad1.dpad_up) {
+                visionPortal.resumeStreaming();
+            }
+
+            // Share the CPU.
+            sleep(20);
+        }
+
+        // Save more CPU resources when camera is no longer needed.
+        visionPortal.close();
+
+    }   // end method runOpMode()
+
+    /**
+     * Initialize the AprilTag processor.
+     */
+    private void initAprilTag() {
+
+        // Create the AprilTag processor.
+        aprilTag = new AprilTagProcessor.Builder()
+
+                // The following default settings are available to un-comment and edit as needed.
+                //.setDrawAxes(false)
+                //.setDrawCubeProjection(false)
+                //.setDrawTagOutline(true)
+                //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
+                //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
+                //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
+                .setCameraPose(cameraPosition, cameraOrientation)
+
+                // == CAMERA CALIBRATION ==
+                // If you do not manually specify calibration parameters, the SDK will attempt
+                // to load a predefined calibration for your camera.
+                //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)
+                // ... these parameters are fx, fy, cx, cy.
+
+                .build();
+
+        // Adjust Image Decimation to trade-off detection-range for detection-rate.
+        // eg: Some typical detection data using a Logitech C920 WebCam
+        // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
+        // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
+        // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second (default)
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second (default)
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        //aprilTag.setDecimation(3);
+
+        // Create the vision portal by using a builder.
+        VisionPortal.Builder builder = new VisionPortal.Builder();
+
+        // Set the camera (webcam vs. built-in RC phone camera).
+        if (USE_WEBCAM) {
+            builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
+        } else {
+            builder.setCamera(BuiltinCameraDirection.BACK);
+        }
+
+        // Choose a camera resolution. Not all cameras support all resolutions.
+        //builder.setCameraResolution(new Size(640, 480));
+
+        // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
+        //builder.enableLiveView(true);
+
+        // Set the stream format; MJPEG uses less bandwidth than default YUY2.
+        //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
+
+        // Choose whether or not LiveView stops if no processors are enabled.
+        // If set "true", monitor shows solid orange screen if no processors enabled.
+        // If set "false", monitor shows camera view without annotations.
+        //builder.setAutoStopLiveView(false);
+
+        // Set and enable the processor.
+        builder.addProcessor(aprilTag);
+
+        // Build the Vision Portal, using the above settings.
+        visionPortal = builder.build();
+
+        // Disable or re-enable the aprilTag processor at any time.
+        //visionPortal.setProcessorEnabled(aprilTag, true);
+
+    }   // end method initAprilTag()
+
+    /**
+     * Add telemetry about AprilTag detections.
+     */
+    private void telemetryAprilTag() {
+
+        List<AprilTagDetection> currentDetections = aprilTag.getDetections();
+        telemetry.addData("# AprilTags Detected", currentDetections.size());
+
+        // Step through the list of detections and display info for each one.
+        for (AprilTagDetection detection : currentDetections) {
+            if (detection.metadata != null) {
+                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)",
+                        detection.robotPose.getPosition().x,
+                        detection.robotPose.getPosition().y,
+                        detection.robotPose.getPosition().z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)",
+                        detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES),
+                        detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES),
+                        detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES)));
+            } else {
+                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
+                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
+            }
+        }   // end for() loop
+
+        // Add "key" information to telemetry
+        telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
+        telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
+
+    }   // end method telemetryAprilTag()
+
+}   // end class

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagOptimizeExposure.java

@@ -98,7 +98,7 @@ public class ConceptAprilTagOptimizeExposure extends LinearOpMode
 
         // Wait for the match to begin.
         telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagSwitchableCameras.java

@@ -77,7 +77,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
 
         // Wait for the DS start button to be touched.
         telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptExternalHardwareClass.java

@@ -83,7 +83,7 @@ public class ConceptExternalHardwareClass extends LinearOpMode {
         robot.init();
 
         // Send telemetry message to signify robot waiting;
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
 
         // run until the end of the match (driver presses STOP)

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptLEDStick.java

@@ -0,0 +1,123 @@
+package org.firstinspires.ftc.robotcontroller.external.samples;
+/*
+        Copyright (c) 2021-24 Alan Smith
+
+        All rights reserved.
+
+        Redistribution and use in source and binary forms, with or without modification,
+        are permitted (subject to the limitations in the disclaimer below) provided that
+        the following conditions are met:
+
+        Redistributions of source code must retain the above copyright notice, this list
+        of conditions and the following disclaimer.
+
+        Redistributions in binary form must reproduce the above copyright notice, this
+        list of conditions and the following disclaimer in the documentation and/or
+        other materials provided with the distribution.
+
+        Neither the name of Alan Smith nor the names of its contributors may be used to
+        endorse or promote products derived from this software without specific prior
+        written permission.
+
+        NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+        LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+        "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+        THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESSFOR A PARTICULAR PURPOSE
+        ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+        FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+        DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+        SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+        CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
+        TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+        THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+import android.graphics.Color;
+
+import com.qualcomm.hardware.sparkfun.SparkFunLEDStick;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.Range;
+
+/*
+ * This OpMode illustrates how to use the SparkFun QWIIC LED Strip
+ *
+ * This is a simple way to add a strip of 10 LEDs to your robot where you can set the color of each
+ * LED or the whole strip.   This allows for driver feedback or even just fun ways to show your team
+ * colors.
+ *
+ * Why?
+ * Because more LEDs == more fun!!
+ *
+ * This OpMode assumes that the QWIIC LED Stick is attached to an I2C interface named "back_leds" in the robot configuration.
+ *
+ * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
+ *
+ * You can buy this product here:  https://www.sparkfun.com/products/18354
+ * Don't forget to also buy this to make it easy to connect to your Control or Expansion Hub:
+ * https://www.sparkfun.com/products/25596
+ */
+@TeleOp(name = "Concept: LED Stick", group = "Concept")
+@Disabled
+public class ConceptLEDStick extends OpMode {
+    private boolean wasUp;
+    private boolean wasDown;
+    private int brightness = 5;  // this needs to be between 0 and 31
+    private final static double END_GAME_TIME = 120 - 30;
+
+    private SparkFunLEDStick ledStick;
+
+    @Override
+    public void init() {
+        ledStick = hardwareMap.get(SparkFunLEDStick.class, "back_leds");
+        ledStick.setBrightness(brightness);
+        ledStick.setColor(Color.GREEN);
+    }
+
+    @Override
+    public void start() {
+        resetRuntime();
+    }
+
+    @Override
+    public void loop() {
+        telemetry.addLine("Hold the A button to turn blue");
+        telemetry.addLine("Hold the B button to turn red");
+        telemetry.addLine("Hold the left bumper to turn off");
+        telemetry.addLine("Use DPAD Up/Down to change brightness");
+        
+        if (getRuntime() > END_GAME_TIME) {
+            int[] ledColors = {Color.RED, Color.YELLOW, Color.RED, Color.YELLOW, Color.RED,
+                    Color.YELLOW, Color.RED, Color.YELLOW, Color.RED, Color.YELLOW};
+            ledStick.setColors(ledColors);
+        } else if (gamepad1.a) {
+            ledStick.setColor(Color.BLUE);
+        } else if (gamepad1.b) {
+            ledStick.setColor(Color.RED);
+        } else if (gamepad1.left_bumper) {
+            ledStick.turnAllOff();
+        } else {
+            ledStick.setColor(Color.GREEN);
+        }
+
+        /*
+         * Use DPAD up and down to change brightness
+         */
+        int newBrightness = brightness;
+        if (gamepad1.dpad_up && !wasUp) {
+            newBrightness = brightness + 1;
+        } else if (gamepad1.dpad_down && !wasDown) {
+            newBrightness = brightness - 1;
+        }
+        if (newBrightness != brightness) {
+            brightness = Range.clip(newBrightness, 0, 31);
+            ledStick.setBrightness(brightness);
+        }
+        telemetry.addData("Brightness", brightness);
+
+        wasDown = gamepad1.dpad_down;
+        wasUp = gamepad1.dpad_up;
+    }
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java

@@ -110,7 +110,7 @@ public class ConceptMotorBulkRead extends LinearOpMode {
 
         ElapsedTime timer = new ElapsedTime();
 
-        telemetry.addData(">", "Press play to start tests");
+        telemetry.addData(">", "Press START to start tests");
         telemetry.addData(">", "Test results will update for each access method.");
         telemetry.update();
         waitForStart();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java

@@ -53,7 +53,7 @@ public class ConceptNullOp extends OpMode {
 
   /**
    * This method will be called repeatedly during the period between when
-   * the init button is pressed and when the play button is pressed (or the
+   * the INIT button is pressed and when the START button is pressed (or the
    * OpMode is stopped).
    */
   @Override
@@ -61,7 +61,7 @@ public class ConceptNullOp extends OpMode {
   }
 
   /**
-   * This method will be called once, when the play button is pressed.
+   * This method will be called once, when the START button is pressed.
    */
   @Override
   public void start() {
@@ -70,7 +70,7 @@ public class ConceptNullOp extends OpMode {
 
   /**
    * This method will be called repeatedly during the period between when
-   * the play button is pressed and when the OpMode is stopped.
+   * the START button is pressed and when the OpMode is stopped.
    */
   @Override
   public void loop() {

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevLED.java

@@ -0,0 +1,78 @@
+/*
+        Copyright (c) 2024 Alan Smith
+        All rights reserved.
+        Redistribution and use in source and binary forms, with or without modification,
+        are permitted (subject to the limitations in the disclaimer below) provided that
+        the following conditions are met:
+        Redistributions of source code must retain the above copyright notice, this list
+        of conditions and the following disclaimer.
+        Redistributions in binary form must reproduce the above copyright notice, this
+        list of conditions and the following disclaimer in the documentation and/or
+        other materials provided with the distribution.
+        Neither the name of Alan Smith nor the names of its contributors may be used to
+        endorse or promote products derived from this software without specific prior
+        written permission.
+        NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+        LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+        "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+        THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESSFOR A PARTICULAR PURPOSE
+        ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+        FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+        DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+        SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+        CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
+        TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+        THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+package org.firstinspires.ftc.robotcontroller.external.samples;
+
+/*
+ * This OpMode illustrates how to use the REV Digital Indicator
+ *
+ * This is a simple way to add the REV Digital Indicator which has a red and green LED.
+ * (and as you may remember, red + green = yellow so when they are both on you can get yellow)
+ *
+ * Why?
+ * You can use this to show information to the driver.   For example, green might be that you can
+ * pick up more game elements and red would be that you already have the possession limit.
+ *
+ * This OpMode assumes that the REV Digital Indicator is setup as 2 Digital Channels named
+ * front_led_green and front_led_red. (the green should be the lower of the 2 channels it is plugged
+ * into and the red should be the higher)
+ *
+ * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
+ *
+ * You can buy this product here:  https://www.revrobotics.com/rev-31-2010/
+ */
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.LED;
+
+@TeleOp(name = "Concept: RevLED", group = "Concept")
+@Disabled
+public class ConceptRevLED extends OpMode {
+    LED frontLED_red;
+    LED frontLED_green;
+
+    @Override
+    public void init() {
+        frontLED_green = hardwareMap.get(LED.class, "front_led_green");
+        frontLED_red = hardwareMap.get(LED.class, "front_led_red");
+    }
+
+    @Override
+    public void loop() {
+        if (gamepad1.a) {
+            frontLED_red.on();
+        } else {
+            frontLED_red.off();
+        }
+        if (gamepad1.b) {
+            frontLED_green.on();
+        } else {
+            frontLED_green.off();
+        }
+    }
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java

@@ -38,8 +38,9 @@ import com.qualcomm.robotcore.util.Range;
 
 
 /*
- * This OpMode executes a basic Tank Drive Teleop for a two wheeled robot using two REV SPARKminis.
+ * This OpMode demonstrates a POV Drive system, with commented-out code for a Tank Drive system,
- * To use this example, connect two REV SPARKminis into servo ports on the Expansion Hub. On the
+ * for a two wheeled robot using two REV SPARKminis.
+ * To use this example, connect two REV SPARKminis into servo ports on the Control Hub. On the
  * robot configuration, use the drop down list under 'Servos' to select 'REV SPARKmini Controller'
  * and name them 'left_drive' and 'right_drive'.
  *
@@ -62,8 +63,7 @@ public class ConceptRevSPARKMini extends LinearOpMode {
         telemetry.update();
 
         // Initialize the hardware variables. Note that the strings used here as parameters
-        // to 'get' must correspond to the names assigned during the robot configuration
+        // to 'get' must correspond to the names assigned during robot configuration.
-        // step (using the FTC Robot Controller app on the phone).
         leftDrive  = hardwareMap.get(DcMotorSimple.class, "left_drive");
         rightDrive = hardwareMap.get(DcMotorSimple.class, "right_drive");
 
@@ -72,7 +72,7 @@ public class ConceptRevSPARKMini extends LinearOpMode {
         leftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
         rightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
         runtime.reset();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java

@@ -100,7 +100,7 @@ public class ConceptSoundsASJava extends LinearOpMode {
         telemetry.addData("gold resource",   goldFound ?   "Found" : "NOT found\n Add gold.wav to /src/main/res/raw" );
         telemetry.addData("silver resource", silverFound ? "Found" : "Not found\n Add silver.wav to /src/main/res/raw" );
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         telemetry.addData(">", "Press Start to continue");
         telemetry.update();
         waitForStart();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByEncoder_Linear.java

@@ -110,7 +110,7 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
                           rightDrive.getCurrentPosition());
         telemetry.update();
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
 
         // Step through each leg of the path,

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByGyro_Linear.java

@@ -65,7 +65,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
  *  Notes:
  *
  *  All angles are referenced to the coordinate-frame that is set whenever resetHeading() is called.
- *  In this sample, the heading is reset when the Start button is touched on the Driver station.
+ *  In this sample, the heading is reset when the Start button is touched on the Driver Station.
  *  Note: It would be possible to reset the heading after each move, but this would accumulate steering errors.
  *
  *  The angle of movement/rotation is assumed to be a standardized rotation around the robot Z axis,
@@ -124,15 +124,15 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
     // These constants define the desired driving/control characteristics
     // They can/should be tweaked to suit the specific robot drive train.
     static final double     DRIVE_SPEED             = 0.4;     // Max driving speed for better distance accuracy.
-    static final double     TURN_SPEED              = 0.2;     // Max Turn speed to limit turn rate
+    static final double     TURN_SPEED              = 0.2;     // Max turn speed to limit turn rate.
     static final double     HEADING_THRESHOLD       = 1.0 ;    // How close must the heading get to the target before moving to next step.
                                                                // Requiring more accuracy (a smaller number) will often make the turn take longer to get into the final position.
     // Define the Proportional control coefficient (or GAIN) for "heading control".
     // We define one value when Turning (larger errors), and the other is used when Driving straight (smaller errors).
-    // Increase these numbers if the heading does not corrects strongly enough (eg: a heavy robot or using tracks)
+    // Increase these numbers if the heading does not correct strongly enough (eg: a heavy robot or using tracks)
     // Decrease these numbers if the heading does not settle on the correct value (eg: very agile robot with omni wheels)
-    static final double     P_TURN_GAIN            = 0.02;     // Larger is more responsive, but also less stable
+    static final double     P_TURN_GAIN            = 0.02;     // Larger is more responsive, but also less stable.
-    static final double     P_DRIVE_GAIN           = 0.03;     // Larger is more responsive, but also less stable
+    static final double     P_DRIVE_GAIN           = 0.03;     // Larger is more responsive, but also less stable.
 
 
     @Override
@@ -317,7 +317,7 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
      *  <p>
      *  Move will stop once the requested time has elapsed
      *  <p>
-     *  This function is useful for giving the robot a moment to stabilize it's heading between movements.
+     *  This function is useful for giving the robot a moment to stabilize its heading between movements.
      *
      * @param maxTurnSpeed      Maximum differential turn speed (range 0 to +1.0)
      * @param heading    Absolute Heading Angle (in Degrees) relative to last gyro reset.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByTime_Linear.java

@@ -85,10 +85,10 @@ public class RobotAutoDriveByTime_Linear extends LinearOpMode {
         telemetry.addData("Status", "Ready to run");    //
         telemetry.update();
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
 
-        // Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way
+        // Step through each leg of the path, ensuring that the OpMode has not been stopped along the way.
 
         // Step 1:  Drive forward for 3 seconds
         leftDrive.setPower(FORWARD_SPEED);

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagOmni.java

@@ -64,7 +64,7 @@ import java.util.concurrent.TimeUnit;
  * The code assumes a Robot Configuration with motors named: leftfront_drive and rightfront_drive, leftback_drive and rightback_drive.
  * The motor directions must be set so a positive power goes forward on all wheels.
  * This sample assumes that the current game AprilTag Library (usually for the current season) is being loaded by default,
- * so you should choose to approach a valid tag ID (usually starting at 0)
+ * so you should choose to approach a valid tag ID.
  *
  * Under manual control, the left stick will move forward/back & left/right.  The right stick will rotate the robot.
  * Manually drive the robot until it displays Target data on the Driver Station.
@@ -95,12 +95,12 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
     //  Set the GAIN constants to control the relationship between the measured position error, and how much power is
     //  applied to the drive motors to correct the error.
     //  Drive = Error * Gain    Make these values smaller for smoother control, or larger for a more aggressive response.
-    final double SPEED_GAIN  =  0.02  ;   //  Forward Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error.   (0.50 / 25.0)
+    final double SPEED_GAIN  =  0.02  ;   //  Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error.   (0.50 / 25.0)
-    final double STRAFE_GAIN =  0.015 ;   //  Strafe Speed Control "Gain".  eg: Ramp up to 25% power at a 25 degree Yaw error.   (0.25 / 25.0)
+    final double STRAFE_GAIN =  0.015 ;   //  Strafe Speed Control "Gain".  e.g. Ramp up to 37% power at a 25 degree Yaw error.   (0.375 / 25.0)
-    final double TURN_GAIN   =  0.01  ;   //  Turn Control "Gain".  eg: Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
+    final double TURN_GAIN   =  0.01  ;   //  Turn Control "Gain".  e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
 
     final double MAX_AUTO_SPEED = 0.5;   //  Clip the approach speed to this max value (adjust for your robot)
-    final double MAX_AUTO_STRAFE= 0.5;   //  Clip the approach speed to this max value (adjust for your robot)
+    final double MAX_AUTO_STRAFE= 0.5;   //  Clip the strafing speed to this max value (adjust for your robot)
     final double MAX_AUTO_TURN  = 0.3;   //  Clip the turn speed to this max value (adjust for your robot)
 
     private DcMotor leftFrontDrive   = null;  //  Used to control the left front drive wheel
@@ -145,7 +145,7 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
 
         // Wait for driver to press start
         telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 
@@ -259,7 +259,7 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
         aprilTag = new AprilTagProcessor.Builder().build();
 
         // Adjust Image Decimation to trade-off detection-range for detection-rate.
-        // eg: Some typical detection data using a Logitech C920 WebCam
+        // e.g. Some typical detection data using a Logitech C920 WebCam
         // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
         // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
         // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagTank.java

@@ -63,7 +63,7 @@ import java.util.concurrent.TimeUnit;
  * The code assumes a Robot Configuration with motors named left_drive and right_drive.
  * The motor directions must be set so a positive power goes forward on both wheels;
  * This sample assumes that the default AprilTag Library (usually for the current season) is being loaded by default
- * so you should choose to approach a valid tag ID (usually starting at 0)
+ * so you should choose to approach a valid tag ID.
  *
  * Under manual control, the left stick will move forward/back, and the right stick will rotate the robot.
  * This is called POV Joystick mode, different than Tank Drive (where each joystick controls a wheel).
@@ -94,8 +94,8 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
     //  Set the GAIN constants to control the relationship between the measured position error, and how much power is
     //  applied to the drive motors to correct the error.
     //  Drive = Error * Gain    Make these values smaller for smoother control, or larger for a more aggressive response.
-    final double SPEED_GAIN =   0.02 ;   //  Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error.   (0.50 / 25.0)
+    final double SPEED_GAIN =   0.02 ;   //  Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error.   (0.50 / 25.0)
-    final double TURN_GAIN  =   0.01 ;   //  Turn Control "Gain".  eg: Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
+    final double TURN_GAIN  =   0.01 ;   //  Turn Control "Gain".  e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
 
     final double MAX_AUTO_SPEED = 0.5;   //  Clip the approach speed to this max value (adjust for your robot)
     final double MAX_AUTO_TURN  = 0.25;  //  Clip the turn speed to this max value (adjust for your robot)
@@ -135,7 +135,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
 
         // Wait for the driver to press Start
         telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 
@@ -234,7 +234,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
         aprilTag = new AprilTagProcessor.Builder().build();
 
         // Adjust Image Decimation to trade-off detection-range for detection-rate.
-        // eg: Some typical detection data using a Logitech C920 WebCam
+        // e.g. Some typical detection data using a Logitech C920 WebCam
         // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
         // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
         // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToLine_Linear.java

@@ -106,7 +106,7 @@ public class RobotAutoDriveToLine_Linear extends LinearOpMode {
         // A gain of 15 causes a Rev Color Sensor V2 to produce an Alpha value of 1.0 at about 1.5" above the floor.
         colorSensor.setGain(15);
 
-        // Wait for driver to press PLAY)
+        // Wait for driver to press START)
         // Abort this loop is started or stopped.
         while (opModeInInit()) {
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopPOV_Linear.java

@@ -96,10 +96,10 @@ public class RobotTeleopPOV_Linear extends LinearOpMode {
         rightClaw.setPosition(MID_SERVO);
 
         // Send telemetry message to signify robot waiting;
-        telemetry.addData(">", "Robot Ready.  Press Play.");    //
+        telemetry.addData(">", "Robot Ready.  Press START.");    //
         telemetry.update();
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
 
         // run until the end of the match (driver presses STOP)

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopTank_Iterative.java

@@ -94,25 +94,25 @@ public class RobotTeleopTank_Iterative extends OpMode{
         rightClaw.setPosition(MID_SERVO);
 
         // Send telemetry message to signify robot waiting;
-        telemetry.addData(">", "Robot Ready.  Press Play.");    //
+        telemetry.addData(">", "Robot Ready.  Press START.");    //
     }
 
     /*
-     * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
+     * Code to run REPEATEDLY after the driver hits INIT, but before they hit START
      */
     @Override
     public void init_loop() {
     }
 
     /*
-     * Code to run ONCE when the driver hits PLAY
+     * Code to run ONCE when the driver hits START
      */
     @Override
     public void start() {
     }
 
     /*
-     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
+     * Code to run REPEATEDLY after the driver hits START but before they hit STOP
      */
     @Override
     public void loop() {

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorHuskyLens.java

@@ -33,13 +33,10 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
 import com.qualcomm.hardware.dfrobot.HuskyLens;
-import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DistanceSensor;
 
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.robotcore.internal.system.Deadline;
 
 import java.util.concurrent.TimeUnit;
@@ -51,6 +48,9 @@ import java.util.concurrent.TimeUnit;
  * detect a number of predefined objects and AprilTags in the 36h11 family, can
  * recognize colors, and can be trained to detect custom objects. See this website for
  * documentation: https://wiki.dfrobot.com/HUSKYLENS_V1.0_SKU_SEN0305_SEN0336
+ *
+ * For detailed instructions on how a HuskyLens is used in FTC, please see this tutorial:
+ * https://ftc-docs.firstinspires.org/en/latest/devices/huskylens/huskylens.html
  * 
  * This sample illustrates how to detect AprilTags, but can be used to detect other types
  * of objects by changing the algorithm. It assumes that the HuskyLens is configured with
@@ -110,6 +110,8 @@ public class SensorHuskyLens extends LinearOpMode {
          * Users, should, in general, explicitly choose the algorithm they want to use
          * within the OpMode by calling selectAlgorithm() and passing it one of the values
          * found in the enumeration HuskyLens.Algorithm.
+         *
+         * Other algorithm choices for FTC might be: OBJECT_RECOGNITION, COLOR_RECOGNITION or OBJECT_CLASSIFICATION.
          */
         huskyLens.selectAlgorithm(HuskyLens.Algorithm.TAG_RECOGNITION);
 
@@ -141,6 +143,15 @@ public class SensorHuskyLens extends LinearOpMode {
             telemetry.addData("Block count", blocks.length);
             for (int i = 0; i < blocks.length; i++) {
                 telemetry.addData("Block", blocks[i].toString());
+                /*
+                 * Here inside the FOR loop, you could save or evaluate specific info for the currently recognized Bounding Box:
+                 * - blocks[i].width and blocks[i].height   (size of box, in pixels)
+                 * - blocks[i].left and blocks[i].top       (edges of box)
+                 * - blocks[i].x and blocks[i].y            (center location)
+                 * - blocks[i].id                           (Color ID)
+                 *
+                 * These values have Java type int (integer).
+                 */
             }
 
             telemetry.update();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUNonOrthogonal.java

@@ -58,7 +58,7 @@ import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.xyzOrientation;
  * planes (X/Y, X/Z or Y/Z) OR that the Hub has only been rotated in a range of 90 degree increments.
  *
  * Note: if your Hub is mounted Orthogonally (on a orthogonal surface, angled at some multiple of
- * 90 Degrees) then you should use the simpler SensorImuOrthogonal sample in this folder.
+ * 90 Degrees) then you should use the simpler SensorIMUOrthogonal sample in this folder.
  *
  * But... If your Hub is mounted Non-Orthogonally, you must specify one or more rotational angles
  * that transform a "Default" Hub orientation into your desired orientation.  That is what is
@@ -94,6 +94,9 @@ public class SensorIMUNonOrthogonal extends LinearOpMode
          * 1) Hub laying flat on a horizontal surface, with the Printed Logo facing UP
          * 2) Rotated such that the USB ports are facing forward on the robot.
          *
+         * If you are using a REV External IMU, the "Default" orientation is the same as for a REV Hub, but instead of
+         * the USB ports facing forward, the I2C port faces forward.
+         *
          * The order that the rotations are performed matters, so this sample shows doing them in the order X, Y, then Z.
          * For specifying non-orthogonal hub mounting orientations, we must temporarily use axes
          * defined relative to the Hub itself, instead of the usual Robot Coordinate System axes
@@ -124,7 +127,7 @@ public class SensorIMUNonOrthogonal extends LinearOpMode
          *
          *  To get the "Default" hub into this configuration you would just need a single rotation, but around a different axis.
          *  1) No rotation around the X or Y axes.
-         *  1) Rotate the Hub -30 degrees (Clockwise) around the Z axis, since a positive angle would be Counter Clockwise.
+         *  2) Rotate the Hub -30 degrees (Clockwise) around the Z axis, since a positive angle would be Counter Clockwise.
          *
          *  So the X,Y,Z rotations would be 0,0,-30
          *

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUOrthogonal.java

@@ -55,7 +55,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
  * (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments.
  *
  * Note: if your Hub is mounted on a surface angled at some non-90 Degree multiple (like 30) look at
- *       the alternative SensorImuNonOrthogonal sample in this folder.
+ *       the alternative SensorIMUNonOrthogonal sample in this folder.
  *
  * This "Orthogonal" requirement means that:
  *
@@ -98,6 +98,9 @@ public class SensorIMUOrthogonal extends LinearOpMode
          * The first parameter specifies the direction the printed logo on the Hub is pointing.
          * The second parameter specifies the direction the USB connector on the Hub is pointing.
          * All directions are relative to the robot, and left/right is as-viewed from behind the robot.
+         *
+         * If you are using a REV 9-Axis IMU, you can use the Rev9AxisImuOrientationOnRobot class instead of the
+         * RevHubOrientationOnRobot class, which has an I2cPortFacingDirection instead of a UsbFacingDirection.
          */
 
         /* The next two lines define Hub orientation.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorLimelight3A.java

@@ -0,0 +1,159 @@
+/*
+Copyright (c) 2024 Limelight Vision
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted (subject to the limitations in the disclaimer below) provided that
+the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list
+of conditions and the following disclaimer.
+
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+Neither the name of FIRST nor the names of its contributors may be used to
+endorse or promote products derived from this software without specific prior
+written permission.
+
+NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
+TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+package org.firstinspires.ftc.robotcontroller.external.samples;
+
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.LLStatus;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+
+import java.util.List;
+
+/*
+ * This OpMode illustrates how to use the Limelight3A Vision Sensor.
+ *
+ * @see <a href="https://limelightvision.io/">Limelight</a>
+ *
+ * Notes on configuration:
+ *
+ *   The device presents itself, when plugged into a USB port on a Control Hub as an ethernet
+ *   interface.  A DHCP server running on the Limelight automatically assigns the Control Hub an
+ *   ip address for the new ethernet interface.
+ *
+ *   Since the Limelight is plugged into a USB port, it will be listed on the top level configuration
+ *   activity along with the Control Hub Portal and other USB devices such as webcams.  Typically
+ *   serial numbers are displayed below the device's names.  In the case of the Limelight device, the
+ *   Control Hub's assigned ip address for that ethernet interface is used as the "serial number".
+ *
+ *   Tapping the Limelight's name, transitions to a new screen where the user can rename the Limelight
+ *   and specify the Limelight's ip address.  Users should take care not to confuse the ip address of
+ *   the Limelight itself, which can be configured through the Limelight settings page via a web browser,
+ *   and the ip address the Limelight device assigned the Control Hub and which is displayed in small text
+ *   below the name of the Limelight on the top level configuration screen.
+ */
+@TeleOp(name = "Sensor: Limelight3A", group = "Sensor")
+@Disabled
+public class SensorLimelight3A extends LinearOpMode {
+
+    private Limelight3A limelight;
+
+    @Override
+    public void runOpMode() throws InterruptedException
+    {
+        limelight = hardwareMap.get(Limelight3A.class, "limelight");
+
+        telemetry.setMsTransmissionInterval(11);
+
+        limelight.pipelineSwitch(0);
+
+        /*
+         * Starts polling for data.  If you neglect to call start(), getLatestResult() will return null.
+         */
+        limelight.start();
+
+        telemetry.addData(">", "Robot Ready.  Press Play.");
+        telemetry.update();
+        waitForStart();
+
+        while (opModeIsActive()) {
+            LLStatus status = limelight.getStatus();
+            telemetry.addData("Name", "%s",
+                    status.getName());
+            telemetry.addData("LL", "Temp: %.1fC, CPU: %.1f%%, FPS: %d",
+                    status.getTemp(), status.getCpu(),(int)status.getFps());
+            telemetry.addData("Pipeline", "Index: %d, Type: %s",
+                    status.getPipelineIndex(), status.getPipelineType());
+
+            LLResult result = limelight.getLatestResult();
+            if (result != null) {
+                // Access general information
+                Pose3D botpose = result.getBotpose();
+                double captureLatency = result.getCaptureLatency();
+                double targetingLatency = result.getTargetingLatency();
+                double parseLatency = result.getParseLatency();
+                telemetry.addData("LL Latency", captureLatency + targetingLatency);
+                telemetry.addData("Parse Latency", parseLatency);
+                telemetry.addData("PythonOutput", java.util.Arrays.toString(result.getPythonOutput()));
+                
+                if (result.isValid()) {
+                    telemetry.addData("tx", result.getTx());
+                    telemetry.addData("txnc", result.getTxNC());
+                    telemetry.addData("ty", result.getTy());
+                    telemetry.addData("tync", result.getTyNC());
+
+                    telemetry.addData("Botpose", botpose.toString());
+
+                    // Access barcode results
+                    List<LLResultTypes.BarcodeResult> barcodeResults = result.getBarcodeResults();
+                    for (LLResultTypes.BarcodeResult br : barcodeResults) {
+                        telemetry.addData("Barcode", "Data: %s", br.getData());
+                    }
+
+                    // Access classifier results
+                    List<LLResultTypes.ClassifierResult> classifierResults = result.getClassifierResults();
+                    for (LLResultTypes.ClassifierResult cr : classifierResults) {
+                        telemetry.addData("Classifier", "Class: %s, Confidence: %.2f", cr.getClassName(), cr.getConfidence());
+                    }
+
+                    // Access detector results
+                    List<LLResultTypes.DetectorResult> detectorResults = result.getDetectorResults();
+                    for (LLResultTypes.DetectorResult dr : detectorResults) {
+                        telemetry.addData("Detector", "Class: %s, Area: %.2f", dr.getClassName(), dr.getTargetArea());
+                    }
+
+                    // Access fiducial results
+                    List<LLResultTypes.FiducialResult> fiducialResults = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fr : fiducialResults) {
+                        telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f", fr.getFiducialId(), fr.getFamily(),fr.getTargetXDegrees(), fr.getTargetYDegrees());
+                    }
+
+                    // Access color results
+                    List<LLResultTypes.ColorResult> colorResults = result.getColorResults();
+                    for (LLResultTypes.ColorResult cr : colorResults) {
+                        telemetry.addData("Color", "X: %.2f, Y: %.2f", cr.getTargetXDegrees(), cr.getTargetYDegrees());
+                    }
+                }
+            } else {
+                telemetry.addData("Limelight", "No data available");
+            }
+
+            telemetry.update();
+        }
+        limelight.stop();
+    }
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuad.java

@@ -52,7 +52,7 @@ import org.firstinspires.ftc.robotcore.external.Telemetry;
  * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
  * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  *
- * See the sensor's product page: https://www.tindie.com/products/digitalchickenlabs/octoquad-8ch-quadrature-pulse-width-decoder/
+ * See the sensor's product page: https://www.tindie.com/products/35114/
  */
 @TeleOp(name = "OctoQuad Basic", group="OctoQuad")
 @Disabled
@@ -60,7 +60,7 @@ public class SensorOctoQuad extends LinearOpMode {
 
     // Identify which encoder OctoQuad inputs are connected to each odometry pod.
     private final int ODO_LEFT  = 0; // Facing forward direction on left side of robot (Axial motion)
-    private final int ODO_RIGHT = 1; // Facing forward direction on right side or robot (Axial motion )
+    private final int ODO_RIGHT = 1; // Facing forward direction on right side or robot (Axial motion)
     private final int ODO_PERP  = 2; // Facing perpendicular direction at the center of the robot (Lateral motion)
 
     // Declare the OctoQuad object and members to store encoder positions and velocities
@@ -83,7 +83,7 @@ public class SensorOctoQuad extends LinearOpMode {
         telemetry.addData("OctoQuad Firmware Version ", octoquad.getFirmwareVersion());
 
         // Reverse the count-direction of any encoder that is not what you require.
-        // Eg: if you push the robot forward and the left encoder counts down, then reverse it so it counts up.
+        // e.g. if you push the robot forward and the left encoder counts down, then reverse it so it counts up.
         octoquad.setSingleEncoderDirection(ODO_LEFT,  OctoQuad.EncoderDirection.REVERSE);
         octoquad.setSingleEncoderDirection(ODO_RIGHT, OctoQuad.EncoderDirection.FORWARD);
         octoquad.setSingleEncoderDirection(ODO_PERP,  OctoQuad.EncoderDirection.FORWARD);
@@ -91,7 +91,7 @@ public class SensorOctoQuad extends LinearOpMode {
         // Any changes that are made should be saved in FLASH just in case there is a sensor power glitch.
         octoquad.saveParametersToFlash();
 
-        telemetry.addLine("\nPress Play to read encoder values");
+        telemetry.addLine("\nPress START to read encoder values");
         telemetry.update();
 
         waitForStart();
@@ -100,23 +100,23 @@ public class SensorOctoQuad extends LinearOpMode {
         telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
         telemetry.setMsTransmissionInterval(50);
 
-        // Set all the encoder inputs to zero
+        // Set all the encoder inputs to zero.
         octoquad.resetAllPositions();
 
         // Loop while displaying the odometry pod positions.
         while (opModeIsActive()) {
             telemetry.addData(">", "Press X to Reset Encoders\n");
 
-            // Check for X button to reset encoders
+            // Check for X button to reset encoders.
             if (gamepad1.x) {
                 // Reset the position of all encoders to zero.
                 octoquad.resetAllPositions();
             }
 
-            // Read all the encoder data.  Load into local members
+            // Read all the encoder data.  Load into local members.
             readOdometryPods();
 
-            // Display the values
+            // Display the values.
             telemetry.addData("Left ", "%8d counts", posLeft);
             telemetry.addData("Right", "%8d counts", posRight);
             telemetry.addData("Perp ", "%8d counts", posPerp);
@@ -131,11 +131,11 @@ public class SensorOctoQuad extends LinearOpMode {
         // or
         //   readAllPositions() to get all 8 encoder readings
         //
-        // Since both calls take almost the same amount of time, and the actual channels may not end up being sequential,
+        // Since both calls take almost the same amount of time, and the actual channels may not end up
-        // we will read all of the encoder positions, and then pick out the ones we need.
+        // being sequential, we will read all of the encoder positions, and then pick out the ones we need.
         int[] positions = octoquad.readAllPositions();
         posLeft  = positions[ODO_LEFT];
         posRight = positions[ODO_RIGHT];
         posPerp  = positions[ODO_PERP];
     }
-}
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuadAdv.java

@@ -77,7 +77,7 @@ import java.util.List;
  * Note: If you prefer, you can move the two support classes from this file, and place them in their own files.
  *       But leaving them in place is simpler for this example.
  *
- * See the sensor's product page: https://www.tindie.com/products/digitalchickenlabs/octoquad-8ch-quadrature-pulse-width-decoder/
+ * See the sensor's product page: https://www.tindie.com/products/35114/
  */
 @TeleOp(name="OctoQuad Advanced", group="OctoQuad")
 @Disabled
@@ -93,7 +93,7 @@ public class SensorOctoQuadAdv extends LinearOpMode {
 
         // Display the OctoQuad firmware revision
         telemetry.addLine("OctoQuad Firmware v" + octoquad.getFirmwareVersion());
-        telemetry.addLine("\nPress Play to read encoder values");
+        telemetry.addLine("\nPress START to read encoder values");
         telemetry.update();
 
         waitForStart();
@@ -275,4 +275,4 @@ class OctoSwerveModule {
     public void show(Telemetry telemetry) {
         telemetry.addData(name, "%8.0f %7.0f %7.0f %6.0f", driveCounts, driveCountsPerSec, steerDegrees, steerDegreesPerSec);
     }
-}
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/UtilityOctoQuadConfigMenu.java

@@ -446,7 +446,7 @@ public class UtilityOctoQuadConfigMenu extends LinearOpMode
             StringBuilder builder = new StringBuilder();
             builder.append("<font color='#119af5' face=monospace>");
             builder.append("Navigate items.....dpad up/down\n")
-                    .append("Select.............X\n")
+                    .append("Select.............X or Square\n")
                     .append("Edit option........dpad left/right\n")
                     .append("Up one level.......left bumper\n");
             builder.append("</font>");
@@ -614,7 +614,7 @@ public class UtilityOctoQuadConfigMenu extends LinearOpMode
             @Override
             public void onClick()
             {
-                onRightInput();
+                //onRightInput();
             }
 
             @Override
@@ -669,7 +669,7 @@ public class UtilityOctoQuadConfigMenu extends LinearOpMode
             @Override
             public void onClick()
             {
-                onRightInput();
+                //onRightInput();
             }
 
             @Override

README.md

@@ -59,6 +59,54 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
 
 # Release Information
 
+## Version 10.0  (20240828-111152)
+
+### Breaking Changes
+* Java classes and Blocks for TensorFlow Object Detection have been removed.
+* `AngularVelocity.unit` which was of type `AngleUnit` has been renamed `AngularVelocity.angleUnit` of type `UnnormalizedAngleUnit`
+
+### Enhancements
+* Sample for REV Digital Indicator has been added - ConceptRevLED
+* Adds support for the [Sparkfun QWIIC LED Stick](https://www.sparkfun.com/products/18354)
+  * To connect it directly, you need this [cable](https://www.sparkfun.com/products/25596)
+* Adds ConceptLEDStick OpMode
+* Adds Blocks for colors black, blue, cyan, dkgray, gray, green, ltgray, magenta, red, white, and yellow.
+* Adds an "evaluate but ignore result" Block that executes the connected block and ignores the result. Allows you to call a function and ignore the return value.
+* Adds I2C driver for Maxbotix Maxsonar I2CXL sonar rangefinder
+* Adds Blocks for setPwmEnable, setPwmDisable, and isPwmEnabled for servos and CR servos.
+* In the Blocks editor: a \n in the ExportToBlocks annotation's comment field is displayed as a line break.
+* Telemetry has new method setNumDecimalPlaces
+* Telemetry now formats doubles and floats (not inside objects, just by themselves)
+* Adds support for the Limelight 3A.
+* Adds initial support for the REV Servo Hub
+  * Both the Robot Controller and Driver Station need to be updated to version 10.0 in order for Servo Hubs to be
+    configurable as Servo Hubs. If the app on either device is outdated, the Servo Hub will show up as an Expansion Hub,
+    and some functionality will not work as expected. You should wait to create a configuration that includes a Servo Hub
+    until both the Driver Station and Robot Controller apps have been updated to version 10.0.
+  * Updating the Servo Hub's firmware and changing its address can only be done using the REV Hardware Client at this time
+* Adds support for the REV 9-Axis IMU (REV-31-3332)
+  * The REV 9-Axis IMU is only supported by the [Universal IMU interface](https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html)
+  * Adds `Rev9AxisImuOrientationOnRobot` Java class.
+  * If you mentally substitute this IMU's I2C port for the Control Hub's USB ports, `RevHubOrientationOnRobot` is also compatible with this sensor
+  * Adds Blocks for Rev9AxisImuOrientationOnRobot, including RevHubImuOrientationOnRobot.xyzOrientation and  RevHubImuOrientationOnRobot.zyxOrientation.
+  * Adds Blocks samples SensorRev9AxisIMUOrthogonal and SensorRev9AxisIMUNonOrthogonal.
+* Improves Blocks support for RevHubImuOrientationOnRobot.
+  * Adds Blocks for RevHubImuOrientationOnRobot.xyzOrientation and  RevHubImuOrientationOnRobot.zyxOrientation.
+  * Adds Blocks samples SensorHubIMUOrthogonal (replaces SensorIMU) and SensorHubIMUNonOrthogonal.
+* Updates EasyOpenCV, AprilTag, OpenCV, and `libjpeg-turbo` versions
+* Adds Blocks for max and min that take two numbers.
+* Adds Blocks OpModes ConceptRevSPARKMini, RobotAutoDriveByEncoder, RobotAutoDriveByGyro, RobotAutoDriveByTime, RobotAutoDriveToAprilTagOmni, and RobotAutoDriveToAprilTagTank.
+* Two OpModes with the same name now automatically get renamed with the name followed by a "-" and the class name allowing them to both be on the device.
+* Shows the name of the active configuration on the Manage page of the Robot Controller Console
+* Updated AprilTag Library for INTO THE DEEP. Notably, `getCurrentGameTagLibrary()` now returns INTO THE DEEP tags.
+* Adds Blocks for Telemetry.setMsTransmissionInterval and Telemetry.getMsTransmissionInterval.
+* Adds Blocks sample SensorOctoQuad.
+
+### Bug Fixes
+* Fixes a bug where the RevBlinkinLedDriver Blocks were under Actuators in the Blocks editor toolbox. They are now Other Devices.
+* Fixes a bug where `Exception`s thrown in user code after a stop was requested by the Driver Station would be silently eaten
+* Fixed a bug where if you asked for `AngularVelocity` in a unit different than the device reported it in, it would normalize it between -PI and PI for radians, and -180 and 180 for degrees.
+
 ## Version 9.2 (20240701-085519)
 
 ### Important Notes

TeamCode/build.gradle

@@ -25,5 +25,4 @@ android {
 
 dependencies {
     implementation project(':FtcRobotController')
-    annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
 }

build.common.gradle

@@ -47,10 +47,6 @@ android {
         }
     }
 
-    aaptOptions {
-        noCompress "tflite"
-    }
-
     defaultConfig {
         signingConfig signingConfigs.debug
         applicationId 'com.qualcomm.ftcrobotcontroller'

build.dependencies.gradle

@@ -4,18 +4,14 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:9.2.0'
+    implementation 'org.firstinspires.ftc:Inspection:10.0.0'
-    implementation 'org.firstinspires.ftc:Blocks:9.2.0'
+    implementation 'org.firstinspires.ftc:Blocks:10.0.0'
-    implementation 'org.firstinspires.ftc:Tfod:9.2.0'
+    implementation 'org.firstinspires.ftc:RobotCore:10.0.0'
-    implementation 'org.firstinspires.ftc:RobotCore:9.2.0'
+    implementation 'org.firstinspires.ftc:RobotServer:10.0.0'
-    implementation 'org.firstinspires.ftc:RobotServer:9.2.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:10.0.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:9.2.0'
+    implementation 'org.firstinspires.ftc:Hardware:10.0.0'
-    implementation 'org.firstinspires.ftc:Hardware:9.2.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:10.0.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:9.2.0'
+    implementation 'org.firstinspires.ftc:Vision:10.0.0'
-    implementation 'org.firstinspires.ftc:Vision:9.2.0'
-    implementation 'org.firstinspires.ftc:gameAssets-CenterStage:1.0.0'
-    implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
-    runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 }