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FtcRobotController v8.2

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2023-07-07 15:15:11 -07:00
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@ -5,6 +5,11 @@ This repository contains the public FTC SDK for the POWERPLAY (2022-2023) compet
## Welcome!
This GitHub repository contains the source code that is used to build an Android app to control a *FIRST* Tech Challenge competition robot. To use this SDK, download/clone the entire project to your local computer.
## Requirements
To use this Android Studio project, you will need Android Studio 2021.2 (codename Chipmunk) or later.
To program your robot in Blocks or OnBot Java, you do not need Android Studio.
## Getting Started
If you are new to robotics or new to the *FIRST* Tech Challenge, then you should consider reviewing the [FTC Blocks Tutorial](https://ftc-docs.firstinspires.org/programming_resources/blocks/Blocks-Tutorial.html) to get familiar with how to use the control system:
@ -54,12 +59,69 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
# Release Information
## Version 8.2 (20230707-131020)
### Breaking changes
* Non-linear (iterative) Op Modes are no longer allowed to manipulate actuators in their `stop()` method. Attempts to do so will be ignored and logged.
* When an Op Mode attempts to illegally manipulate an actuator, the Robot Controller will print a log message
including the text `CANCELLED_FOR_SAFETY`.
* Additionally, LinearOpModes are no longer able to regain the ability to manipulate actuators by removing their
thread's interrupt or using another thread.
* Removes support for Android version 6.0 (Marshmallow). The minSdkVersion is now 24.
* Increases the Robocol version.
* This means an 8.2 or later Robot Controller or Driver Station will not be able to communicate with an 8.1 or earlier Driver Station or Robot Controller.
* If you forget to update both apps at the same time, an error message will be shown explaining which app is older and should be updated.
* FTC_FieldCoordinateSystemDefinition.pdf has been moved. It is still in the git history, but has been removed from the git snapshot corresponding with the 8.2 tag. The official version now lives at [Field Coordinate System](https://ftc-docs.firstinspires.org/field-coordinate-system).
* `LynxUsbDevice.addConfiguredModule()` and `LynxUsbDevice.getConfiguredModule()` have been replaced with `LynxUsbDevice.getOrAddModule()`.
### New features
* Adds new `VisionPortal` API for computer vision
* **This API may be subject to change for final kickoff release!**
* Several new samples added.
* Adds support for detecting AprilTags.
* `VisionPortal` is the new entry point for both AprilTag and TFOD processing.
* Vuforia will be removed in a future release.
* Updated TensorFlow dependencies.
* Added support for webcam camera controls to blocks.
* Previous blocks for Vuforia and TensorFlow Object Detection are obsolete.
* Related documentation for associated technologies can be found at
* [AprilTag Introduction](https://ftc-docs.firstinspires.org/apriltag-intro)
* [AprilTag SDK Guide](https://ftc-docs.firstinspires.org/apriltag-sdk)
* [AprilTag Detection Values](https://ftc-docs.firstinspires.org/apriltag-detection-values)
* [AprilTag Test Images](https://ftc-docs.firstinspires.org/apriltag-test-images)
* [Camera Calibration](https://ftc-docs.firstinspires.org/camera-calibration)
* Adds Driver Station support for Logitech Dual Action and Sony PS5 DualSense gamepads.
* This **does not** include support for the Sony PS5 DualSense Edge gamepad.
* Always refer to Game Manual 1 to determine gamepad legality in competition.
* Adds support for MJPEG payload streaming to UVC driver (external JPEG decompression routine required for use).
* Shows a hint on the Driver Station UI about how to bind a gamepad when buttons are pressed or the sticks are moved on an unbound gamepad.
* Adds option for fullscreening "Camera Stream" on Driver Station.
* OnBotJava source code is automatically saved as a ZIP file on every build with a rolling window of the last 30 builds kept; allows recovering source code from previous builds if code is accidentally deleted or corrupted.
* Adds support for changing the addresses of Expansion Hubs that are not connected directly via USB.
* The Expansion Hub Address Change screen now has an Apply button that changes the addresses without leaving the screen.
* Addresses that are assigned to other hubs connected to the same USB connection or Control Hub are no longer able to be selected.
* Increases maximum size of Blocks inline comments to 100 characters
* Saves position of open Blocks comment balloons
* Adds new AprilTag Driving samples: RobotDriveToAprilTagTank & RobotDriveToAprilTagOmni
* Adds Sample to illustrate optimizing camera exposure for AprilTags: ConceptAprilTagOptimizeExposure
### Bug Fixes
* Corrects inspection screen to report app version using the SDK version defined in the libraries instead of the version specified in `AndroidManifest.xml`. This corrects the case where the app could show matching versions numbers to the user but still state that the versions did not match.
* If the version specified in `AndroidManifest.xml` does not match the SDK version, an SDK version entry will be displayed on the Manage webpage.
* Fixes no error being displayed when saving a configuration file with duplicate names from the Driver Station.
* Fixes a deadlock in the UVC driver which manifested in https://github.com/OpenFTC/EasyOpenCV/issues/57.
* Fixes a deadlock in the UVC driver that could occur when hot-plugging cameras.
* Fixes UVC driver compatibility with Arducam OV9281 global shutter camera.
* Fixes Emergency Stop condition when an OnBotJava build with duplicate Op Mode names occurs.
* Fixes known causes of "Attempted use of a closed LynxModule instance" logspam.
* Fixes the visual identification LED pattern when configuring Expansion Hubs connected via RS-485.
## Version 8.1.1 (20221201-150726)
This is a bug fix only release to address the following four issues.
* [Issue #495](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/495) - Can't create new blocks opmodes.
* [Issue #492](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/492) - Remove the final modifier from the OpMode's Telemetry object.
* [Issue #492](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/492) - Can't create new blocks opmodes.
* [Issue #495](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/495) - Remove the final modifier from the OpMode's Telemetry object.
* [Issue #500](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/500) - Some devices cannot be configured when the Driver Station app has been updated to 8.1
* Updating either the Robot Controller app or the Driver Station app to 8.1.1 or later will fix this issue.
* The Modern Robotics touch sensor was configurable as a Digital Device. It can only be used as an Analog Device.